Method of outputting audio and electronic device performing same

Abstract

A method, performed by a wearable device, of outputting target audio according to one embodiment includes the steps of: receiving a first sensing signal from at least one Hall sensor for sensing the rotation angle of a shaft of a motor of the wearable device; determining a first rotational angular velocity of the shaft of the motor on the basis of the first sensing signal; determining a first sound volume corresponding to the first rotational angular velocity; and outputting first target audio at the first sound volume through a sound output module.

Description

Audio output method and electronic device performing the same

[0001] One embodiment relates to a technique for outputting audio through an electronic device, and more particularly to a technique for outputting audio for masking noise generated by a motor.

[0002] Recently, various electronic devices have been proposed to assist walking. These devices help users who complain of discomfort and pain while walking to walk more smoothly.

[0003] When the motor of a walking assistance device operates, noise may be generated due to its rotation. This noise can be uncomfortable for the user. Furthermore, the level of noise may vary depending on the motor speed.

[0004] Some method of reducing noise may be necessary to reduce user discomfort.

[0005] According to one embodiment, a wearable device includes a base body positioned at a waist area of ​​a user when the wearable device is worn on the user's body, a waist support frame and a leg support frame for supporting at least a part of the user's body, a thigh fastening part for fixing the leg support frame to the user's thigh, an inertial measurement unit (IMU) disposed within the base body, an audio output module, a drive module for generating a torque applied to the user's leg, wherein the drive module is positioned between the waist support frame and the leg support frame, and the drive module includes a motor and at least one Hall sensor for sensing a rotation angle of a shaft of the motor, and a control module for controlling the wearable device, wherein the control module includes at least one processor and a memory for storing instructions, wherein when the instructions are individually or collectively executed by the at least one processor, the wearable device at least: receives a first sensing signal from the at least one Hall sensor for sensing a rotation angle of the shaft of the motor, and drives the shaft of the motor based on the first sensing signal. A first rotational angular velocity can be determined, a first sound volume corresponding to the first rotational angular velocity can be determined, and a first target audio can be output at the first sound volume through the audio output module.

[0006] In one embodiment, an audio output method performed by a wearable device comprises: a base body positioned at a waist area of ​​a user when the wearable device is worn on the user's body; a waist support frame and a leg support frame for supporting at least a part of the user's body; a thigh fastening part for fixing the leg support frame to the user's thigh; an IMU (inertial measurement unit) disposed within the base body; an audio output module; a drive module for generating a torque applied to the user's leg, wherein the drive module is positioned between the waist support frame and the leg support frame, and the drive module includes a motor and at least one Hall sensor for sensing a rotation angle of a shaft of the motor; and a control module for controlling the wearable device, wherein the control module includes at least one processor and a memory for storing instructions; and an operation of receiving a first sensing signal from the at least one Hall sensor for sensing a rotation angle of the shaft of the motor; an operation of determining a first rotation angular velocity of the shaft of the motor based on the first sensing signal; and an operation of determining a first rotation angular velocity of the shaft of the motor based on the first rotation angular velocity of ... It may include an action of determining a first sound volume corresponding to the angular velocity, and an action of outputting a first target audio at the first sound volume through the audio output module.

[0007] The above and other aspects, features and advantages of specific embodiments of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0008] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0009] FIG. 2 is a diagram illustrating an exercise management system including a wearable device and an electronic device according to one embodiment.

[0010] FIG. 3 illustrates a rear schematic diagram of a wearable device according to one embodiment.

[0011] FIG. 4 illustrates a left side view of a wearable device according to one embodiment.

[0012] FIGS. 5A and 5B are diagrams illustrating the configuration of a control system of a wearable device according to one embodiment.

[0013] FIG. 5c is a diagram illustrating the configuration of a drive module according to one embodiment.

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

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

[0016] Figure 8 illustrates a motor and motor driver circuit according to one embodiment.

[0017] FIG. 9A illustrates a magnet with a changing rotation angle and a plurality of Hall sensors arranged around the magnet, according to one embodiment.

[0018] FIG. 9b illustrates a plurality of sensing signals of a plurality of Hall sensors sensed for rotation of a magnet, according to one embodiment.

[0019] FIG. 9c illustrates a first rotation angle trajectory of a magnet determined based on a plurality of sensing signals of a plurality of Hall sensors according to one embodiment, and a linear second rotation angle trajectory determined based on the first rotation angle trajectory.

[0020] Figure 10 illustrates noise and noise-specific frequencies according to motor rotation, according to one embodiment.

[0021] FIG. 11 is a flowchart of an audio output method performed by a wearable device according to one embodiment.

[0022] FIG. 12 is a flowchart of a method for determining the rotational angular velocity of a motor according to one embodiment.

[0023] FIGS. 13a and 13b illustrate frequency domain signal graphs for motor noise and audio output for the motor noise according to a user's walking speed, according to one embodiment.

[0024] FIG. 14 is a flowchart of an audio output method for determining sound volume based on different viewpoints, according to one embodiment.

[0025] FIG. 15 is a flowchart of an audio output method performed by a wearable device including a microphone according to one embodiment.

[0026] FIG. 16 is a flowchart of an audio output method performed by a wearable device exchanging data with an external device according to one embodiment.

[0027] Hereinafter, various embodiments of the present disclosure will be described with reference to the attached drawings. However, this is not intended to limit the present disclosure to specific embodiments, and it should be understood that the present disclosure encompasses various modifications, equivalents, and / or alternatives of the embodiments.

[0028] FIG. 1 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. 1, in one embodiment, a wearable device (100) may be a device worn on a user's (110) body to assist the user's (110) walking, exercise, and / or work. In one embodiment, the wearable device (100) may also be used to measure the user's (110) physical ability (e.g., walking ability, exercise ability, exercise posture). In the embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking assistance device', or 'exercise assistance device'. The user (110) may be a human or an animal, but is not limited thereto. A wearable device (100) may be worn on a user's (110) body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to apply external forces, such as assistance force and / or resistance force, to the body movements of the user (110). Assistance force refers to a force applied in the same direction as the body movement direction of the user (110), and represents a force that assists the body movements of the user (110). Resistance force refers to a force applied in the opposite direction to the body movement direction of the user (110), and represents a force that hinders the body movements of the user (110). The term 'resistance force' may also be referred to as 'exercise load'.

[0030] In one embodiment, the wearable device (100) may operate in a walking assistance mode to assist the walking of a user (110). In the walking assistance mode, the wearable device (100) may assist the walking of the user (110) by applying an assistive force generated from a driving module (120) of the wearable device (100) to the body of the user (110). The wearable device (100) may assist the force required for the walking of the user (110), thereby enabling the user (110) to walk independently or to walk for a long time, thereby expanding the walking ability of the user (110). The wearable device (100) may also help improve the walking of a pedestrian with abnormal walking habits or walking posture.

[0031] In one embodiment, the wearable device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110). In the exercise assistance mode, the wearable device (100) may impede the body movement of the user (110) or provide resistance to the body movement of the user (110) by applying a resistance force generated from the driving module (120) to the body of the user (110). If the wearable device (100) is a hip-type wearable device worn on the waist (or pelvis) and legs (e.g., thighs) of the user (110), the wearable device (100) may provide an exercise load to the leg movement of the user (110) while being worn on the legs, thereby further enhancing the exercise effect on the legs of the user (110). In one embodiment, the wearable device (100) may also apply an assistive force to the body of the user (110) to assist the exercise of the user (110). For example, when a disabled person or an elderly person wears a wearable device (100) to exercise, the wearable device (100) may provide assistive force to assist body movements during the exercise. In one embodiment, the wearable device (100) may provide a combination of assistive force and resistance force by exercise section or time section, such as providing assistive force in some exercise sections and resistance force in other exercise sections.

[0032] In one embodiment, the wearable device (100) may operate in a physical ability measurement mode for measuring the physical ability of a user (110). The wearable device (100) may measure movement information of the user (110) using sensors (e.g., an angle sensor (125), an inertial measurement unit (IMU) (135)) provided in the wearable device (100) while the user (110) walks or performs exercise, and may evaluate the physical ability of the user (110) based on the measured movement information. For example, the gait index or exercise ability index (e.g., muscle strength, endurance, balance, exercise movement) of the user (110) may be estimated through the movement information of the user (110) measured by the wearable device (100). The physical ability measurement mode may include an exercise movement measurement mode for measuring the exercise movement of the user (110).

[0033] In various embodiments of the present disclosure, for convenience of explanation, a hip-type wearable device (100) as illustrated in FIG. 1 is described as an example, but is not limited thereto. As described above, the wearable device (100) may be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly, thighs), and the shape and configuration of the wearable device (100) may vary depending on the body part on which it is worn.

[0034] According to one embodiment, the wearable device (100) may include a support frame for supporting the body of the user (110) when the wearable device (100) is worn on the body of the user (110) (e.g., leg support frame (50, 55) and waist support frame (20) of FIG. 3), a sensor module for obtaining sensor data including movement information about the body movement of the user (110) (e.g., leg movement, upper body movement) (e.g., sensor module (520) of FIG. 5A), a driving module (120) for generating a torque applied to the leg of the user (110) (e.g., driving module (35, 45) of FIG. 3), and a control module (130) for controlling the wearable device (100) (e.g., control module (510) of FIGS. 5A and 5B).

[0035] The sensor module may include an angle sensor (125) and an inertial measurement device (135). The angle sensor (125) may measure a rotation angle of a leg support frame of the wearable device (100) corresponding to a hip joint angle value of the user (110). The rotation angle of the leg support frame measured by the angle sensor (125) may be estimated to be a hip joint angle value (or leg angle value) of the user (110). The angle sensor (125) may include, for example, an encoder, a resolver, a home sensor, and / or a hall sensor. In one embodiment, the angle sensors (125) may be located near the right hip joint and the left hip joint of the user (110), respectively. The inertial measurement device (135) may include an acceleration sensor and / or an angular velocity sensor, and may measure a change in acceleration and / or angular velocity according to a movement of the user (110). The inertial measurement device (135) can measure, for example, the upper body movement value of the user (110) corresponding to the movement value of the waist support frame (or base body (base body (80) of FIG. 3)) of the wearable device (100). The movement value of the waist support frame measured by the inertial measurement device (135) can be estimated as the upper body movement value of the user (110).

[0036] In one embodiment, the control module (130) and the inertial measurement device (135) may be placed in the base body of the wearable device (100) (e.g., the base body (80) of FIG. 3). The base body may be positioned at the lumbar region (waist region) of the user (110) while the user (110) wears the wearable device (100). The base body may be formed or attached to the outside of the lumbar support frame of the wearable device (100). The base body may be mounted at the lumbar region of the user (110) to provide a cushioning feeling to the lumbar region of the user (110) and support the lumbar region of the user (110) together with the lumbar support frame.

[0037] FIG. 2 is a diagram illustrating an exercise management system including a wearable device and an electronic device according to one embodiment.

[0038] Referring to FIG. 2, the exercise management system (200) may include a wearable device (100) worn on a user's body, an electronic device (210), another wearable device (220), and a server (230). In one embodiment, the exercise management system (200) may omit at least one of these devices (e.g., another wearable device (220) or the server (230)) or may add one or more other devices (e.g., a dedicated controller device of the wearable device (100)).

[0039] In one embodiment, the wearable device (100) may be worn on the user's body in a walking assistance mode to assist the user's movements. For example, the wearable device (100) may be worn on the user's leg to generate an assistive force to assist the user's leg movements, thereby assisting the user's walking.

[0040] In one embodiment, the wearable device (100) may generate and apply to the user's body a resistance force to hinder the user's body movement or an assistive force to assist the user's body movement in order to enhance the user's exercise effect in the exercise assistance mode. In the exercise assistance mode, the user may select an exercise program (e.g., squats, split lunges, dumbbell squats, lunges and knee ups, stretching, etc.) to be exercised using the wearable device (100) through the electronic device (210) and / or an exercise intensity to be applied to the wearable device (100). The wearable device (100) may control the drive module of the wearable device (100) according to the exercise program selected by the user, and may acquire sensor data including information on the user's movement through the sensor module. The wearable device (100) may adjust the strength of the resistance force or the assistive force to be applied to the user according to the exercise intensity selected by the user. For example, the wearable device (100) can control the drive module to generate a resistance corresponding to the exercise intensity selected by the user.

[0041] In one embodiment, the wearable device (100) may be used to measure a user's physical ability in conjunction with an electronic device (210). The wearable device (100) may operate in a physical ability measurement mode, which is a mode for measuring the user's physical ability under the control of the electronic device (210), and may transmit sensor data acquired by the user's movements in the physical ability measurement mode to the electronic device (210). The electronic device (210) may analyze the sensor data received from the wearable device (100) to estimate the user's physical ability.

[0042] The electronic device (210) can communicate with the wearable device (100), remotely control the wearable device (100), or provide the user with status information about the status of the wearable device (100) (e.g., booting status, charging status, sensing status, error status). The electronic device (210) can receive sensor data acquired by a sensor of the wearable device (100) from the wearable device (100), and estimate the user's physical ability or exercise result based on the received sensor data. In one embodiment, when the user wears the wearable device (100) and exercises, the wearable device (100) can acquire sensor data including movement information of the user using sensors, and transmit the acquired sensor data to the electronic device (210). The electronic device (210) can extract the user's movement value from the sensor data, and evaluate the user's exercise motion based on the extracted movement value. The electronic device (210) can provide the user with exercise motion measurement values ​​and exercise motion evaluation information for the user's exercise motion through a graphical user interface.

[0043] In one embodiment, the electronic device (210) may execute a program (e.g., an application) for controlling the wearable device (100), and the user may adjust the operation or setting values ​​(e.g., the torque intensity output from the driving module (e.g., the driving module (35, 45) of FIG. 3), the volume of the audio output from the sound output module (e.g., the sound output module (550) of FIGS. 5A and 5B), the brightness of the light unit (e.g., the light unit (85) of FIG. 3)) of the wearable device (100) through the program. The program executed in the electronic device (210) may provide a graphical user interface (GUI) for interaction with the user. The electronic device (210) may be a device of various forms. For example, the electronic device (210) may include, but is not limited to, a portable communication device (e.g., a smartphone), a computer device, an access point, a portable multimedia device, or a home appliance device (e.g., a television, an audio device, a projector device).

[0044] According to one embodiment, the electronic device (210) may be connected to the server (230) using short-range wireless communication or cellular communication. The server (230) may receive user profile information of a user using the wearable device (100) from the electronic device (210) and store and manage the received user profile information. The user profile information may include, for example, information on at least one of name, age, gender, height, weight, or body mass index (BMI). The server (230) may receive exercise history information on exercise performed by the user from the electronic device (210) and store and manage the received exercise history information. The server (230) may provide various exercise programs or physical ability measurement programs that may be provided to the user to the electronic device (210).

[0045] According to one embodiment, the wearable device (100) and / or the electronic device (210) may be connected to another wearable device (220). The other wearable device (220) may be, for example, wireless earphones (222), a smartwatch (224), smartglasses (226), or a smartring (228), but is not limited to the aforementioned devices. In one embodiment, the smartwatch (224) may measure a biosignal including heart rate information of the user, and transmit the measured biosignal to the electronic device (210) and / or the wearable device (100). The electronic device (210) may estimate heart rate information of the user (e.g., current heart rate, maximum heart rate, average heart rate) based on the biosignal received from the smartwatch (224), and may provide the estimated heart rate information to the user. In one embodiment, the smart ring (226) can measure a bio-signal including the user's heart rate information and transmit the measured bio-signal to the electronic device (210) and / or the wearable device (100). The electronic device (210) can estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) based on the bio-signal received from the smart ring (228) and provide the estimated heart rate information to the user.

[0046] In one embodiment, the user's exercise result information, physical ability information, and / or exercise motion evaluation information evaluated by the electronic device (210) may be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). Status information of the wearable device (100) may also be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). In one embodiment, the wearable device (100), the electronic device (210), and the other wearable device (220) may be connected to each other through wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0047] In one embodiment, the wearable device (100) may provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100) according to a control signal received from the electronic device (210). For example, the wearable device (100) may provide visual feedback through a light unit (e.g., light unit (85) of FIG. 3) and may provide auditory feedback through an audio output module (e.g., audio output module (550) of FIGS. 5A and 5B). The wearable device (100) may include a haptic module and may provide tactile feedback in the form of vibration to the user's body through the haptic module. The electronic device (210) may also provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100).

[0048] In one embodiment, the electronic device (210) may present personalized exercise goals to the user in an exercise assistance mode. The personalized exercise goals may include exercise volume targets for each of the exercise types (e.g., strength training, balance training, aerobic training) that the user wishes to perform, as determined by the electronic device (210) and / or the server (230). When the server (230) determines the exercise volume targets, the server (230) may transmit information about the determined exercise volume targets to the electronic device (210). The electronic device (210) may present exercise volume targets for the exercise types of strength training, aerobic training, and balance training in a personalized manner according to the exercise program to be performed (e.g., squats, split lunges, lunge and knee-ups) and / or the user's physical characteristics (e.g., age, height, weight, BMI). The electronic device (210) may display a GUI screen indicating the exercise volume targets for each exercise type on the display.

[0049] In one embodiment, the electronic device (210) and / or the server (230) may include a database storing information on a plurality of exercise programs that may be provided to the user through the wearable device (100). To achieve the user's exercise goal, the electronic device (210) and / or the server (230) may recommend an exercise program suitable for the user. The exercise goal may include, for example, at least one of muscle strength improvement, physical strength improvement, cardiopulmonary endurance improvement, core stability improvement, flexibility improvement, or symmetry improvement. The electronic device (210) and / or the server (230) may store and manage exercise programs performed by the user and the results of the exercise programs performed.

[0050] Figure 3 illustrates a rear schematic diagram of a wearable device according to one embodiment. Figure 4 illustrates a left side view of the wearable device according to one embodiment.

[0051] Referring to FIGS. 3 and 4, a wearable device (100) according to one embodiment may include a base body (80), a waist support frame (20), a driving module (35, 45), a leg support frame (50, 55), a thigh fastening part (1, 2), and a waist fastening part (60). The base body (80) may include a lighting unit (85). In one embodiment, the wearable device (100) may omit at least one of these components (e.g., the lighting unit (85)), or may have one or more other components (e.g., a haptic module) added.

[0052] The base body (80) can be positioned on the user's lower back while the user wears the wearable device (100). The base body (80) can be mounted on the user's lower back to provide a cushioning feeling to the user's lower back and support the user's lower back. The base body (80) can be hung over the user's buttocks (hip area) to prevent the wearable device (100) from falling downward due to gravity while the user wears the wearable device (100). The base body (80) can distribute a portion of the weight of the wearable device (100) to the user's lower back while the user wears the wearable device (100). The base body (80) can be connected to the lower back support frame (20). The base body (80) can be provided with lower back support frame connection elements (not shown) that can be connected to the lower back support frame (20) at both ends.

[0053] In one embodiment, a lighting unit (85) may be disposed outside the base body (80). The lighting unit (85) may include a light source (e.g., a light emitting diode (LED)). The lighting unit (85) may emit light under the control of a control module (not shown) (e.g., the control module (510) of FIGS. 5A and 5B). According to an embodiment, the control module may control the lighting unit (85) so that visual feedback corresponding to the status of the wearable device (100) may be provided (or output) to the user through the lighting unit (85).

[0054] The lumbar support frame (20) may extend from both ends of the base body (80). The user's lower back may be accommodated on the inside of the lumbar support frame (20). The lumbar support frame (20) may include at least one rigid body beam. Each beam may have a curved shape having a predetermined curvature so as to surround the user's lower back. A lumbar fastening part (60) may be connected to an end of the lumbar support frame (20). A driving module (35, 45) may be connected to the lumbar support frame (20).

[0055] In one embodiment, a control module, an inertial measurement device (not shown) (e.g., an inertial measurement device (135) of FIG. 1, an inertial measurement device (522) of FIG. 5B), a communication module (not shown) (e.g., a communication module (516) of FIGS. 5A and 5B), and a battery (not shown) may be arranged inside the base body (80). The base body (80) may protect the control module, the inertial measurement device, the communication module, and the battery. The control module may generate a control signal for controlling the operation of the wearable device (100). The control module may include a control circuit including a processor and a memory for controlling the actuators of the drive modules (35, 45). The control module may further include a power supply module (not shown) for supplying power from the battery to each component of the wearable device (100).

[0056] In one embodiment, the wearable device (100) may include a sensor module (not shown) (e.g., sensor module (520) of FIG. 5A) that obtains sensor data from one or more sensors. The sensor module may obtain sensor data that changes according to the user's movement. In one embodiment, the sensor module may obtain sensor data including movement information of the user and / or movement information of components of the wearable device (100). The sensor module may include, but is not limited to, an inertial measurement device (e.g., inertial measurement device (135) of FIG. 1, inertial measurement device (522) of FIG. 5B) for measuring a movement value of the user's upper body or a movement value of the waist support frame (20) and an angle sensor (e.g., angle sensor (125) of FIG. 1, first angle sensor (524) and second angle sensor (524-1) of FIG. 5B) for measuring a hip joint angle value of the user or a movement value of the leg support frames (50, 55). For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a biosignal sensor, or a proximity sensor.

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

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

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

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

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

[0062] The thigh fastening parts (1, 2) are connected to the leg support frame (50, 55) and can fix the leg support frame (50, 55) to the thigh. The thigh fastening parts (1, 2) may include a first thigh fastening part (2) for fixing the first leg support frame (55) to the user's right thigh and a second thigh fastening part (1) for fixing the second leg support frame (50) to the user's left thigh.

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

[0064] The first fastening frame and the second fastening frame may be arranged to, for example, surround at least a portion of the user's thigh, thereby preventing the user's thigh from being dislodged from the leg support frame (50, 55). The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

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

[0066] FIGS. 5A and 5B are diagrams illustrating the configuration of a control system of a wearable device according to one embodiment.

[0067] Referring to FIG. 5A, a wearable device (100) may be controlled by a control system (500). The control system (500) may include a control module (510), a communication module (516), a sensor module (520), a driving module (530), an input module (540), and an audio output module (550). In one embodiment, the control system (500) may omit at least one of these components (e.g., an audio output module (550)), or may have one or more other components (e.g., a haptic module) added.

[0068] The drive module (530) may include a motor (534) capable of generating power (e.g., torque) and a motor driver circuit (532) for driving the motor (534). In the embodiment of FIG. 5A, a drive module (530) including one motor driver circuit (532) and one motor (534) is illustrated, but this is merely an example. Referring to FIG. 5B, as in the control system (500-1) illustrated in FIG. 5B, there may be a plurality of motor driver circuits (532, 532-1) and a plurality of motors (534, 534-1), respectively (e.g., two or more). A drive module (530) including a motor driver circuit (532) and a motor (534) may correspond to the first drive module (45) of FIG. 3, and a drive module (530-1) including a motor driver circuit (532-1) and a motor (534-1) may correspond to the second drive module (35) of FIG. 3. The description of each of the motor driver circuit (532) and the motor (534) described below may also be applied to the motor driver circuit (532-1) and the motor (534-1) illustrated in FIG. 5b.

[0069] According to one embodiment, the drive module (530) may include at least one Hall sensor for sensing the rotation angle of the shaft of the motor (534). The configuration or operation of the Hall sensor is described in detail below with reference to FIGS. 9A to 9C.

[0070] Returning to FIG. 5A, the sensor module (520) may include a sensor circuit including at least one sensor. The sensor module (520) may include sensor data including movement information of the user or movement information of the wearable device (100). The sensor module (520) may transmit the acquired sensor data to the control module (510). The sensor module (520) may include an inertial measurement device (522) and an angle sensor (e.g., a first angle sensor (524) and a second angle sensor (524-1)) as illustrated in FIG. 5B. The inertial measurement device (522) may measure movement values ​​of the user's upper body. For example, the inertial measurement device (522) may sense accelerations of the X-axis, Y-axis, and Z-axis and angular velocities of the X-axis, Y-axis, and Z-axis according to the movement of the user. The inertial measurement device (522) can be used to measure, for example, at least one of forward and backward tilt, left and right tilt, or rotation of the user's body. In addition, the inertial measurement device (522) can obtain movement values ​​(e.g., acceleration values ​​and angular velocity values) of a lumbar support frame (e.g., lumbar support frame (20) of FIG. 3) of the wearable device. The movement values ​​of the lumbar support frame can correspond to movement values ​​of the user's upper body.

[0071] The angle sensor can measure a hip joint angle value according to the movement of the user's legs. Sensor data that can be measured by the angle sensor can include, for example, information on the hip joint angle value of the right leg, the hip joint angle value of the left leg, and the movement direction of the legs. For example, the first angle sensor (524) of FIG. 5B can obtain the hip joint angle value of the user's right leg, and the second angle sensor (524-1) can obtain the hip joint angle value of the user's left leg. Each of the first angle sensor (524) and the second angle sensor (524-1) can include, for example, an encoder, a resolver, a home sensor, and / or a hall sensor. In addition, the angle sensor can obtain a movement value of the leg support frame of the wearable device (100). For example, the first angle sensor (524) can obtain a movement value of the first leg support frame (55), and the second angle sensor (524-1) can obtain a movement value of the second leg support frame (50). The movement value of the leg support frame may correspond to the hip joint angle value. In one embodiment, the angle sensor may include a Hall sensor for sensing the rotational angle of the shaft of the motor (534, 534-1).

[0072] In one embodiment, the sensor module (520) may further include at least one of a position sensor for obtaining a position value of the wearable device (100), a proximity sensor for detecting the proximity of an object, a biosignal sensor for detecting a user's biosignal, or a temperature sensor for measuring an ambient temperature.

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

[0074] The audio output module (550) can output audio signals to the outside of the wearable device (100). The audio output module (550) can provide auditory feedback to the user. For example, the audio output module (550) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound, an exercise start notification sound), a music content, or a guide voice to audibly inform specific information (e.g., exercise result information, exercise movement evaluation information).

[0075] In one embodiment, the control system (500) may further include a battery (not shown) for supplying power to each component of the wearable device (100). The wearable device (100) may convert the power of the battery to an operating voltage of each component of the wearable device (100) and supply the converted power to each component.

[0076] The drive module (530) can generate an external force applied to the user's leg under the control of the control module (510). The drive module (530) can generate a torque applied to the user's leg based on a control signal generated by the control module (510). The control module (510) can transmit the control signal to the motor driver circuit (532). The motor driver circuit (532) can control the operation of the motor (534) by generating a current signal (or voltage signal) corresponding to the control signal and supplying the current signal to the motor (534). In some cases, the current signal may not be supplied to the motor (534). When the motor (534) is driven by supplying a current signal to the motor (534), the motor (534) can generate a torque for an assistive force that assists the movement of the user's leg or a resistive force that hinders the movement of the leg.

[0077] The control module (510) controls the overall operation of the wearable device (100) and can generate control signals for controlling each component (e.g., communication module (516), driving module (530)). The control module (510) may include a processor (512) and a memory (514). For example, the control module (510) may be located within the base body (80) of the wearable device (100) or within the driving module (120, 35, 45).

[0078] The processor (512) may, for example, execute software to control at least one other component (e.g., hardware or software component) of the wearable device (100) connected to the processor (512) and perform various data processing or calculations. The software may include an application for providing a GUI. According to one embodiment, as at least a part of the data processing or calculation, the processor (512) may store instructions or data received from another component (e.g., a communication module (516)) in the memory (514), process the instructions or data stored in the memory (514), and store the result data after the processing in the memory (514). According to one embodiment, the processor (512) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or together therewith. The auxiliary processor may be implemented separately from the main processor or as part of it.

[0079] The memory (514) can store various data used by at least one component (e.g., processor (512)) of the control module (510). The data can include, for example, input data or output data for software, sensor data, and commands related thereto. The memory (514) can include volatile memory or non-volatile memory (e.g., RAM, DRAM, SRAM).

[0080] The communication module (516) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the control module (510) and other components of the wearable device (100) or an external electronic device (e.g., the electronic device (210) or another wearable device (220) of FIG. 2), and the performance of communication through the established communication channel. The communication module (516) may include a communication circuit for performing a communication function. The communication module (516) may, for example, receive a control signal from an electronic device (e.g., the electronic device (210)) and transmit sensor data acquired by the sensor module (520) to the electronic device. According to one embodiment, the communication module (516) may operate independently from the processor (512) and may include one or more communication processors (not shown) that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (516) may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and / or a wired communication module. Any of these communication modules may communicate with other components of the wearable device (100) and / or external electronic devices via a short-range communication network such as, for example, Bluetooth, wireless fidelity (Wi-Fi), or infrared data association (IrDA), or a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN).

[0081] In one embodiment, the control system (500, 500-1) may further include a haptic module (not shown). The haptic module may provide tactile feedback to a user under the control of the processor (512). The haptic module may convert an electrical signal into a mechanical stimulus (e.g., vibration or movement) or an electrical stimulus that a user may perceive through a tactile or kinesthetic sense. The haptic module may include a motor, a piezoelectric element, or an electrical stimulation device. In one embodiment, the haptic module may be located in at least one of the base body (e.g., the base body (80)), the first thigh fastening portion (2), or the second thigh fastening portion (1).

[0082] FIG. 5c is a diagram illustrating the configuration of a drive module according to one embodiment.

[0083] According to one embodiment, the drive module (530) may include a motor driver circuit (532), a motor (534), a processor (535), a memory (536), and a current sensor (537).

[0084] According to one embodiment, the drive module (530) includes a processor (535) and a memory (536) that stores instructions executable by the processor (535), and when the instructions are executed by the processor (535), the drive module (530) can determine the state of the motor (534). For example, the processor (535) and the memory (536) can constitute a micro controller unit (MCU).

[0085] The drive module (530) may further include a motor (534) and a current sensor (537). For example, the current sensor (537) may sense the value of the current flowing through each of the coils (e.g., 3-phase coils) of the motor (534).

[0086] FIG. 6 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0087] Referring to FIG. 6, the wearable device (100) can communicate with the electronic device (210). For example, the electronic device (210) may be a user terminal of a user using the wearable device (100) or a dedicated controller device for the wearable device (100). According to one embodiment, the wearable device (100) and the electronic device (210) may be connected to each other through short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0088] In one embodiment, the electronic device (210) may execute an application to check the status of the wearable device (100) or to control or operate the wearable device (100). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (100) or determining the operation mode of the wearable device (100) may be displayed on the display (212) of the electronic device (210). The UI may be, for example, a graphical user interface (GUI).

[0089] In one embodiment, a user may input a command to control the operation of the wearable device (100) (e.g., a command to execute a walking assistance mode, an exercise assistance mode, or a physical ability measurement mode) or change the settings of the wearable device (100) through a GUI screen on a display (212) of the electronic device (210). The electronic device (210) may generate a control command (or a control signal) corresponding to the motion control command or setting change command input by the user, and transmit the generated control command to the wearable device (100). The wearable device (100) may operate according to the received control command, and transmit a control result according to the control command and / or sensor data measured by a sensor module of the wearable device (100) to the electronic device (210). The electronic device (210) may analyze the control result and / or sensor data to provide the user with result information (e.g., walking ability information, exercise ability information, exercise movement evaluation information) through the GUI screen.

[0090] In one embodiment, the electronic device (210) may receive ambient noise audio. For example, the ambient noise audio may include noise audio generated from the wearable device (100). The electronic device (210) may determine a natural frequency of the noise audio based on the received noise audio. The wearable device (100) may receive the natural frequency of the noise audio received by the electronic device (210) from the electronic device (210).

[0091] FIG. 7 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0092] Referring to FIG. 7, the electronic device (210) may include a processor (710), a memory (720), a communication module (730), a display module (740), an audio output module (750), and an input module (760). In one embodiment, the electronic device (210) may omit at least one of these components (e.g., an audio output module (750)), or may have one or more other components (e.g., a sensor module, a battery) added.

[0093] The processor (710) may control at least one other component (e.g., hardware or software component) of the electronic device (210) and perform various data processing or calculations. According to one embodiment, as at least a part of the data processing or calculation, the processor (710) may store commands or data received from another component (e.g., communication module (730)) in the memory (720), process the commands or data stored in the memory (720), and store result data in the memory (720).

[0094] According to one embodiment, the processor (710) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or in conjunction therewith.

[0095] The memory (720) can store various data used by at least one component (e.g., the processor (710) or the communication module (730)) of the electronic device (210). The data can include, for example, input data or output data for a program (e.g., an application) and commands related thereto. The memory (720) can include at least one instruction executable by the processor (710). The memory (720) can include volatile memory or non-volatile memory.

[0096] The communication module (730) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device (210) and another electronic device (e.g., wearable device (100), another wearable device (220), server (230)), and the performance of communication through the established communication channel. The communication module (730) may include a communication circuit for performing a communication function. The communication module (730) may operate independently from the processor (710) (e.g., application processor) and may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (290) may include a wireless communication module (e.g., a Bluetooth communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) that performs wireless communication, or a wired communication module (e.g., a LAN communication module or a power line communication module). The communication module (730) may, for example, transmit a control command to the wearable device (100) and receive at least one of sensor data including body movement information of a user wearing the wearable device (100), status data of the wearable device (100), or control result data corresponding to the control command from the wearable device (100).

[0097] The display module (740) can visually provide information to an external party (e.g., a user) of the electronic device (210). The display module (740) may include, for example, an LCD or OLED display, a holographic device, or a projector device. The display module (740) may further include a control circuit for controlling display operation. In one embodiment, the display module (740) may further include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of a force generated by the touch.

[0098] The audio output module (750) can output an audio signal to the outside of the electronic device (210). The audio output module (750) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound), music content, or a guide voice based on the status of the wearable device (100). If it is determined that the wearable device (100) is not properly worn on the user's body, for example, the audio output module (750) can output a guide voice to notify the user of an abnormal wearing or to induce normal wearing. The audio output module (750) can also output a guide voice corresponding to exercise evaluation information or exercise result information that evaluates the user's exercise, for example.

[0099] The input module (760) can receive commands or data to be used in a component of the electronic device (210) (e.g., a processor (710)) from an external source (e.g., a user) of the electronic device (210). The input module (760) can include an input component circuit and can receive user input. The input module (760) can include, for example, a key (e.g., a button) or a touch screen.

[0100] Figure 8 illustrates a motor and motor driver circuit according to one embodiment.

[0101] According to one embodiment, the motor (800) (e.g., motor (534) of FIG. 5A) may include a U-phase coil (802), a V-phase coil (804), and a W-phase coil (806). The motor (800) may be a three-phase motor.

[0102] According to one embodiment, a motor driver circuit (810) (e.g., motor driver circuit (532) of FIG. 5A) may include a switch (811), a first transistor (812), a second transistor (813), a third transistor (814), a fourth transistor (815), a fifth transistor (816), and a sixth transistor (817). Each of the first transistor (812), the second transistor (813), and the third transistor (814) may be an upper transistor of the motor driver circuit (810). Each of the fourth transistor (815), the fifth transistor (816), and the sixth transistor (817) may be a lower transistor of the motor driver circuit (810).

[0103] A switch (811) may be used to control the driving voltage applied to the motor driver circuit (810). The driving voltage may be generated by a driving power source (820). For example, the driving power source (820) may be a system power source or a battery.

[0104] The source terminal of the first transistor (812) may be connected to the U-phase coil (802) of the motor (800). The drain terminal of the fourth transistor (815) may be connected to the U-phase coil (802) of the motor (800). The source terminal of the second transistor (813) may be connected to the V-phase coil (804) of the motor (800). The drain terminal of the fifth transistor (816) may be connected to the V-phase coil (804) of the motor (800). The source terminal of the third transistor (814) may be connected to the W-phase coil (806) of the motor (800). The drain terminal of the sixth transistor (817) may be connected to the W-phase coil (802) of the motor (800).

[0105] According to one embodiment, a processor (e.g., a processor (512) of FIG. 5A) of a control module (e.g., a control module (130) of FIG. 1 or a control module (510) of FIG. 5A) of a wearable device (e.g., a wearable device (100) of FIG. 1) may control the operations of a first transistor (812), a second transistor (813), a third transistor (814), a fourth transistor (815), a fifth transistor (816), and a sixth transistor (817) so that a motor (800) is controlled based on PWM. For example, the processor may control the gate voltages of each of the first transistor (812), the second transistor (813), the third transistor (814), the fourth transistor (815), the fifth transistor (816), and the sixth transistor (817) for PWM.

[0106] According to one embodiment, a processor (e.g., processor (535) of FIG. 5C) of a drive module (e.g., drive module (530) of FIG. 5C) can control the operation of a first transistor (812), a second transistor (813), a third transistor (814), a fourth transistor (815), a fifth transistor (816), and a sixth transistor (817) so that the motor (800) is controlled based on PWM.

[0107] The shaft (or camshaft) of the motor (800) can rotate based on currents applied to the U-phase coil (802), the V-phase coil (804), and the W-phase coil (806). For example, when the shaft of the motor (800) rotates, the magnet connected to the shaft can also rotate.

[0108] According to one embodiment, a current sensor (e.g., current sensor (537) of FIG. 5c) can measure currents applied to the U-phase coil (802), the V-phase coil (804), and the W-phase coil (806).

[0109] According to one embodiment, the motor (800) may include a plurality of Hall sensors capable of sensing the position of the magnet. For example, the Hall sensor may output 1 as a sensing value when the N pole of the magnet is located near the Hall sensor, and may output 0 as a sensing value when the S pole of the magnet is located. For example, if half of a donut-shaped magnet is the N pole and the other half is the S pole, the time between the time when the sensing value of the Hall sensor for the donut-shaped magnet rotating with respect to the position of the fixed Hall sensor changes from 0 to 1 and the time when the sensing value changes from 1 to 0 corresponds to the time when the magnet rotates 180°. When a plurality of Hall sensors are used, the rotation angle of the magnet can be determined. The accuracy of the determined rotation angle can be increased as the number of Hall sensors arranged around the magnet increases.

[0110] Since the magnet rotates together with the shaft of the motor (800), the determined rotation angle of the magnet can correspond to the rotation angle of the shaft of the motor (800). The rotation angle of the shaft of the motor (800) can be used to control the torque output through the motor (800). For example, if the shaft of the motor (800) must rotate 30 times to adjust the rotation angle of the leg support frame by 30°, the motor (800) can be controlled so that the shaft of the motor (800) rotates 30 times by determining the rotation angle of the shaft of the motor (800). For example, the currents applied to the U-phase coil (802), the V-phase coil (804), and the W-phase coil (806) of the motor (800) can be controlled so that the shaft of the motor (800) rotates 30 times.

[0111] A method for determining the rotation angle of the shaft of the motor (800) is described in detail below with reference to FIGS. 9a, 9b, and 9c.

[0112] FIG. 9A illustrates a magnet with a changing rotation angle and a plurality of Hall sensors arranged around the magnet, according to one embodiment.

[0113] According to one embodiment, a motor (e.g., motor (534) of FIG. 5A or motor (800) of FIG. 8) may include a magnet (901). For example, the magnet (901) may be positioned within the motor so that it rotates in the same direction as the shaft (or camshaft) of the motor. For example, the magnet (901) may include a north pole (901a) and a south pole (901b).

[0114] According to one embodiment, the motor may include a plurality of Hall sensors. For example, the plurality of Hall sensors may include a first Hall sensor (902a), a second Hall sensor (902b), and a third Hall sensor (902c). The first Hall sensor (902a) (or the second Hall sensor (902b) or the third Hall sensor (902c)) may output 1 as a sensing value when the N pole (901a) of the magnet (901) is positioned near the first Hall sensor (902a) at a first time, and may output 0 as a sensing value when the S pole (901b) of the magnet (910) is positioned. The first Hall sensor (902a) may generate sensing values ​​sensed over time as a first sensing signal.

[0115] When half of the magnet (910) is the N pole (901a), the other half is the S pole (901b), and the first Hall sensor (902a), the second Hall sensor (902b), and the third Hall sensor (902c) are arranged at an angle of 120° from the center of the magnet (910), the rotation states of the magnet (901) can be distinguished into six.

[0116] For example, in the first rotation state (911) of the magnet (901), the first Hall sensor (902a) is positioned on the S pole (901b), the second Hall sensor (902b) is positioned on the S pole (901b), and the third Hall sensor (902c) is positioned on the N pole (901a). The first Hall sensor (902a) and the second Hall sensor (902b) can generate 0 as a sensing value, and the third Hall sensor (902c) can generate 1 as a sensing value.

[0117] For example, in the second rotation state (912) of the magnet (901), the first Hall sensor (902a) is positioned on the N pole (901a), the second Hall sensor (902b) is positioned on the S pole (901b), and the third Hall sensor (902c) is positioned on the N pole (901a). The first Hall sensor (902a) and the third Hall sensor (902c) can generate 1 as a sensing value, and the second Hall sensor (902b) can generate 0 as a sensing value.

[0118] For example, in the third rotation state (913) of the magnet (901), the first Hall sensor (902a) is positioned on the N pole (901a), the second Hall sensor (902b) is positioned on the S pole (901b), and the third Hall sensor (902c) is positioned on the S pole (901b). The first Hall sensor (902a) can generate 1 as a sensing value, and the second Hall sensor (902b) and the third Hall sensor (902c) can generate 0 as sensing values.

[0119] For example, in the fourth rotation state (914) of the magnet (901), the first Hall sensor (902a) is positioned on the N pole (901a), the second Hall sensor (902b) is positioned on the N pole (901a), and the third Hall sensor (902c) is positioned on the S pole (901b). The first Hall sensor (902a) and the second Hall sensor (902b) can generate 1 as a sensing value, and the third Hall sensor (902c) can generate 0 as a sensing value.

[0120] For example, in the fifth rotation state (915) of the magnet (901), the first Hall sensor (902a) is positioned on the S pole (901b), the second Hall sensor (902b) is positioned on the N pole (901a), and the third Hall sensor (902c) is positioned on the S pole (901b). The first Hall sensor (902a) and the third Hall sensor (902c) can generate 0 as a sensing value, and the second Hall sensor (902b) can generate 1 as a sensing value.

[0121] For example, in the sixth rotation state (916) of the magnet (901), the first Hall sensor (902a) is positioned on the S pole (901b), the second Hall sensor (902b) is positioned on the N pole (901a), and the third Hall sensor (902c) is positioned on the N pole (901a). The first Hall sensor (902a) can generate 0 as a sensing value, and the second Hall sensor (902b) and the third Hall sensor (902c) can generate 1 as a sensing value.

[0122] FIG. 9b illustrates a plurality of sensing signals of a plurality of Hall sensors sensed for rotation of a magnet, according to one embodiment.

[0123] With reference to FIG. 9a, while the aforementioned magnet (901) rotates once, the first Hall sensor (902a) can generate a first sensing signal (931), the second Hall sensor (902b) can generate a second sensing signal (932), and the third Hall sensor (902c) can generate a third sensing signal (933).

[0124] According to one embodiment, one rotation of the magnet (901) can be divided into six sections.

[0125] The first section (921) may be a section in which the values ​​of the first sensing signal and the second sensing signal are 0 (or low signal) and the value of the third sensing signal is 1 (or high signal). The rotation angle of the motor shaft at the time when the first section (921) starts may be defined as 0°. With reference to FIG. 9A, the first rotation state (911) of the magnet (901) described above may appear within the first section (921).

[0126] The second section (922) may be a section in which the values ​​of the first sensing signal and the third sensing signal are 1 (or a high signal) and the value of the second sensing signal is 0 (or a low signal). The rotation angle of the motor shaft at the time when the second section (922) starts may be defined as 60°. With reference to FIG. 9A, the second rotation state (912) of the magnet (901) described above may appear within the second section (922).

[0127] The third section (923) may be a section in which the value of the first sensing signal is 1 (or a high signal), and the values ​​of the second sensing signal and the third sensing signal are 0 (or a low signal). The rotation angle of the motor shaft at the time when the third section (923) starts may be defined as 120°. With reference to FIG. 9A, the third rotation state (913) of the magnet (901) described above may appear within the third section (923).

[0128] The fourth section (924) may be a section in which the values ​​of the first sensing signal and the second sensing signal are 1 (or a high signal) and the value of the third sensing signal is 0 (or a low signal). The rotation angle of the motor shaft at the time when the fourth section (924) starts may be defined as 180°. With reference to FIG. 9A, the fourth rotation state (914) of the magnet (901) described above may appear within the fourth section (924).

[0129] The fifth section (925) may be a section in which the values ​​of the first sensing signal and the third sensing signal are 0 (or low signal) and the value of the second sensing signal is 1 (or high signal). The rotation angle of the motor shaft at the time when the fifth section (925) starts may be defined as 240°. With reference to FIG. 9A, the fifth rotation state (915) of the magnet (901) described above may appear within the fifth section (925).

[0130] The sixth section (926) may be a section in which the value of the first sensing signal is 0 (or a low signal), and the values ​​of the second sensing signal and the third sensing signal are 1 (or a high signal). The rotation angle of the motor shaft at the time when the sixth section (926) starts may be defined as 300°. With reference to FIG. 9A, the sixth rotation state (916) of the magnet (901) described above may appear within the sixth section (926).

[0131] FIG. 9c illustrates a first rotation angle trajectory of a magnet determined based on a plurality of sensing signals of a plurality of Hall sensors according to one embodiment, and a linear second rotation angle trajectory determined based on the first rotation angle trajectory.

[0132] According to one embodiment, a first rotation angle trajectory (935) can be determined based on a plurality of sensing signals (e.g., a first sensing signal (931), a second sensing signal (932), and a third sensing signal (933) of FIG. 9b) generated by a plurality of Hall sensors (e.g., a first Hall sensor (902a), a second Hall sensor (902b), and a third Hall sensor (902c) of FIG. 9a) while a magnet (e.g., a magnet (901) of FIG. 9a) rotates twice.

[0133] According to one embodiment, a linear second rotation angle trajectory (940) may be determined based on the first rotation angle trajectory (935). For example, the second rotation angle trajectory (940) may be determined based on an integral of the first rotation angle trajectory (935) and a rotational speed of a shaft of a motor (e.g., motor (534) of FIG. 5A or motor (800) of FIG. 8). The second rotation angle trajectory may correspond to a rotation angle trajectory of a shaft of a motor generated by an encoder, a resolver, a home sensor, and / or a Hall sensor.

[0134] Figure 10 illustrates noise and noise-specific frequencies according to motor rotation, according to one embodiment.

[0135] When the shaft of a motor (e.g., the motor (534) of FIGS. 5A to 5C) rotates, the motor may generate operating noise. The operating noise generated by the motor may cause discomfort to a user (e.g., the user (110) of FIG. 1) of a wearable device (e.g., the wearable device (100) of FIG. 1). A sound masking function may be considered as a way to reduce the operating noise felt by the user. The term "rotation of the motor" below may be understood as the rotation of the shaft of the motor.

[0136] In one embodiment, the noise level of a motor's operation may vary depending on the motor's rotational speed. For example, a faster motor rotational speed may result in a higher noise level, while a slower motor rotational speed may result in a lower noise level. Since the noise level of a motor's operation varies depending on the motor's rotational speed, a sound masking function tailored to the noise level needs to be provided.

[0137] In one embodiment, even if the magnitude of the motor's operating noise changes, the natural frequency characteristics of the motor's operating noise may not change. Referring to FIG. 10, the motor's operating noise generated when the motor rotates and the frequency characteristics of the operating noise are illustrated.

[0138] The speed of the user's first step and second step may not be exactly constant. For example, the user's first step may be faster or slower than the second step. If the user's first step is faster than the second step, the magnitude of the first operation noise of the motor generated during the first step section (1020) may be greater than the magnitude of the second operation noise of the motor generated during the second step section (1020). If the user's first step is slower than the second step, the magnitude of the first operation noise of the motor generated during the first step section (1020) may be less than the magnitude of the second operation noise of the motor generated during the second step section (1022).

[0139] In one embodiment, even if the level of the motor's operating noise changes, the inherent frequency characteristics of the motor's operating noise may not change. For example, the inherent frequency of the first operating noise and the inherent frequency of the second operating noise may be the same. For example, the inherent frequency may be the frequency with the highest decibel level in the operating noise.

[0140] Referring to FIG. 10, with respect to the size of the motor's operating noise, a time domain signal graph (1010) occurring during the user's first and second step sections (1024) can be converted into a frequency domain signal graph (1030).

[0141] For example, referring to the signal graph (1030) in the frequency domain, the natural frequency characteristic of the motor may be shown, which has a peak (1040) at a specific frequency (e.g., 1000 Hz). The natural frequency characteristic of the motor may not change even if the rotational speed of the motor changes, with only the value of the peak (1040) changing. Based on the natural frequency characteristic of the motor and the rotational speed of the motor, a sound masking function may be provided to reduce the operating noise felt by the user.

[0142] For example, the rotational speed (or rotational angular speed, or rotational angular acceleration) of the motor can be determined based on a sensing signal received from a Hall sensor (e.g., the Hall sensor (902a, 902b, or 902c) of FIG. 9A). The operating noise of the motor can be generated by the rotation of the motor. For example, the magnitude of the operating noise can vary depending on the rotational speed of the motor. A sound masking function can be provided based on the rotational speed of the motor. The volume of audio output for the sound masking function can be determined based on the rotational speed of the motor. The wearable device (100) can output target audio at the determined volume through an audio output module (e.g., the audio output module (550) of FIGS. 5A and 5B or the audio output module (750) of FIG. 7). For example, the target audio can be sound masking audio for reducing the operating noise felt by the user.

[0143] FIG. 11 is a flowchart of an audio output method performed by a wearable device according to one embodiment.

[0144] The following operations 1110 to 1140 may be performed by a wearable device (e.g., the wearable device (100) of FIG. 1). The wearable device may include a base body (80), a waist support frame (20), a leg support frame (50, 55), thigh fastening parts (1, 2), an IMU, an audio output module (550, 750), a drive module (35, 45, 120), and a control module (130, 510). The drive module may include a motor (534) and at least one Hall sensor (902a, 902b, 902c). The control module may include a processor (e.g., the processor (535) of FIG. 5c) and a memory (e.g., the memory (536) of FIG. 5c). The memory may store instructions executable by the processor.

[0145] In operation 1110, the wearable device may receive a first sensing signal from at least one Hall sensor for sensing a rotation angle of a shaft of the motor. For example, the first sensing signal may be a sensing value of 0 or 1 as described above with reference to FIG. 9A. The wearable device may sense the rotation angle of the shaft of the motor based on the first sensing signal received from the at least one Hall sensor. A method for the wearable device to sense the rotation angle of the shaft of the motor based on the first sensing signal has been described above with reference to FIG. 9B.

[0146] In operation 1120, the wearable device can determine a first rotational angular velocity of the motor shaft based on the first sensing signal. For example, the wearable device can determine a first rotational angle of the motor shaft based on the first sensing signal. The wearable device can determine a first rotational angular velocity of the motor shaft based on the first rotational angle. For example, the wearable device can determine a first rotational angular acceleration of the motor shaft based on the first rotational angle or the first rotational angular velocity.

[0147] In operation 1130, the wearable device may determine a first sound level corresponding to a first rotational angular velocity. For example, the operating noise level of the motor may vary based on the rotational speed, rotational angle, rotational angular velocity, or rotational angular acceleration of the motor. In order to reduce the operating noise perceived by the user, a sound masking function capable of offsetting the operating noise level of the motor may be provided. For example, when the first rotational angular velocity is fast, the first sound level output may be loud enough to offset the operating noise level of the motor. For example, when the first rotational angular velocity is slow, the first sound level output may be low enough to offset the operating noise level of the motor. In one example, the first sound level may correspond to the rotational angle or rotational angular acceleration of the shaft of the motor.

[0148] In one embodiment, the first sound level corresponding to the first rotational angular velocity may be predetermined. For example, when the first rotational angular velocity is determined in operation 1120, the first sound level corresponding to the first rotational angular velocity may be determined using pre-calculated sound level data. For example, the pre-calculated sound level data may be a mapping table between a plurality of rotational angular velocities and a plurality of sound levels.

[0149] In operation 1140, the wearable device may output a first target audio at a first sound volume through an audio output module. For example, the first target audio may be sound masking audio capable of canceling out motion noise generated when the motor rotates at a first rotational angular velocity. The natural frequency characteristics of the first target audio may correspond to the natural frequency characteristics of the motion noise of the motor. For example, the natural frequency characteristics of the first target audio may be determined so that motion noise perceived by a user is reduced based on the natural frequency characteristics of the motion noise of the motor.

[0150] In one embodiment, the drive module of the wearable device may include a drive gear. The drive gear may be connected to the shaft of the motor and may transmit power from the motor. In the case of a multi-stage gear having two or more drive gears, if the gear ratio changes, the natural frequency or frequency characteristics of the motor's operating noise may change. If the natural frequency characteristics of the motor's operating noise change, the target audio output may need to be re-determined.

[0151] The wearable device can determine a first target audio from among a plurality of audios corresponding to the gear ratio of the driving gear. The first target audio may be sound masking audio capable of canceling out motor operating noise. In one embodiment, the gear ratio of the driving gear may be controlled by at least one processor of the control module.

[0152] FIG. 12 is a flowchart of a method for determining the rotational angular velocity of a motor according to one embodiment.

[0153] According to one embodiment, operations 1210 to 1230 below may be related to operation 1120 described above with reference to FIG. 11. For example, operations 1210 to 1230 may be performed after operation 1110 is performed. For example, operation 1120 may include operations 1210 to 1230. Operations 1210 to 1230 below may be performed by a wearable device (e.g., the wearable device (100) of FIG. 1). The wearable device may include a base body (80), a waist support frame (20), a leg support frame (50, 55), a thigh fastening part (1, 2), an IMU, an audio output module (550, 750), a driving module (35, 45, 120), and a control module (130, 510). The drive module may include a motor (534) and at least one Hall sensor (902a, 902b, 902c). The control module may include a processor (e.g., processor (535) of FIG. 5c) and memory (e.g., memory (536) of FIG. 5c).

[0154] In operation 1210, the wearable device may determine a first value of a first sensing signal received from at least one Hall sensor at a first time. For example, the value of the first sensing signal received from at least one Hall sensor at the first time may be determined as the first value.

[0155] In operation 1220, the wearable device may determine a second value of a second sensing signal received from at least one Hall sensor at a second time. For example, the value of the second sensing signal received from at least one Hall sensor at a second time may be determined as the second value.

[0156] In operation 1230, the wearable device can determine a first rotational angular velocity based on the first value and the second value. The wearable device can determine a rotational speed of the motor based on the first value and the second value of the sensing signal determined at different points in time. The wearable device can determine the first rotational angular velocity of the motor based on a change in the rotational speed of the motor that changes in real time. In one example, the wearable device can determine the first rotational speed or the first rotational angular acceleration based on the first value and the second value.

[0157] FIGS. 13a and 13b illustrate frequency domain signal graphs for motor noise and audio output for the motor noise according to a user's walking speed, according to one embodiment.

[0158] Referring to FIGS. 13a and 13b, frequency domain signal graphs (1310, 1330) for motor noise according to the user's walking speed and frequency domain signal graphs (1320, 1340) for audio output for motor noise are shown.

[0159] Referring to the signal graph (1030) of the frequency domain of the motor described above with reference to FIG. 10, the natural frequency characteristics of the noise of the motor may not change even if the rotation speed of the motor (534) changes. For example, in FIG. 13a, the user may walk quickly, and the motor of the wearable device may rotate quickly (e.g., 6 rad / s) due to the quick walking. In FIG. 13b, the user may walk slowly, and the motor of the wearable device may rotate slowly (e.g., 2 rad / s) due to the slow walking.

[0160] The operating noise of the motor caused by the user's fast walking may be greater than the operating noise of the motor caused by the user's slow walking. For example, the peak natural frequency value (1312) of the motor caused by the user's fast walking may be 51 dB. For example, the peak natural frequency value (1332) of the motor caused by the user's slow walking may be 41 dB. The natural frequency of the operating noise of the motor caused by the user's fast walking may be the same (or substantially the same) as the natural frequency of the operating noise of the motor caused by the user's slow walking. The magnitude of the operating noise of the motor caused by the user's fast walking may be greater than the magnitude of the operating noise of the motor caused by the user's slow walking.

[0161] For example, to offset the operating noise of a motor when a user walks quickly, an audio volume greater than the operating noise of the motor may be required. For example, to offset the operating noise of a motor when a user walks slowly, an audio volume greater than the operating noise of the motor may be required. The audio volume for the frequency domain signal graph (1320) may be greater than the audio volume for the frequency domain signal graph (1340).

[0162] In one embodiment, the wearable device may determine an optimal audio volume corresponding to the user's walking speed or the motor's rotational angular velocity. For example, the user's walking speed may be proportional to the motor's rotational angular velocity.

[0163] The wearable device may receive a first sensing signal from at least one Hall sensor in operation 1110 described above with reference to FIG. 11. For example, the first sensing signal may be different when the user walks quickly and when the user walks slowly.

[0164] The wearable device may determine a first rotational angular velocity of the motor shaft based on the first sensing signal in operation 1120 described above with reference to FIG. 11. For example, when the user walks quickly, the first rotational angular velocity of the motor shaft may be determined to be a larger value than when the user walks slowly.

[0165] The wearable device may determine a first sound level corresponding to the first rotational angular velocity in operation 1130 described above with reference to FIG. 11. For example, when the user walks quickly, the first sound level corresponding to the first rotational angular velocity may be determined to be a louder sound level than when the user walks slowly.

[0166] The wearable device may output a first target audio at a first sound volume through the audio output module in operation 1140 described above with reference to FIG. 11. For example, the natural frequency characteristics of the target audio output when the user walks quickly may be the same as the natural frequency characteristics of the target audio output when the user walks slowly.

[0167] FIG. 14 is a flowchart of an audio output method for determining sound volume based on different viewpoints, according to one embodiment.

[0168] According to one embodiment, operations 1410 to 1440 below may be performed after operation 1220 described above with reference to FIG. 12 is performed. Operations 1410 to 1440 below may be performed by a wearable device (100). The wearable device may include a base body (80), a waist support frame (20), a leg support frame (50, 55), a thigh fastening member (1, 2), an IMU, an audio output module (550, 750), a drive module (35, 45, 120), and a control module (130, 510). The drive module may include a motor (534) and at least one hall sensor (902a, 902b, 902c). The control module may include a processor (e.g., processor (535) of FIG. 5c) and memory (e.g., memory (536) of FIG. 5c).

[0169] In operation 1410, the wearable device may receive a third sensing signal from at least one Hall sensor at a third time. For example, the third sensing signal may be a sensing value of 0 or 1 as described above with reference to FIG. 9A. The wearable device may sense a rotation angle of a shaft of the motor at the third time based on the third sensing signal received from the at least one Hall sensor. A method for the wearable device to sense a rotation angle of a shaft of the motor at the third time based on the third sensing signal has been described above with reference to FIG. 9B.

[0170] In operation 1420, the wearable device can determine a second rotational angular velocity based on the second sensing signal and the third sensing signal. For example, the wearable device can reflect a change in the rotational angular velocity of the motor that changes in real time based on the second sensing signal and the third sensing signal determined at different points in time. In one example, the wearable device can determine a second rotational angle or a second rotational angular acceleration based on the second sensing signal and the third sensing signal.

[0171] In operation 1430, the wearable device can determine a second sound level corresponding to the second rotational angular velocity. The operating noise level of the motor may vary depending on the rotational angular velocity of the motor. As the operating noise level of the motor varies, the audio level that can offset it needs to vary. The wearable device can determine the second sound level corresponding to the second rotational angular velocity. For example, the second sound level may be an audio level that can offset the operating noise level of the motor when the motor rotates at the second rotational angular velocity.

[0172] In operation 1440, the wearable device may output a first target audio at a second sound volume through the audio output module. For example, the first target audio may be sound masking audio that can cancel out motion noise generated when the motor rotates at the second rotational angular velocity. For example, the natural frequency of the first target audio of operation 1440 may be the same as the natural frequency of the first target audio of operation 1140 described above with reference to FIG. 11. The second sound volume of operation 1440 may be different from the first sound volume of operation 1140 described above with reference to FIG. 11.

[0173] According to one embodiment, the wearable device may output a second target audio corresponding to the second rotational angular velocity or the second sound volume through the audio output module. For example, when the durability of the motor changes or the gear ratio connected to the motor changes, the natural frequency or frequency characteristics of the operating noise of the motor may change. When the natural frequency or frequency characteristics of the operating noise of the motor change, the target audio corresponding to the operating noise needs to be determined again. For example, the second target audio may be sound masking audio that can cancel out the operating noise generated when the motor rotates at the second rotational angular velocity. For example, the natural frequency or frequency characteristics of the second target audio may be different from the natural frequency or frequency characteristics of the first target audio described above with reference to operation 1440.

[0174] FIG. 15 is a flowchart of an audio output method performed by a wearable device including a microphone according to one embodiment.

[0175] According to one embodiment, operations 1510 and 1520 below may be related to operation 1140 described above with reference to FIG. 11. For example, operation 1140 may include operations 1510 and 1520. Operations 1510 and 1520 below may be performed by a wearable device (e.g., the wearable device (100) of FIG. 1). The wearable device may include a base body (80), a waist support frame (20), a leg support frame (50, 55), a thigh fastening part (1, 2), an IMU, an audio output module (550, 750), a drive module (35, 45, 120), and a control module (130, 510). The drive module may include a motor (534) and at least one hall sensor (902a, 902b, 902c). The control module may include a processor (e.g., processor (535) of FIG. 5C) and memory (e.g., memory (536) of FIG. 5C). The wearable device may further include a microphone. In one embodiment, the microphone may be located in either the drive module (35, 45, 120) or the base body (80).

[0176] In operation 1510, the wearable device can determine the natural frequency of the noise audio based on the noise audio received through the microphone. The microphone can receive the noise audio including noise around the microphone (e.g., operating noise of the motor (534)). The wearable device can determine the natural frequency of the noise audio based on the received noise audio.

[0177] In operation 1520, the wearable device may determine a first target audio from among a plurality of audios based on a unique frequency. For example, the first target audio may be sound masking audio capable of canceling out motor operating noise included in the noise audio.

[0178] FIG. 16 is a flowchart of an audio output method performed by a wearable device exchanging data with an external device according to one embodiment.

[0179] According to one embodiment, operations 1610 and 1620 below may be related to operation 1140 described above with reference to FIG. 11. For example, operation 1140 may include operations 1610 and 1620. Operations 1610 to 1620 below may be performed by a wearable device (e.g., the wearable device (100) of FIG. 1). The wearable device may include a base body (80), a waist support frame (20), a leg support frame (50, 55), a thigh fastening part (1, 2), an IMU, an audio output module (550, 750), a drive module (35, 45, 120), and a control module (130, 510). The drive module may include a motor (534) and at least one hall sensor (902a, 902b, 902c). The control module may include a processor (e.g., processor (535) of FIG. 5C) and memory (e.g., memory (536) of FIG. 5C). The wearable device may further include a communication module (516) for exchanging data with an external device (e.g., electronic device (210) of FIG. 2 or another wearable device (220) of FIG. 2).

[0180] An external device can receive noise generated from a wearable device (100). In one embodiment, the external device can be used to receive noise generated from the wearable device by interfacing with the wearable device (100). The external device can operate in a noise measurement mode, which is a mode for measuring noise of the wearable device while interfacing with the wearable device, and can transmit motor noise generated by movement of the wearable device to the wearable device in the noise measurement mode. Alternatively, the external device can determine a natural frequency of motor noise generated by movement of the wearable device and transmit the determined natural frequency information to the wearable device. The wearable device can determine a first target audio based on the motor noise received from the external device or the natural frequency of the motor noise.

[0181] In operation 1610, the wearable device may receive, from the external device via the communication module, the natural frequency of the noise audio received by the external device. According to one embodiment, the external device may receive the noise audio including noise around the external device (e.g., operating noise of the wearable device (100) or the motor (534)). The external device may determine the natural frequency of the noise audio based on the received noise audio. The wearable device may receive the natural frequency of the noise audio received by the external device from the external device.

[0182] According to one embodiment, the wearable device can receive noise audio data received by the external device from the external device and determine a natural frequency of the noise audio based thereon.

[0183] In operation 1620, the wearable device may determine a first target audio from among a plurality of audios based on a unique frequency. For example, the first target audio may be sound masking audio capable of canceling out motor operating noise included in the noise audio.

[0184] According to one embodiment, a wearable device (100) includes a base body (80) positioned at a waist area of ​​a user when the wearable device (100) is worn on the user's body, a waist support frame (20) and a leg support frame (50, 55) for supporting at least a part of the user's body, a thigh fastening part (1, 2) for fixing the leg support frame (50, 55) to the user's thigh, an IMU (inertial measurement unit) disposed within the base body (80), an audio output module (550), a drive module (35, 45) for generating a torque applied to the user's leg, wherein the drive module (35, 45) is positioned between the waist support frame (20) and the leg support frame (50, 55), and the drive module (35, 45) includes a motor (534) and at least one hall sensor (902a, 902b, 902c) for sensing a rotation angle of a shaft of the motor (534), and A wearable device (100) includes a control module (510) that controls the wearable device (100), wherein the control module (510) includes at least one processor (535) and a memory (536) that stores instructions, and when the instructions are individually or collectively executed by the at least one processor (535), the wearable device (100) can at least: receive a first sensing signal from at least one Hall sensor (902a, 902b, 902c) for sensing a rotation angle of a shaft of a motor (534), determine a first rotational angular velocity of the shaft of the motor (534) based on the first sensing signal, determine a first sound level corresponding to the first rotational angular velocity, and output a first target audio at the first sound level through the sound output module (550).

[0185] According to one embodiment, the wearable device (100) may cause the wearable device (100) to at least: determine a first value of a first sensing signal received from at least one Hall sensor (902a, 902b, 902c) at a first time, determine a second value of a second sensing signal received from at least one Hall sensor (902a, 902b, 902c) at a second time, and determine a first rotational angular velocity based on the first value and the second value, when the instructions are individually or collectively executed by at least one processor (535).

[0186] According to one embodiment, the wearable device (100) may cause the wearable device (100) to, when the instructions are individually or collectively executed by at least one processor (535), at least: receive a third sensing signal from at least one Hall sensor (902a, 902b, 902c) at a third time, determine a second rotational angular velocity based on the second sensing signal and the third sensing signal, determine a second sound level corresponding to the second rotational angular velocity, and output a first target audio at the second sound level through the audio output module (550).

[0187] According to one embodiment, the wearable device (100) may cause the wearable device (100) to, when the instructions are individually or collectively executed by at least one processor (535), at least: receive a third sensing signal from at least one Hall sensor (902a, 902b, 902c) at a third time, determine a second rotational angular velocity based on the second sensing signal and the third sensing signal, determine a second sound level corresponding to the second rotational angular velocity, and output a second target audio corresponding to the second rotational angular velocity or the second sound level through the audio output module (550).

[0188] According to one embodiment, the wearable device (100) further includes a drive gear connected to a shaft of the motor (534), and when instructions are individually or collectively executed by at least one processor (535), the wearable device (100) can at least: determine a first target audio from among a plurality of audios corresponding to a gear ratio of the drive gear.

[0189] According to one embodiment, the wearable device (100) may have a gear ratio of a driving gear controlled by at least one processor (535).

[0190] According to one embodiment, the wearable device (100) further includes a microphone, and when instructions are individually or collectively executed by at least one processor (535), the wearable device (100) may cause at least: determine a characteristic frequency of the noise audio based on the noise audio received through the microphone, and determine a first target audio from among the plurality of audios based on the characteristic frequency.

[0191] According to one embodiment, the wearable device (100) may have a microphone disposed in a driving module (35, 45).

[0192] According to one embodiment, the wearable device (100) may have a microphone disposed in the base body (80).

[0193] According to one embodiment, the wearable device (100) further includes a communication module (516) for exchanging data with an external device (210, 220), and when the instructions are individually or collectively executed by at least one processor (535), the wearable device (100) can at least: receive a characteristic frequency of noise audio received by the external device (210, 220) from the external device (210, 220) through the communication module (516), and determine a first target audio from among a plurality of audios based on the characteristic frequency.

[0194] According to one embodiment, in an audio output method performed by a wearable device (100), the wearable device (100) includes a base body (80) positioned at a waist area of ​​a user when the wearable device (100) is worn on the user's body, a waist support frame (20) and a leg support frame (50, 55) for supporting at least a part of the user's body, a thigh fastening part (1, 2) for fixing the leg support frame (50, 55) to the user's thigh, an IMU (inertial measurement unit) positioned in the base body, an audio output module (550), a drive module (35, 45) for generating a torque applied to the user's leg - the drive module (35, 45) is positioned between the waist support frame (20) and the leg support frame (50, 55), and the drive module (35, 45) includes a motor (534) and at least one hall sensor (902a, 902b) for sensing a rotation angle of a shaft of the motor (534). 902b, 902c) - and a control module (510) for controlling a wearable device (100), the control module (510) including at least one processor (535) and a memory (536) for storing instructions -, and the audio output method may include an operation (1110) of receiving a first sensing signal from at least one hall sensor (902a, 902b, 902c) for sensing a rotation angle of a shaft of a motor (534), an operation (1120) of determining a first rotational angular velocity of the shaft of the motor (534) based on the first sensing signal, an operation (1130) of determining a first sound level corresponding to the first rotational angular velocity, and an operation (1140) of outputting a first target audio at a first sound level through an audio output module (550).

[0195] According to one embodiment, the audio output method may further include an operation (1210) of determining a first value of a first sensing signal received from at least one Hall sensor (902a, 902b, 902c) at a first time, an operation (1220) of determining a second value of a second sensing signal received from at least one Hall sensor (902a, 902b, 902c) at a second time, and an operation (1230) of determining a first rotational angular velocity based on the first value and the second value.

[0196] According to one embodiment, the audio output method may further include an operation (1410) of receiving a third sensing signal from at least one Hall sensor (902a, 902b, 902c) at a third time, an operation (1420) of determining a second rotational angular velocity based on the second sensing signal and the third sensing signal, an operation (1430) of determining a second sound level corresponding to the second rotational angular velocity, and an operation (1440) of outputting a first target audio at the second sound level through an audio output module (550).

[0197] According to one embodiment, the audio output method may further include an operation (1410) of receiving a third sensing signal from at least one Hall sensor (902a, 902b, 902c) at a third time, an operation (1420) of determining a second rotational angular velocity based on the second sensing signal and the third sensing signal, an operation (1430) of determining a second sound level corresponding to the second rotational angular velocity, and an operation of outputting a second target audio corresponding to the second rotational angular velocity or the second sound level through an audio output module (550).

[0198] According to one embodiment, in an audio output method performed by a wearable device (100), the wearable device (100) may further include a drive gear connected to a shaft of a motor (534), and the audio output method may further include an operation of determining a first target audio among a plurality of audios corresponding to a gear ratio of the drive gear.

[0199] According to one embodiment, the audio output method may be such that the gear ratio of the driving gear can be controlled by at least one processor (535).

[0200] According to one embodiment, in an audio output method performed by a wearable device (100), the wearable device (100) may further include a microphone, and the audio output method may further include an operation (1510) of determining a natural frequency of noise audio based on noise audio received through the microphone, and an operation (1520) of determining a first target audio among a plurality of audios based on the natural frequency.

[0201] According to one embodiment, in an audio output method performed by a wearable device (100), a microphone may be placed in either a driving module (35, 45) or a base body (80).

[0202] According to one embodiment, in an audio output method performed by a wearable device (100), the wearable device (100) may further include a communication module (516) for exchanging data with an external device (210, 220), and the audio output method may further include an operation (1610) of receiving a natural frequency of noise audio received by the external device (210, 220) from the external device (210, 220) through the communication module (516), and an operation (1620) of determining a first target audio among a plurality of audios based on the natural frequency.

[0203] The embodiments described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0204] Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave, for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium.

[0205] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination, and the program commands recorded on the medium may be those specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0206] The hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0207] 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.

[0208] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. Wearable devices, A base body positioned at the waist area of the user when the wearable device is worn on the user's body; A lumbar support frame and a leg support frame for supporting at least a part of the user's body; A thigh fastening part (1, 2) for fixing the above leg support frame (50, 55) to the user's thigh; An IMU (inertial measurement unit) placed within the above base body (80); Audio output module (550); A drive module (35, 45) for generating a torque applied to the user's legs - the drive module (35, 45) is positioned between the waist support frame (20) and the leg support frame (50, 55), and the drive module (35, 45) includes a motor (534) and at least one hall sensor (902a, 902b, 902c) for sensing a rotation angle of a shaft of the motor (534); and A control module (510) for controlling the wearable device (100) - the control module (510) includes at least one processor (535) and a memory (536) for storing commands - Including, When the above instructions are individually or collectively executed by the at least one processor (535), the wearable device (100) causes at least: Receive a first sensing signal from at least one Hall sensor (902a, 902b, 902c) for sensing the rotation angle of the shaft of the motor (534), Determine the first rotational angular velocity of the shaft of the motor (534) based on the first sensing signal, Determine the first sound level corresponding to the first rotational angular velocity, Outputting the first target audio at the first sound volume through the above audio output module (550) To do, Wearable device (100).

2. In paragraph 1, When the above instructions are individually or collectively executed by the at least one processor (535), the wearable device (100) causes at least: At a first time, determine a first value of the first sensing signal received from at least one Hall sensor (902a, 902b, 902c), At a second time, determine a second value of a second sensing signal received from at least one Hall sensor (902a, 902b, 902c), Determine the first rotational angular velocity based on the first value and the second value To do, Wearable device (100).

3. In paragraph 1 or 2, When the above instructions are individually or collectively executed by the at least one processor (535), the wearable device (100) causes at least: At a third time, a third sensing signal is received from at least one Hall sensor (902a, 902b, 902c), Determine the second rotational angular velocity based on the second sensing signal and the third sensing signal, Determine the second sound level corresponding to the second rotational angular velocity, Output the first target audio at the second sound volume through the above audio output module (550). To do, Wearable device (100).

4. In any one of paragraphs 1 to 3, When the above instructions are individually or collectively executed by the at least one processor (535), the wearable device (100) causes at least: At a third time, a third sensing signal is received from at least one Hall sensor (902a, 902b, 902c), Determine the second rotational angular velocity based on the second sensing signal and the third sensing signal, Determine the second sound level corresponding to the second rotational angular velocity, Outputting the second target audio corresponding to the second rotational angular velocity or the second sound volume through the above sound output module (550) To do, Wearable device (100).

5. In any one of paragraphs 1 to 4, A driving gear connected to the shaft of the above motor (534) Including more, When the above instructions are individually or collectively executed by the at least one processor (535), the wearable device (100) causes at least: Determine the first target audio among a plurality of audios corresponding to the gear ratio of the driving gear To do, Wearable device (100).

6. In any one of paragraphs 1 to 5, The gear ratio of the driving gear is controlled by at least one processor (535). Wearable device (100).

7. In any one of paragraphs 1 to 6, mike Including more, When the above instructions are individually or collectively executed by the at least one processor (535), the wearable device (100) causes at least: Determining the natural frequency of the noise audio based on the noise audio received through the microphone, Determine the first target audio among the plurality of audios based on the unique frequency To do, Wearable device (100).

8. In any one of paragraphs 1 to 7, The above microphone is placed in the driving module (35, 45). Wearable device (100).

9. In any one of paragraphs 1 to 8, The above microphone is placed on the base body (80). Wearable device (100).

10. In any one of paragraphs 1 to 9, A communication module (516) for exchanging data with external devices (210, 220) Including more, When the above instructions are individually or collectively executed by the at least one processor (535), the wearable device (100) causes at least: Receive the unique frequency of the noise audio received by the external device (210, 220) from the external device (210, 220) through the communication module (516), Determine the first target audio among the plurality of audios based on the unique frequency To do, Wearable device (100).

11. In an audio output method performed by a wearable device (100), The above wearable device (100) is A base body (80) positioned at the user's waist area when the wearable device (100) is worn on the user's body; A waist support frame (20) and a leg support frame (50, 55) for supporting at least a part of the user's body; A thigh fastening part (1, 2) for fixing the above leg support frame (50, 55) to the user's thigh; An IMU (inertial measurement unit) placed within the base body; Audio output module (550); A drive module (35, 45) for generating a torque applied to the user's legs - the drive module (35, 45) is positioned between the waist support frame (20) and the leg support frame (50, 55), and the drive module (35, 45) includes a motor (534) and at least one hall sensor (902a, 902b, 902c) for sensing a rotation angle of a shaft of the motor (534); and A control module (510) for controlling the wearable device (100) - the control module (510) includes at least one processor (535) and a memory (536) for storing commands - Including, An operation (1110) of receiving a first sensing signal from at least one Hall sensor (902a, 902b, 902c) for sensing a rotation angle of the shaft of the motor (534); An operation (1120) of determining a first rotational angular velocity of the shaft of the motor (534) based on the first sensing signal; An operation (1130) of determining a first sound level corresponding to the first rotational angular velocity; and An operation (1140) of outputting the first target audio at the first sound volume through the above audio output module (550). including, How to output audio.

12. In paragraph 11, An operation (1210) of determining a first value of the first sensing signal received from at least one Hall sensor (902a, 902b, 902c) at a first time point; An operation (1220) of determining a second value of a second sensing signal received from at least one Hall sensor (902a, 902b, 902c) at a second time; and An operation (1230) of determining the first rotational angular velocity based on the first value and the second value including more, How to output audio.

13. In paragraph 11 or 12, An operation (1410) of receiving a third sensing signal from at least one Hall sensor (902a, 902b, 902c) at a third time; An operation (1420) of determining a second rotational angular velocity based on the second sensing signal and the third sensing signal; An operation (1430) of determining a second sound level corresponding to the second rotational angular velocity; and An operation (1440) of outputting the first target audio at the second sound volume through the sound output module (550) including more, How to output audio.

14. In any one of paragraphs 11 to 13, An operation (1410) of receiving a third sensing signal from at least one Hall sensor (902a, 902b, 902c) at a third time; An operation (1420) of determining a second rotational angular velocity based on the second sensing signal and the third sensing signal; An operation (1430) of determining a second sound level corresponding to the second rotational angular velocity; and An operation of outputting a second target audio corresponding to the second rotational angular velocity or the second sound volume through the above sound output module (550). including more, How to output audio.

15. A computer program stored on a computer-readable recording medium to execute any one of the methods of claims 11 to 14 in combination with hardware.

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