Method for determining state of motor and driving module for performing same method

Abstract

According to an embodiment, a method for determining a state of a motor in a wearable device, such as a walking assistance device, may comprise: controlling the motor such that a shaft of the motor rotates at a target speed; while the shaft of the motor rotates at the target speed, receiving a first sensing signal from a first hall sensor for sensing a rotation angle of the shaft of the motor; receiving a second sensing signal from a second hall sensor; and determining whether the first hall sensor and the second hall sensor are normally arranged in the motor on the basis of the first sensing signal and the second sensing signal.

Description

Method for determining the state of a motor and a drive module performing the method

[0001] Certain embodiments relate to techniques for determining the state of a motor, and by way of example, to techniques for determining the state of a motor comprising a plurality of Hall sensors.

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

[0003] In one embodiment, a drive module includes at least one processor including a processing circuit, and a memory storing instructions executable by the at least one processor, wherein when the instructions are executed by the at least one processor, the drive module can at least: control a motor of the drive module to rotate a shaft of the motor at a target speed, and while the shaft of the motor rotates at the target speed, receive a first sensing signal from a first Hall sensor for sensing a rotation angle of the shaft of the motor, receive a second sensing signal from a second Hall sensor, and determine whether the first Hall sensor and the second Hall sensor are normally disposed within the motor based on the first sensing signal and the second sensing signal.

[0004] In one embodiment, a method for determining a motor status, performed by a drive module, may include: controlling a motor of the drive module to rotate a shaft of the motor at a target speed; receiving a first sensing signal from a first Hall sensor for sensing a rotation angle of the shaft of the motor while the shaft of the motor rotates at the target speed; and receiving a second sensing signal from a second Hall sensor; and determining, based on the first sensing signal and the second sensing signal, whether the first Hall sensor and the second Hall sensor are normally disposed within the motor.

[0005] According to one embodiment, a wearable device comprises: a base body configured to be directly or indirectly positioned on a waist region of a user when the wearable device is worn on the user's body; a waist support frame (20) and a leg support frame for supporting at least a portion of the user's body; a thigh fastening portion configured to operatively connect (e.g., fix) the leg support frame to the user's thigh; an inertial measurement unit (IMU) including sensors and / or circuits disposed within the base body; and a drive module for generating a torque applied to the user's leg, wherein the drive module comprises: the waist support frame and the leg support frame; The drive module is positioned between, and includes at least one processor (535) including a processing circuit, a memory for storing instructions executable by the processor, a first Hall sensor and a second Hall sensor for sensing a rotation angle of a motor and a shaft of the motor, and a control module for controlling the wearable device, wherein when the instructions are executed by the processor, the drive module can at least: obtain an output current trajectory used for controlling the motor based on a command current trajectory for controlling the motor, and determine whether the first Hall sensor and the second Hall sensor are normally disposed in the motor based on the command current trajectory and the output current trajectory.

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

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

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

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

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

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

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

[0013] FIG. 6 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0014] FIG. 7 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0015] Figure 8 illustrates a motor and motor driver circuit according to one embodiment.

[0016] FIG. 9A illustrates a magnet with a changing rotation angle and a plurality of Hall sensors arranged around the magnet, according to one embodiment.

[0017] FIG. 9b illustrates a plurality of sensing signals of a plurality of Hall sensors sensed for rotation of a magnet, according to one embodiment.

[0018] 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.

[0019] FIG. 9d illustrates a torque trajectory that appears when the currents applied to the motor are controlled in six steps according to one embodiment.

[0020] FIG. 10 illustrates a torque trajectory that appears when currents applied to a motor are controlled by FOC according to one embodiment.

[0021] FIG. 11 is a flowchart of a method for determining the state of a motor according to one embodiment.

[0022] FIG. 12 is a flowchart of a method for determining whether hall sensors are normally positioned within a motor based on a rotation timing chart for a shaft of the motor generated using sensing signals, according to one embodiment.

[0023] FIG. 13A is a flowchart of a method for determining that Hall sensors are normally positioned within a motor based on a rotation timing chart for a shaft of the motor generated using sensing signals, according to one embodiment.

[0024] FIG. 13b illustrates a rotation timing chart for a shaft of a motor generated using sensing signals according to one embodiment.

[0025] FIG. 13c illustrates the rotation angle of the shaft of the motor section by section according to one embodiment.

[0026] FIG. 14A is a flowchart of a method for determining that Hall sensors are abnormally positioned within a motor based on a rotation timing chart for a shaft of the motor generated using sensing signals, according to one embodiment.

[0027] FIG. 14b illustrates a rotation timing chart for a shaft of a motor generated using sensing signals according to one embodiment.

[0028] FIG. 14c illustrates the rotation angle of the shaft of the motor section by section according to one embodiment.

[0029] FIG. 15 illustrates a rotation timing chart for a shaft of a motor for which reference intervals have been calibrated, according to one embodiment.

[0030] FIG. 16 illustrates a trajectory of a rotation angle of a shaft of a motor determined using calibrated reference sections according to one embodiment.

[0031] FIG. 17 is a flowchart of a method for determining whether hall sensors are normally positioned within a motor based on speeds calculated based on sensing signals, according to one embodiment.

[0032] FIG. 18 illustrates a method for calculating a first speed based on a first sensing signal and a second speed based on a second sensing signal, according to one embodiment.

[0033] FIG. 19 is a flowchart of a method for determining a state of a motor based on a command current trajectory and an output current trajectory, according to one embodiment.

[0034] Figure 20 illustrates a command current trajectory and an output current trajectory according to one embodiment.

[0035] FIG. 21 is a flowchart of a method for determining a state of a motor based on an RPM change trajectory of a shaft of the motor, according to one embodiment.

[0036] Fig. 22 illustrates an RPM change trajectory of a motor shaft according to one embodiment.

[0037] FIG. 23 is a flowchart of a method for transmitting information about a motor to a preset server according to one embodiment.

[0038] FIG. 24 illustrates a magnet and a plurality of Hall sensors arranged within a motor according to one embodiment.

[0039] Hereinafter, various embodiments are 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.

[0040] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0041] 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'.

[0042] 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.

[0043] 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.

[0044] 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).

[0045] In certain embodiments, 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.

[0046] According to one embodiment, the wearable device (100) may include a support frame (e.g., leg support frame (50, 55) and waist support frame (20) of FIG. 3) for supporting the body of the user (110) when the wearable device (100) is worn on the body of the user (110), a sensor module (e.g., sensor module (520) of FIG. 5A) for obtaining sensor data including movement information about body movement (e.g., leg movement, upper body movement) of the user (110), a drive module (120) for generating a torque applied to the leg of the user (110) (e.g., drive module (35, 45) of FIG. 3), and a control module (130) including a processing circuit for controlling the wearable device (100) (e.g., control module (510) of FIGS. 5A and 5B).

[0047] The sensor module may include an angle sensor (125) and an inertial measurement device (135). The angle sensor (125) may measure a rotation angle of a leg support frame of the wearable device (100) corresponding to a hip joint angle value of the user (110). The rotation angle of the leg support frame measured by the angle sensor (125) may be estimated to be a hip joint angle value (or leg angle value) of the user (110). The angle sensor (125) may include, for example, an encoder and / or a hall sensor. In one embodiment, the angle sensors (125) may be located near the right hip joint and the left hip joint of the user (110), respectively. The inertial measurement device (135) may include an acceleration sensor and / or an angular velocity sensor, and may measure a change in acceleration and / or angular velocity according to a movement of the user (110). The inertial measurement device (135) can measure, for example, an upper body movement value of the user (110) corresponding to a 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 an upper body movement value of the user (110).

[0048] 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 directly or indirectly positioned on the lumbar region (waist region) of the user (110) while the user (110) is wearing the wearable device (100). The base body may be formed or attached to the outside of the lumbar support frame of the wearable device (100). The base body may be mounted on 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.

[0049] FIG. 2 is a diagram illustrating an exercise management system including a wearable device and an electronic device according to one embodiment.

[0050] 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)).

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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).

[0056] 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).

[0057] According to one embodiment, the wearable device (100) and / or the electronic device (210) may be directly or indirectly connected to another wearable device (220). The other wearable device (220) may be, for example, wireless earphones (222), a smartwatch (224), or smartglasses (226), but is not limited to the aforementioned devices. In one embodiment, the smartwatch (224) may measure a bio-signal including heart rate information of the user, and transmit the measured bio-signal to the electronic device (210) and / or the wearable device (100). The electronic device (210) may estimate heart rate information of the user (e.g., current heart rate, maximum heart rate, average heart rate) based on the bio-signal received from the smartwatch (224), and may provide the estimated heart rate information to the user.

[0058] 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).

[0059] 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).

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] The base body (80) can be directly or indirectly positioned on the user's lower back while the user is wearing 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) while the user is wearing the wearable device (100) to prevent the wearable device (100) from falling downward due to gravity or to reduce the possibility of falling off. 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 is wearing the wearable device (100). The base body (80) can be directly or indirectly connected to the lower back support frame (20). Lower back support frame connection elements (not shown) that can be directly or indirectly connected to the lower back support frame (20) can be provided at both ends of the base body (80).

[0065] 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).

[0066] 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 member (60) may be directly or indirectly connected to an end of the lumbar support frame (20). A driving module (35, 45) may be directly or indirectly connected to the lumbar support frame (20).

[0067] 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) including a communication circuit of FIGS. 5A and 5B), and a battery (not shown) may be disposed 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 including a processing circuit 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).

[0068] 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.

[0069] The waist fastening member (60) can be directly or indirectly connected to the waist support frame (20) and can secure the waist support frame (20) to the user's waist. The waist fastening member (60) can include, for example, a pair of belts.

[0070] The drive module (35, 45) can generate an external force (or torque) applied to the user's body based on a control signal generated by the control module. For example, the drive module (35, 45) can generate an assistive force or a resistance force applied to the user's leg. In one embodiment, the drive module (35, 45) can include a first drive module (45) positioned corresponding to the user's right hip joint position and a second drive module (35) positioned corresponding to the user's left hip joint position. The first drive module (45) can include a first actuator and a first joint member, and the second drive module (35) can include a second actuator and a second joint member. The first actuator can provide power transmitted to the first joint member, and the second actuator can provide power transmitted to the second joint member. The first actuator and the second actuator may each include a motor that receives power from a battery and generates force (or torque). When powered and driven, the motor may generate force to assist the user's body movements (assistive force) or force to impede the user's body movements (resistive force). In one embodiment, the control module may adjust the voltage and / or current supplied to the motor to control the strength and direction of the force generated by the motor.

[0071] 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 a position corresponding to a joint of the user, respectively. One side of the first joint member can be directly or indirectly connected to the first actuator, and the other side can be directly or indirectly connected to the first leg support frame (55). The first joint member can be rotated by the power received from the first actuator. An encoder or a hall sensor that can act as an angle sensor for measuring a rotation angle of the first joint member (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 directly or indirectly connected to the second actuator, and the other side can be directly or indirectly connected to the second leg support frame (50). The second joint member can be rotated by power transmitted from the second actuator. An encoder or hall sensor that can act as an angle sensor for measuring the rotation angle of the second joint member can also be arranged on one side of the second joint member.

[0072] 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.

[0073] 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 directly or indirectly connected to a joint member and rotated, and the other end of the leg support frame (50, 55) can be directly or indirectly 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) may extend along the length of the user's thigh. The leg support frame (50, 55) may be bent to wrap around at least a portion of the user's thigh. The leg support frame (50, 55) may 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.

[0074] The thigh fastening portions (1, 2) are directly or indirectly connected to the leg support frame (50, 55) and can secure the leg support frame (50, 55) to the thigh. The thigh fastening portions (1, 2) may include a first thigh fastening portion (2) for securing the first leg support frame (55) to the user's right thigh and a second thigh fastening portion (1) for securing the second leg support frame (50) to the user's left thigh.

[0075] 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 directly or indirectly connected to the fastening frame, and the other end may be directly or indirectly connected to the strap.

[0076] 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) or reducing the possibility of such dislodgment. 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.

[0077] 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).

[0078] FIGS. 5A and 5B are diagrams illustrating the configuration of a control system of a wearable device according to one embodiment.

[0079] 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.

[0080] 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.

[0081] 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) may 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) including sensors and / or circuits may 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 may correspond to movement values ​​of the user's upper body.

[0082] The angle sensor can measure a hip joint angle value according to the movement of the user's legs. Sensor data that can be measured by the angle sensor can include, for example, a hip joint angle value of the right leg, a hip joint angle value of the left leg, and information on the movement direction of the legs. For example, the first angle sensor (524) of FIG. 5B can obtain a hip joint angle value of the user's right leg, and the second angle sensor (524-1) can obtain a hip joint angle value of the user's left leg. Each of the first angle sensor (524) and the second angle sensor (524-1) can include, for example, an encoder and / or a Hall sensor. In addition, the angle sensor can obtain a movement value of the leg support frame of the wearable device (100). For example, the first angle sensor (524) can obtain a movement value of the first leg support frame (55), and the second angle sensor (524-1) can obtain a movement value of the second leg support frame (50). The movement value of the leg support frame can correspond to the hip joint angle value.

[0083] 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.

[0084] 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.

[0085] 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).

[0086] 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.

[0087] 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.

[0088] 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).

[0089] 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) directly or indirectly connected to the processor (512), and may 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.

[0090] Each "processor" in this disclosure may include processing circuitry, or may include multiple processors. For example, the term "processor" as used in this disclosure, including in the claims, may include various processing circuits, including at least one processor, wherein one or more of the at least one processors may be individually and / or collectively configured to perform various functions described herein. When "processor," "at least one processor," and "one or more processors" are described herein as being configured to perform multiple functions, these terms encompass, for example, without limitation, situations where one processor performs some of the recited functions and another processor performs other of the recited functions, and situations where a single processor may perform all of the recited functions. Furthermore, the at least one processor may include a combination of processors that perform various functions of the recited / disclosed functions, for example, in a distributed manner. The at least one processor may execute program instructions to achieve or perform various functions.

[0091] 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).

[0092] 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).

[0093] 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).

[0094] FIG. 5c is a diagram illustrating the configuration of a drive module according to one embodiment.

[0095] 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). Thus, each drive module in the present disclosure may include, for example, one or more of a circuit, a motor, a processor, a sensor, and / or a memory. Some drive modules may include, for example, only a motor and a circuit, with other elements such as a processor, memory, and / or a "sensor" being optional.

[0096] 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).

[0097] The drive module (530) may further include a motor (534) and a current sensor (536). For example, the current sensor (536) may sense the value of current flowing through each of the coils (e.g., 3-phase coils) of the motor (534).

[0098] Referring to Figures 11 to 23 below, the method by which the drive module determines the state of the motor is described in detail.

[0099] FIG. 6 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0100] 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).

[0101] 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).

[0102] 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.

[0103] FIG. 7 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0104] 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.

[0105] 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).

[0106] 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.

[0107] 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.

[0108] 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).

[0109] 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.

[0110] 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.

[0111] 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.

[0112] Figure 8 illustrates a motor and motor driver circuit according to one embodiment.

[0113] 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.

[0114] 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).

[0115] 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.

[0116] The source terminal of the first transistor (812) may be directly or indirectly connected to the U-phase coil (802) of the motor (800). The drain terminal of the fourth transistor (815) may be directly or indirectly connected to the U-phase coil (802) of the motor (800). The source terminal of the second transistor (813) may be directly or indirectly connected to the V-phase coil (804) of the motor (800). The drain terminal of the fifth transistor (816) may be directly or indirectly connected to the V-phase coil (804) of the motor (800). The source terminal of the third transistor (814) may be directly or indirectly connected to the W-phase coil (806) of the motor (800). The drain terminal of the sixth transistor (817) may be directly or indirectly connected to the W-phase coil (802) of the motor (800).

[0117] 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.

[0118] 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.

[0119] 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, a magnet directly or indirectly connected to the shaft can also rotate.

[0120] 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).

[0121] 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 degrees. 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.

[0122] 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 to 30 degrees, 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.

[0123] A method for determining the rotation angle of the shaft of the motor (800) is described in detail with reference to FIGS. 9a, 9b, 9c, 9d, and 10 below.

[0124] FIG. 9A illustrates a magnet with a changing rotation angle and a plurality of Hall sensors arranged around the magnet, according to one embodiment.

[0125] 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).

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] FIG. 9b illustrates a plurality of sensing signals of a plurality of Hall sensors sensed for rotation of a magnet, according to one embodiment.

[0135] 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).

[0136] According to one embodiment, one rotation of the magnet (901) can be divided into six sections.

[0137] 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).

[0138] 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).

[0139] 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).

[0140] 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).

[0141] 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).

[0142] 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).

[0143] 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.

[0144] 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.

[0145] 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 a resolver or an encoder.

[0146] In order for the second rotation angle trajectory (940) to accurately correspond to the rotation angle of the actual motor shaft, the first rotation angle trajectory (935) must be accurately generated. For example, if the rotation angle at the start of each of the six sections defined by the plurality of sensing signals generated by the plurality of Hall sensors is different from the actual rotation angle, the first rotation angle trajectory (935) and the second rotation angle trajectory (940) may temporarily not correspond. If the first rotation angle trajectory (935) and the second rotation angle trajectory (940) temporarily do not correspond, the control of the motor may become unstable, and as the control of the motor becomes unstable, ripples may occur in the torque output by the motor.

[0147] FIG. 9d illustrates a torque trajectory that appears when the currents applied to the motor are controlled in six steps according to one embodiment.

[0148] According to one embodiment, a drive module (e.g., a drive module (530) of FIG. 5C) includes at least one processor (e.g., a processor (535) of FIG. 5C) and a memory (e.g., a memory (536) of FIG. 5C) that stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the drive module can determine a state of a motor (e.g., a motor (534) of FIG. 5A or a motor (800) of FIG. 8). The drive module can further include a motor and a current sensor (e.g., a current sensor (537) of FIG. 5C). For example, the current sensor can sense a value of a current flowing in each of the coils of the motor.

[0149] According to one embodiment, the drive module may be capable of operating independently to determine the state of the motor when power is supplied to the drive module, even if the drive module is not installed in the wearable device (e.g., the wearable device (100) of FIG. 1).

[0150] For example, the drive module can control the motor by controlling currents applied to the three-phase coils (e.g., the U-phase coil (802), the V-phase coil (804), and the W-phase coil (806) of FIG. 8) of the motor (e.g., the motor (534) of FIG. 5A or the motor (800) of FIG. 8) to output torque through the motor.

[0151] The drive module can determine a target section corresponding to a current rotation angle of a shaft of the motor among six sections (941, 942, 943, 944, 945, 946) 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) in 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) in FIG. 9a), and can apply currents corresponding to the target section to the three-phase coils. For example, the first current trajectory (951) may represent a current trajectory applied to the U-phase coil (802), the second current trajectory (952) may represent a current trajectory applied to the V-phase coil (804), and the third current trajectory (951) may represent a current trajectory applied to the U-phase coil (802). The torque trajectory (954) may represent a trajectory of torque output by the motor by currents applied to the motor.

[0152] A current having a positive value of the first current trace (951) may appear when the first transistor (812) is turned on, and a current having a negative value may appear when the fourth transistor (815) is turned on. A current having a positive value of the second current trace (952) may appear when the second transistor (813) is turned on, and a current having a negative value may appear when the fifth transistor (816) is turned on. A current having a positive value of the third current trace (953) may appear when the third transistor (814) is turned on, and a current having a negative value may appear when the sixth transistor (817) is turned on.

[0153] When the target section is section (941), a current having a negative value of the second current trajectory (952) and a current having a positive value of the third current trajectory (953) can be applied to the motor. Based on the applied currents, the shaft of the motor can rotate, and torque can be generated by the rotation of the shaft. When the target section changes from section (941) to section (942), the currents applied to the motor can change. For example, the current having a negative value of the second current trajectory (952) is still applied to the motor, but the application of the current having a positive value of the third current trajectory (953) can be stopped, and the application of the current having a positive value of the first current trajectory (951) can be started. As the currents applied to the motor change, a torque ripple (955) can occur. When torque ripple (955) occurs, vibration of the motor may occur, and noise due to the vibration of the motor may also occur.

[0154] FIG. 10 illustrates a torque trajectory that appears when currents applied to a motor are controlled by FOC according to one embodiment.

[0155] According to one embodiment, the drive module described above with reference to FIG. 9 can output torque through the motor by applying currents corresponding to the current rotation angle to the motor through FOC (field oriented control) when the rotation angle of the shaft of the motor (e.g., the motor (534) of FIG. 5A or the motor (800) of FIG. 8) is linearly determined.

[0156] The driving module can determine the current rotation angle of the shaft of the motor based on a plurality of sensing signals (e.g., the first sensing signal (931), the second sensing signal (932), and the third sensing signal (933) of FIG. 9B) generated by a plurality of Hall sensors (e.g., the first Hall sensor (902a), the second Hall sensor (902b), and the third Hall sensor (902c) of FIG. 9A). For example, the driving module can determine a target section corresponding to the plurality of sensing signals from among six sections (1001, 1002, 1003, 1004, 1005, 1006), and determine the current rotation angle based on an integral value of a section start rotation angle of the target section and a rotation speed of the shaft of the motor. The drive module can apply currents corresponding to the current rotation angle to the three-phase coils (e.g., the U-phase coil (802), the V-phase coil (804), and the W-phase coil (806) of FIG. 8). For example, the first current trajectory (1011) may represent a current trajectory applied to the U-phase coil (802), the second current trajectory (1012) may represent a current trajectory applied to the V-phase coil (804), and the third current trajectory (1013) may represent a current trajectory applied to the U-phase coil (802). The torque trajectory (1014) may represent a trajectory of torque output by the motor by the currents applied to the motor. Since the current rotation angle determined while the shaft of the motor rotates changes linearly, the torque of the motor output based on the current rotation angle can be stable without ripple.

[0157] In the method of controlling the currents applied to the motor by FOC, in order for the output torque to be stable, the current rotation angle determined while the motor shaft rotates must change linearly.

[0158] In one embodiment, when the Hall sensors are positioned within the motor exactly as designed, the predefined segment start rotation angles for each of the six segments (1001, 1002, 1003, 1004, 1005, 1006) can be identical to the actual sensed values.

[0159] In one embodiment, if the Hall sensors are incorrectly positioned within the motor, as designed, the predefined segment start rotation angles for each of the six segments (1001, 1002, 1003, 1004, 1005, 1006) may differ from the actual sensed values.

[0160] Below, a method for determining the state of a motor in relation to the arrangement of Hall sensors is described in detail with reference to FIGS. 11 to 23.

[0161] FIG. 11 is a flowchart of a method for determining the state of a motor according to one embodiment.

[0162] The following operations 1110 to 1130 may be performed by a drive module (e.g., the drive module (530) of FIG. 5C). The drive 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.

[0163] In operation 1110, the drive module may control the motor (e.g., the motor (534) of FIG. 5A or the motor (800) of FIG. 8) to rotate the shaft (or camshaft) of the drive module at a target speed. For example, the shaft of the motor may not be connected to a load. The drive module may control the motor to rotate the shaft of the unloaded motor at the target speed. The speed may be an angular speed.

[0164] According to one embodiment, the drive module can control the motor so that the shaft of the motor rotates at a target speed by controlling a motor driver circuit connected to the motor (e.g., the motor driver circuit (532) of FIG. 5A or the motor driver circuit (810) of FIG. 8) using FOC. For example, the drive module can apply currents to the three-phase coils of the motor to the motor driver circuit through FOC so that the shaft of the motor rotates at the target speed. For example, the drive module can apply currents to the three-phase coils of the motor to the motor driver circuit using the first current trajectory (1011), the second current trajectory (1012), and the third current trajectory (1013) described above with reference to FIG. 10.

[0165] In operation 1120, the drive module may receive a first sensing signal (e.g., a first sensing signal (931) of FIG. 9B) from a first Hall sensor (e.g., a first Hall sensor (902a) of FIG. 9A) for sensing a rotation angle of the shaft of the motor while the shaft of the motor rotates at a target speed, and may receive a second sensing signal (e.g., a second sensing signal (932) of FIG. 9B) from a second Hall sensor (e.g., a second Hall sensor (902b) of FIG. 9A). The drive module may further receive a third sensing signal (e.g., a third sensing signal (933) of FIG. 9B) from a third Hall sensor (e.g., a third Hall sensor (902c) of FIG. 9A).

[0166] In operation 1130, the driving module can determine whether the first Hall sensor and the second Hall sensor are normally positioned within the motor based on the first sensing signal and the second sensing signal. If the driving module further receives a third sensing signal, the driving module can determine whether the first Hall sensor, the second Hall sensor, and the third Hall sensor are normally positioned within the motor based on the first sensing signal, the second sensing signal, and the third sensing signal.

[0167] If the shaft of the motor rotates constantly at the target speed, the first real time of the first section in which the rotation angle of the shaft changes from 0˚ to 60˚, the second real time of the second section in which the rotation angle changes from 60˚ to 120˚, the third real time of the third section in which the rotation angle changes from 120˚ to 180˚, the fourth real time of the fourth section in which the rotation angle changes from 180˚ to 240˚, the fifth real time of the fifth section in which the rotation angle changes from 240˚ to 300˚, and the sixth real time of the sixth section in which the rotation angle changes from 300˚ to 360˚ may be the same.

[0168] When a plurality of Hall sensors including a first Hall sensor and a second Hall sensor are positioned within the motor exactly as designed, a first measurement time of a first section, a second measurement time of a second section, a third measurement time of a third section, a fourth measurement time of a fourth section, a fifth measurement time of a fifth section, and a sixth measurement time of a sixth section distinguished by a plurality of sensing signals may be identical to the first actual time, the second actual time, the third actual time, the fourth actual time, the fifth actual time, and the sixth actual time, respectively.

[0169] According to one embodiment, the drive module may determine that the first Hall sensor and the second Hall sensor are normally disposed within the motor if the first measurement time, the second measurement time, the third measurement time, the fourth measurement time, the fifth measurement time, and the sixth measurement time are the same as or correspond to the first actual time, the second actual time, the third actual time, the fourth actual time, the fifth actual time, and the sixth actual time, respectively. For example, if a difference between the second measurement time and the second actual time is less than a preset threshold time, the second measurement time and the second actual time may be determined to correspond. A method for determining that the first Hall sensor and the second Hall sensor are normally disposed within the motor is described in detail below with reference to FIGS. 13a, 13b, and 13c.

[0170] According to one embodiment, the drive module may determine that at least one of the first Hall sensor and the second Hall sensor is abnormally positioned within the motor if at least one of the first measurement time, the second measurement time, the third measurement time, the fourth measurement time, the fifth measurement time, and the sixth measurement time does not correspond to the first actual time, the second actual time, the third actual time, the fourth actual time, the fifth actual time, and the sixth actual time, respectively. For example, if a difference between the second measurement time and the second actual time is greater than or equal to a preset threshold time, it may be determined that the second measurement time and the second actual time do not correspond. A method for determining that the first Hall sensor and the second Hall sensor are abnormally positioned within the motor is described in detail below with reference to FIGS. 14a, 14b, and 14c.

[0171] According to one embodiment, the drive module can calibrate or adjust the sections of the rotation angle distinguished by the first Hall sensor and the second Hall sensor when it is determined that at least one of the first Hall sensor and the second Hall sensor is abnormally disposed within the motor. For example, when a first section of 0° to 60°, a second section of 60° to 120°, a third section of 120° to 180°, a fourth section of 180° to 240°, a fifth section of 240° to 300°, and a sixth section of 300° to 360° are defined as basic sections, a starting rotation angle for at least one of the sections can be calibrated based on the first sensing signal and the second sensing signal. For example, if the second measurement time is longer than the second actual time and the third measurement time is shorter than the third actual time, the starting rotation angle of the third section can be adjusted from 120° to 110°. As the starting rotation angle of the third section is adjusted from 120° to 110°, the ending rotation angle of the second section can be adjusted from 120° to 110°. The processor of the drive module can store information about the sections of rotation angles distinguished by the calibrated first Hall sensor and the second Hall sensor in the memory.

[0172] Referring to FIGS. 14a, 14b, and 14c below, a method for calibrating the sections of rotation angles distinguished by the first and second Hall sensors is described in detail when the first and second Hall sensors are determined to be abnormally positioned within the motor.

[0173] According to one embodiment, the drive module can re-perform operations 1110 to 1130 after calibrating the ranges of rotation angles distinguished by the first Hall sensor and the second Hall sensor. For example, unlike the initially performed operation 1130, a first actual time of a first section in which the rotation angle of the shaft changes from 0˚ to 60˚, a second actual time of a second section in which the rotation angle changes from 60˚ to 110˚, a third actual time of a third section in which the rotation angle changes from 110˚ to 180˚, a fourth actual time of a fourth section in which the rotation angle changes from 180˚ to 240˚, a fifth actual time of a fifth section in which the rotation angle changes from 240˚ to 300˚, and a sixth actual time of a sixth section in which the rotation angle changes from 300˚ to 360˚ can be compared with a first measurement time of the first section, a second measurement time of the second section, a third measurement time of the third section, a fourth measurement time of the fourth section, a fifth measurement time of the fifth section, and a sixth measurement time of the sixth section, which are distinguished by a plurality of sensing signals.

[0174] The drive module can determine that the first Hall sensor and the second Hall sensor are normally positioned within the motor when the first measurement time, the second measurement time, the third measurement time, the fourth measurement time, the fifth measurement time, and the sixth measurement time are the same as or correspond to the first actual time, the second actual time, the third actual time, the fourth actual time, the fifth actual time, and the sixth actual time, respectively.

[0175] The drive module may determine that at least one of the first Hall sensor and the second Hall sensor is abnormally positioned within the motor if at least one of the first measurement time, the second measurement time, the third measurement time, the fourth measurement time, the fifth measurement time, and the sixth measurement time does not correspond to the first actual time, the second actual time, the third actual time, the fourth actual time, the fifth actual time, and the sixth actual time, respectively.

[0176] According to one embodiment, the starting rotation angles for each of the sections of the rotation angle of the shaft of the motor can be used to determine the current angle of the shaft of the motor. For example, when the motor is mounted in a drive module of a wearable device (e.g., the drive module (120) of FIG. 1 or the drive modules (35, 45) of FIG. 3), the starting rotation angles for each of the sections of the rotation angle of the shaft determined for the motor can be used to determine the current angle of the motor for outputting torque.

[0177] FIG. 12 is a flowchart of a method for determining whether hall sensors are normally positioned within a motor based on a rotation timing chart for a shaft of the motor generated using sensing signals, according to one embodiment.

[0178] According to one embodiment, operations 1210 to 1230 below may be related to operation 1130 described above with reference to FIG. 11. For example, operation 1130 may include operations 1210 to 1230.

[0179] Operations 1210 to 1230 may be performed by a drive module (e.g., drive module (530) of FIG. 5C). The drive module may include a processor (e.g., processor (535) of FIG. 5C) and memory (e.g., memory (536) of FIG. 5C). The memory may store instructions executable by the processor.

[0180] In operation 1210, the drive module can generate a rotation timing chart for the shaft of the motor based on a first sensing signal and a second sensing signal generated by a first Hall sensor (e.g., the first Hall sensor (902a) of FIG. 9A) and a second Hall sensor (e.g., the second Hall sensor (902b) of FIG. 9A). For example, the drive module can further generate a rotation timing chart based on a third sensing signal generated by a third Hall sensor (e.g., the third Hall sensor (902c) of FIG. 9A).

[0181] The x-axis of the rotation timing chart may correspond to the total time for one rotation of the motor shaft. The y-axis of the rotation timing chart may be arranged with first sensing signals and second sensing signals. The rotation timing chart may show the first sensing signal and second sensing signals changing while one rotation of the motor shaft is performed. The rotation timing chart is described in detail below with reference to FIGS. 13b and 14b.

[0182] In operation 1220, the driving module can set reference sections for each of the preset reference rotation angles on the rotation timing chart based on the total time of the rotation timing chart. For example, when the number of the plurality of Hall sensors is three, the reference sections can be divided into six. For example, the reference sections can include a first reference section of 0° to 60°, a second reference section of 60° to 120°, a third reference section of 120° to 180°, a fourth reference section of 180° to 240°, a fifth reference section of 240° to 300°, and a sixth reference section of 300° to 360°. For example, if the total time of the rotation timing chart is 3.6 seconds, the reference sections on the rotation timing chart can be set such that the first time of the first reference section, the second time of the second reference section, the third time of the third reference section, the fourth time of the fourth reference section, the fifth time of the fifth reference section, and the sixth time of the sixth reference section each have 0.6 seconds.

[0183] In operation 1230, the driving module can determine whether the first Hall sensor and the second Hall sensor are normally positioned within the motor based on the first sensing signal, the second sensing signal, and the reference sections. For example, whether the first Hall sensor and the second Hall sensor are normally positioned within the motor can be determined based on whether target sections set based on the first sensing signal and the second sensing signal correspond to the reference sections. If the target sections correspond to the reference sections, it can be determined that the first Hall sensor and the second Hall sensor are normally positioned within the motor.

[0184] A method for determining that the first Hall sensor and the second Hall sensor are normally positioned within the motor is described in detail with reference to FIGS. 13a, 13b, and 13c below.

[0185] A method for determining that the first Hall sensor and the second Hall sensor are abnormally positioned within the motor is described in detail with reference to FIGS. 14a, 14b, and 14c below.

[0186] FIG. 13A is a flowchart of a method for determining that Hall sensors are normally positioned within a motor based on a rotation timing chart for a shaft of the motor generated using sensing signals, according to one embodiment.

[0187] According to one embodiment, operations 1301 and 1302 below may be related to operation 1230 described above with reference to FIG. 12. For example, operation 1230 may include operations 1301 and 1302.

[0188] Operations 1301 and 1302 may be performed by a drive module (e.g., drive module (530) of FIG. 5C). The drive module may include a processor (e.g., processor (535) of FIG. 5C) and memory (e.g., memory (536) of FIG. 5C). The memory may store instructions executable by the processor.

[0189] In operation 1301, the driving module can set target sections on a rotation timing chart based on the first sensing signal and the second sensing signal. For example, when the plurality of Hall sensors include a first Hall sensor (e.g., the first Hall sensor (902a) of FIG. 9A), a second Hall sensor (e.g., the second Hall sensor (902b) of FIG. 9A), and a third Hall sensor (e.g., the third Hall sensor (902c) of FIG. 9A), the target sections can be set based on the first sensing signal (e.g., the first sensing signal (931) of FIG. 9B), the second sensing signal (e.g., the second sensing signal (932) of FIG. 9B), and the third sensing signal (e.g., the third sensing signal (933) of FIG. 9B).

[0190] According to one embodiment, the time at which any one of the values ​​of the first sensing signal, the second sensing signal, and the third sensing signal changes to a different value can be determined as the start of the next target period. For example, six target periods can be set on a rotation timing chart based on the first sensing signal, the second sensing signal, and the third sensing signal.

[0191] In operation 1302, the drive module may determine that the first Hall sensor and the second Hall sensor are normally positioned within the motor if the difference between the reference intervals and the target intervals is less than a preset value. For example, if the second reference interval corresponds to 0.6 seconds and the second target interval corresponds to 0.63 seconds, the difference may be determined to be 0.03 seconds for the second reference interval. If the differences for other reference intervals, including 0.03 seconds, are less than the preset value, the first Hall sensor and the second Hall sensor may be determined to be normally positioned within the motor.

[0192] According to one embodiment, the drive module can calibrate or adjust the sections of rotation angles distinguished by the Hall sensors by setting target rotation angles for each of the reference sections when the difference between the reference sections and the target sections is less than a preset value.

[0193] FIG. 13b illustrates a rotation timing chart for a shaft of a motor generated using sensing signals according to one embodiment.

[0194] According to one embodiment, a rotation timing chart (1310) for a shaft of a motor (e.g., motor (534) of FIG. 5A or motor (800) of FIG. 8) may be generated based on a first sensing signal (1341), a second sensing signal (1342), and a third sensing signal (1343) received from a first Hall sensor (e.g., first Hall sensor (902a) of FIG. 9A), a second Hall sensor (e.g., second Hall sensor (902b) of FIG. 9A), and a third Hall sensor (e.g., third Hall sensor (902c) of FIG. 9A). For example, the rotation timing chart (1310) may be generated based on an average value for a plurality of rotations.

[0195] The total time of one rotation of the rotation timing chart (1310) may be the time between the start time (1311) and the end time (1312). Based on the total time of the rotation timing chart (1310), reference sections may be set for each of the preset reference rotation angles on the rotation timing chart (1310). The reference rotation angles may be 0˚, 60˚, 120˚, 180˚, 240˚, and 300˚. For example, if the total time is 3.6 seconds, the reference sections may be set to each have 0.6 seconds, which is 1 / 6 of the total time. For example, a first reference interval may correspond to the time from a start time (1311) to a time (1313), a second reference interval may correspond to the time from a start time (1313) to a time (1314), a third reference interval may correspond to the time from a start time (1314) to a time (1315), a fourth reference interval may correspond to the time from a start time (1315) to a time (1316), a fifth reference interval may correspond to the time from a start time (1316) to a time (1317), and a sixth reference interval may correspond to the time from a start time (1317) to a time (1312).

[0196] Target sections can be set on a rotation timing chart (1310) based on the first sensing signal (1341), the second sensing signal (1342), and the third sensing signal (1343). The time at which any one of the values ​​of the first sensing signal (1341), the second sensing signal (1342), and the third sensing signal (1343) changes to another value can be determined as the start of the next target section. For example, six target sections can be set on a rotation timing chart (1310) based on the first sensing signal (1341), the second sensing signal (1342), and the third sensing signal (1343). For example, the first target section may be a section in which the value of the first sensing signal (1341) is 0 (or a low signal), the value of the second sensing signal (1342) is 0, and the value of the third sensing signal (1343) is 1 (or a high signal). For example, the second target section may be a section in which the value of the first sensing signal (1341) and the value of the third sensing signal (1343) are 1, and the value of the second sensing signal (1342) is 0. For example, the third target section may be a section in which the value of the first sensing signal (1341) is 1, and the values ​​of the second sensing signal (1342) and the value of the third sensing signal (1343) are 0. For example, the fourth target section may be a section in which the values ​​of the first sensing signal (1341) and the second sensing signal (1342) are 1, and the value of the third sensing signal (1343) is 0. For example, the fifth target section may be a section in which the values ​​of the first sensing signal (1341) and the third sensing signal (1343) are 0, and the value of the second sensing signal (1342) is 1. For example, the sixth target section may be a section in which the values ​​of the first sensing signal (1341) are 0, and the values ​​of the second sensing signal (1342) and the third sensing signal (1343) are 1.

[0197] If the first Hall sensor, the second Hall sensor, and the third Hall sensor are positioned within the motor exactly as designed, the target sections can match the reference sections.

[0198] FIG. 13c illustrates the rotation angle of the shaft of the motor section by section according to one embodiment.

[0199] According to one embodiment, a rotation angle for each of the target sections (1351 to 1356) may be determined. The target sections (1351 to 1356) may correspond to the target sections described above with reference to FIG. 13B. For example, the first rotation angle (1361) for the first target section (1351) may be determined based on a ratio of the time of the first target section (1351) to the total time. For example, if the total time is 3.6 seconds and the time of the first target section (1351) is 0.6 seconds, the first rotation angle (1361) for the first target section (1351) may be determined as 60°. Similarly, if the time of each of the target sections (1352 to 1356) is 0.6 seconds, each of the rotation angles (1362 to 1366) for the target sections (1352 to 1356) can be determined as 60°.

[0200] According to one embodiment, if the determined rotation angles for each section are all within a preset range (e.g., A˚ to B˚), it can be determined that the first Hall sensor, the second Hall sensor, and the third Hall sensor are normally positioned within the motor.

[0201] FIG. 14A is a flowchart of a method for determining that Hall sensors are abnormally positioned within a motor based on a rotation timing chart for a shaft of the motor generated using sensing signals, according to one embodiment.

[0202] According to one embodiment, operations 1401 and 1402 below may be related to operation 1230 described above with reference to FIG. 12. For example, operation 1230 may include operations 1401 and 1402.

[0203] Actions 1401 and 1402 may be performed by a drive module (e.g., drive module (530) of FIG. 5C). The drive module may include a processor (e.g., processor (535) of FIG. 5C) and memory (e.g., memory (536) of FIG. 5C). The memory may store instructions executable by the processor.

[0204] In operation 1401, the driving module can set target sections on a rotation timing chart based on the first sensing signal and the second sensing signal. The description of operation 1401 can be replaced with the description of operation 1301 described above with reference to FIG. 13A.

[0205] In operation 1402, the drive module may determine that at least one of the first Hall sensor and the second Hall sensor is abnormally positioned within the motor if a difference between the reference intervals and the target intervals is greater than or equal to a preset value. For example, if the second reference interval corresponds to 0.6 seconds and the second target interval corresponds to 0.63 seconds, 0.03 seconds may be determined as the difference for the second reference interval. If at least one of the differences for other reference intervals including 0.03 seconds is greater than or equal to a preset value, the first Hall sensor and the second Hall sensor may be determined to be abnormally positioned within the motor.

[0206] According to one embodiment, the drive module can calibrate or adjust the sections of rotation angles distinguished by the Hall sensors by setting target rotation angles for each of the reference sections when the difference between the reference sections and the target sections is greater than or equal to a preset value.

[0207] FIG. 14b illustrates a rotation timing chart for a shaft of a motor generated using sensing signals according to one embodiment.

[0208] According to one embodiment, a rotation timing chart (1410) for a shaft of a motor (e.g., motor (534) of FIG. 5A or motor (800) of FIG. 8) may be generated based on a first sensing signal (1341), a second sensing signal (1342), and a third sensing signal (1343) received from a first Hall sensor (e.g., first Hall sensor (902a) of FIG. 9A), a second Hall sensor (e.g., second Hall sensor (902b) of FIG. 9A), and a third Hall sensor (e.g., third Hall sensor (902c) of FIG. 9A). For example, the rotation timing chart (1410) may be generated based on an average value for a plurality of rotations.

[0209] The total time of one rotation of the rotation timing chart (1410) may be the time between the start time (1411) and the end time (1412). Based on the total time of the rotation timing chart (1410), reference sections may be set for each of the preset reference rotation angles on the rotation timing chart (1410). The reference rotation angles may be 0˚, 60˚, 120˚, 180˚, 240˚, and 300˚. For example, if the total time is 3.6 seconds, the reference sections may be set to each have 0.6 seconds, which is 1 / 6 of the total time. For example, a first reference interval may correspond to the time from a start time (1411) to a time (1413), a second reference interval may correspond to the time from a start time (1413) to a time (1414), a third reference interval may correspond to the time from a start time (1414) to a time (1415), a fourth reference interval may correspond to the time from a start time (1415) to a time (1416), a fifth reference interval may correspond to the time from a start time (1416) to a time (1417), and a sixth reference interval may correspond to the time from a start time (1417) to a time (1412).

[0210] Target sections can be set on a rotation timing chart (1410) based on the first sensing signal (1441), the second sensing signal (1442), and the third sensing signal (1443). The time at which any one of the values ​​of the first sensing signal (1441), the second sensing signal (1442), and the third sensing signal (1443) changes to another value can be determined as the start of the next target section. For example, a first target interval (1431) is set based on a time (1423) when the value of the first sensing signal (1441) changes from 0 to 1, a second target interval (1432) is set based on a time (1424) when the value of the third sensing signal (1443) changes from 1 to 0, a third target interval (1433) is set based on a time (1425) when the value of the second sensing signal (1442) changes from 0 to 1, a fourth target interval (1434) is set based on a time (1416) when the value of the first sensing signal (1441) changes from 1 to 0, a fifth target interval (1435) is set based on a time (1417) when the value of the third sensing signal (1443) changes from 0 to 1, and a fifth target interval (1435) is set based on a time (1417) when the value of the second sensing signal (1442) changes from 1 to 0. A sixth target section (1435) may be set based on the time (1412). For example, six target sections (1431 to 1436) may be set on the rotation timing chart (1410) based on the first sensing signal (1441), the second sensing signal (1442), and the third sensing signal (1443). If the first hall sensor, the second hall sensor, and the third hall sensor are incorrectly positioned within the motor as designed, at least one of the target sections (1431 to 1436) may not match the reference sections.

[0211] FIG. 14c illustrates the rotation angle of the shaft of the motor section by section according to one embodiment.

[0212] According to one embodiment, a rotation angle for each of the target sections (1451 to 1456) may be determined. The target sections (1451 to 1456) may correspond to the target sections (1431 to 1436) described above with reference to FIG. 14B . For example, a first rotation angle (1461) for the first target section (1451) may be determined based on a ratio of the time of the first target section (1451) to the total time. For example, the first rotation angle (1461) for the first target section (1451) may be determined as 55°, the second rotation angle (1462) for the second target section (1452) may be determined as 67°, the third rotation angle (1463) for the third target section (1453) may be determined as 59°, the fourth rotation angle (1464) for the fourth target section (1454) may be determined as 59°, the fifth rotation angle (1465) for the fifth target section (1455) may be determined as 60°, and the sixth rotation angle (1466) for the sixth target section (1456) may be determined as 60°.

[0213] According to one embodiment, if at least one of the determined interval-wise rotation angles is not within a preset range (e.g., A˚ to B˚), it may be determined that at least one of the first Hall sensor, the second Hall sensor, and the third Hall sensor is abnormally positioned within the motor.

[0214] According to one embodiment, unlike the illustrated embodiment, if at least one of the rotation angles of the target sections (1451 to 1456) is outside a preset normal rotation angle range (e.g., 30° to 90°), it may be determined that at least one of the first Hall sensor, the second Hall sensor, and the third Hall sensor is abnormally positioned within the motor. If at least one of the rotation angles of the target sections (1451 to 1456) is outside a preset normal rotation angle range, the motor may be determined to be defective.

[0215] FIG. 15 illustrates a rotation timing chart for a shaft of a motor for which reference intervals have been calibrated, according to one embodiment.

[0216] According to one embodiment, a drive module (e.g., a drive module (530) of FIG. 5c) can calibrate or adjust sections of a rotation angle distinguished by the first sensing signal (1542), the second sensing signal (1543) and the third sensing signal (1543) based on a first sensing signal (1542), a second sensing signal (1543) and a third sensing signal (1543) generated by a first Hall sensor (e.g., a first Hall sensor (902a) of FIG. 9a), a second Hall sensor (e.g., a second Hall sensor (902b) of FIG. 9a) and a third Hall sensor (e.g., a third Hall sensor (902c) of FIG. 9a).

[0217] According to one embodiment, the drive module may set target rotation angles for each of the reference sections when the difference between the reference sections and the target sections is less than a preset value. For example, the rotation angle of the motor at the time (1512) when the second reference section starts may be set from 60° to 55°, the rotation angle of the motor at the time (1513) when the third reference section starts may be set from 120° to 122°, and the rotation angle of the motor at the time (1514) when the fourth reference section starts may be set from 180° to 181°.

[0218] According to one embodiment, the drive module can set target rotation angles for each of the reference sections even if the difference between the reference sections and the target sections is greater than a preset value.

[0219] FIG. 16 illustrates a trajectory of a rotation angle of a shaft of a motor determined using calibrated reference sections according to one embodiment.

[0220] When a motor (e.g., motor (534) of FIG. 5A or motor (800) of FIG. 8) includes a first Hall sensor (e.g., first Hall sensor (902a) of FIG. 9A), a second Hall sensor (e.g., second Hall sensor (902b) of FIG. 9A), and a third Hall sensor (e.g., third Hall sensor (902c) of FIG. 9A), a sensing rotation angle trajectory (1610) of the shaft (or camshaft) of the motor can be determined based on a first sensing signal (e.g., first sensing signal (1441) of FIG. 14B), a second sensing signal (e.g., second sensing signal (1442) of FIG. 14B), and a third sensing signal (e.g., third sensing signal (1443) of FIG. 14B) generated by the first Hall sensor, the second Hall sensor, and the third Hall sensor while the shaft (or camshaft) of the motor rotates. The sensing rotation angle trajectory (1610) may be a stepped trajectory. When the driving module detects that the operating section changes from the first reference section to the second reference section by sensing signals generated by the Hall sensors of the motor, the driving module may determine the current rotation angle of the motor shaft at that time as 55°. When the driving module detects that the operating section changes from the second reference section to the third reference section by sensing signals, the driving module may determine the current rotation angle of the motor shaft at that time as 122°.

[0221] The driving module can determine the current rotation angle trajectory (1620) using the sensing rotation angle trajectory (1610). For example, if the current operating section is the second reference section, the driving module can continuously determine the current rotation angle in the second reference section based on the starting rotation angle of 55° of the second reference section and the rotation speed of the motor until the operating section changes from the second reference section to the third reference section.

[0222] If the calibration is not performed and the starting rotation angle of the second reference section is still set to 60˚, the sensing rotation angle of the motor shaft may be determined as 60˚ in software even though the actual rotation angle of the motor shaft is 55˚, which may cause instability in the control of the motor. Similarly, if the calibration is not performed and the starting rotation angle of the third reference section is still set to 120˚, the sensing rotation angle of the motor shaft may be determined as 120˚ in software even though the actual rotation angle of the motor shaft is 122˚, which may cause instability in the control of the motor.

[0223] FIG. 17 is a flowchart of a method for determining whether hall sensors are normally positioned within a motor based on speeds calculated based on sensing signals, according to one embodiment.

[0224] According to one embodiment, operations 1710 to 1760 below may be performed after operation 1130 described above with reference to FIG. 11 is performed.

[0225] According to one embodiment, operations 1710 to 1760 below can be performed independently and in parallel with operations 1110 to 1130 described above with reference to FIG. 11.

[0226] Actions 1710 to 1760 may be performed by a drive module (e.g., drive module (530) of FIG. 5C). The drive module may include a processor (e.g., processor (535) of FIG. 5C) and memory (e.g., memory (536) of FIG. 5C). The memory may store instructions executable by the processor.

[0227] In operation 1710, the drive module may control the motor (e.g., the motor (534) of FIG. 5A or the motor (800) of FIG. 8) to rotate the shaft (or camshaft) at a target speed. For example, the shaft of the motor may not be connected to a load. The drive module may control the motor to rotate the shaft of the unloaded motor at the target speed. The description of operation 1710 may be replaced with the description of operation 1110 described above with reference to FIG. 11.

[0228] In operation 1720, the drive module may receive a first sensing signal (e.g., the first sensing signal (1541) of FIG. 15) from a first Hall sensor (e.g., the first Hall sensor (902a) of FIG. 9A) for sensing a rotation angle of the shaft of the motor while the shaft of the motor rotates at a target speed, and may receive a second sensing signal (e.g., the second sensing signal (1542) of FIG. 15) from a second Hall sensor (e.g., the second Hall sensor (902b) of FIG. 9A). The drive module may further receive a third sensing signal (e.g., the third sensing signal (1543) of FIG. 15) from a third Hall sensor (e.g., the third Hall sensor (902c) of FIG. 9A).

[0229] At operation 1730, the drive module can generate a rotation timing chart for the shaft of the motor based on the first sensing signal and the second sensing signal generated by the first Hall sensor and the second Hall sensor. For example, the drive module can further generate the rotation timing chart based on the third sensing signal generated by the third Hall sensor.

[0230] According to one embodiment, the drive module can generate a rotation timing chart for the motor shaft, in which the rotation angle intervals distinguished by the Hall sensors are calibrated. The generated rotation timing chart is described in detail below with reference to FIG. 18.

[0231] In operation 1740, the driving module can determine a first high signal time (or a first low signal time) of a first sensing signal and a second high signal time (or a second low signal time) of a second sensing signal appearing on a rotation timing chart. The driving module can further determine a third high signal time (or a third low signal time) of a third sensing signal.

[0232] At operation 1750, the drive module may determine a first speed based on a first high signal time, and a second speed based on a second high signal time. The drive module may further determine a third speed based on a third high signal time. The determined speed may be an angular velocity.

[0233] At operation 1760, the drive module can determine whether the first Hall sensor and the second Hall sensor are normally positioned within the motor based on the first speed and the second speed. The drive module can further determine whether the first Hall sensor, the second Hall sensor, and the third Hall sensor are normally positioned within the motor based on the first speed, the second speed, and the third speed.

[0234] According to one embodiment, the drive module can determine the first error, the second error, and the third error by comparing the target speed with the first speed, the second speed, and the third speed, respectively. The first error, the second error, and the third error can be 0 if the first Hall sensor, the second Hall sensor, and the third Hall sensor are positioned within the motor exactly as designed. For example, the drive module can determine that the first Hall sensor, the second Hall sensor, and the third Hall sensor are normally positioned within the motor if all of the first error, the second error, and the third error are greater than or equal to a preset threshold value or a threshold ratio. For example, the drive module can determine that at least one of the first Hall sensor, the second Hall sensor, and the third Hall sensor is abnormally positioned within the motor if at least one of the first error, the second error, and the third error is greater than or equal to a preset threshold value or a threshold ratio.

[0235] In one embodiment, the drive module can determine the first difference by comparing the first speed and the second speed. The drive module can determine the second difference by comparing the first speed and the third speed. The drive module can determine the third difference by comparing the second speed and the third speed. For example, the drive module can determine that at least one of the first Hall sensor, the second Hall sensor, and the third Hall sensor is abnormally positioned within the motor if at least one of the calculated differences is greater than or equal to a preset value.

[0236] According to one embodiment, when the rotation angle sections distinguished by the first Hall sensor, the second Hall sensor, and the third Hall sensor are calibrated, the drive module can determine whether the calibration has been performed normally based on the first speed, the second speed, and the third speed. If the calibration has been performed normally, the first error, the second error, and the third error determined by comparing the target speed with each of the first speed, the second speed, and the third speed may all be 0.

[0237] FIG. 18 illustrates a method for calculating a first speed based on a first sensing signal and a second speed based on a second sensing signal, according to one embodiment.

[0238] According to one embodiment, a drive module (e.g., a drive module (530) of FIG. 5c) can generate a rotation timing chart (1800) for a shaft of a motor based on a first sensing signal (1811), a second sensing signal (1812), and a third sensing signal (1813) generated by a first Hall sensor (e.g., a first Hall sensor (902a) of FIG. 9a), a second Hall sensor (e.g., a second Hall sensor (902b) of FIG. 9a), and a third Hall sensor (e.g., a third Hall sensor (902c) of FIG. 9a).

[0239] According to one embodiment, the drive module can generate a rotation timing chart (1800) by performing operations 1710 to 1730 after calibrating the sections of rotation angles distinguished by the first Hall sensor, the second Hall sensor, and the third Hall sensor.

[0240] The driving module can determine times (1801, 1802, 1803, 1804, 1804, 1805, 1806, 1807) at which at least one of the values ​​of the first sensing signal (1811), the second sensing signal (1812), and the third sensing signal (1813) changes.

[0241] The driving module can determine a first high signal time (1821), which is a period during which the value of the first sensing signal (1811) has a high value. For example, the first high signal time (1821) can be a time between time (1802) and time (1805). A first rotation angle that changes between time (1802) and time (1805) can be determined as 185°. A first speed can be determined based on the first high signal time (1821) and the first rotation angle. The first speed can be a first angular velocity.

[0242] The driving module can determine a second high signal time (1822), which is a period during which the value of the second sensing signal (1812) has a high value. For example, the second high signal time (1822) can be a time between time (1804) and time (1807). A second rotation angle that changes between time (1804) and time (1807) can be determined as 179°. A second speed can be determined based on the second high signal time (1822) and the second rotation angle. The second speed can be a second angular velocity.

[0243] The driving module can determine a third high signal time, which is a period in which the value of the third sensing signal (1813) has a high value. For example, the third high signal time can be the sum of the time between time (1801) and time (1803) and the time between time (1806) and time (1807). The third rotation angle, which is the sum of the rotation angle that changes between time (1801) and time (1803) and the rotation angle that changes between time (1806) and time (1807), can be determined as 182°. The third speed can be determined based on the third high signal time and the third rotation angle. The third speed can be a third angular velocity.

[0244] The drive module can determine whether the first Hall sensor, the second Hall sensor, and the third Hall sensor are normally positioned within the motor based on the first speed, the second speed, and the third speed. For example, the drive module can determine the first error, the second error, and the third error by comparing the target speed with the first speed, the second speed, and the third speed, respectively. If the first Hall sensor, the second Hall sensor, and the third Hall sensor are positioned within the motor exactly as designed, the first error, the second error, and the third error can be 0.

[0245] According to one embodiment, when the rotation angle sections distinguished by the first Hall sensor, the second Hall sensor, and the third Hall sensor are calibrated, the drive module can determine whether the calibration has been performed normally based on the first speed, the second speed, and the third speed. If the calibration has been performed normally, the first error, the second error, and the third error determined by comparing the target speed with each of the first speed, the second speed, and the third speed may all be 0.

[0246] FIG. 19 is a flowchart of a method for determining a state of a motor based on a command current trajectory and an output current trajectory, according to one embodiment.

[0247] The following operations 1910 and 1920 may be performed by a control module (e.g., the control module (130) of FIG. 1 or the control module (510) of FIGS. 5A and 5B) or a drive module (e.g., the drive module (530) of FIG. 5C) of the wearable device. The drive 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.

[0248] According to one embodiment, a drive module may be installed in a wearable device described above with reference to FIG. 1 (e.g., the wearable device (100) of FIG. 1). When the drive module is installed in the wearable device, a control module of the wearable device (e.g., the control module (130) of FIG. 1 or the control module (510) of FIGS. 5A and 5B) may control the drive module. For example, the wearable device may control the drive module to output torque through a motor (e.g., the motor (534) of FIG. 5A or the motor (800) of FIG. 8). For example, the wearable device may transmit a command current for outputting torque to the drive module. The values ​​of the command current that change over time may be referred to as a command current trajectory.

[0249] In operation 1910, the control module or the drive module can obtain an output current trajectory used for controlling the motor based on a command current trajectory for controlling the motor. For example, the control module or the drive module can obtain an output current trajectory appearing in each of the three-phase coils using a current sensor (e.g., the current sensor (537) of FIG. 5C).

[0250] In operation 1920, the control module or the drive module can determine whether the first Hall sensor and the second Hall sensor are normally positioned within the motor based on the command current trajectory and the output current trajectory. For example, the control module or the drive module can determine whether the first Hall sensor, the second Hall sensor, and the third Hall sensor are normally positioned within the motor based on the command current trajectory and the output current trajectory.

[0251] According to one embodiment, if the difference between the command current trajectory and the output current trajectory for the same time is less than a preset value, it can be determined that the first Hall sensor, the second Hall sensor, and the third Hall sensor are normally positioned within the motor.

[0252] According to one embodiment, the control module may output information about the status of the motor when the first Hall sensor and the second Hall sensor are determined to be abnormally positioned within the motor. For example, the control module may inform the user of the status of the motor through at least one of a haptic module, a display, and an audio output module (e.g., an audio output module (550)) of the wearable device. For example, the control module may transmit information about the status of the motor to an electronic device (e.g., an electronic device (210)) connected to the wearable device. The user may check the status of the motor through the electronic device.

[0253] Figure 20 illustrates a command current trajectory and an output current trajectory according to one embodiment.

[0254] A control module (e.g., control module (130) of FIG. 1 or control module (510) of FIGS. 5A and 5B) or a drive module (e.g., drive module (530) of FIG. 5C) of the wearable device can determine a difference between a command current trajectory (2010) transmitted from the control module of the wearable device to the drive module and an output current trajectory (2020) sensed by a current sensor (e.g., current sensor (537) of FIG. 5C).

[0255] In one embodiment, when a plurality of Hall sensors (e.g., the first Hall sensor (902a), the second Hall sensor (902b), and the third Hall sensor (902c) of FIG. 9A) are normally positioned within a motor (e.g., the motor (534) of FIG. 5A or the motor (800) of FIG. 8), the difference between the command current trajectory (2010) and the output current trajectory (2020) may not be large. For example, when a first difference between the command current trajectory (2010) and the output current trajectory (2020) is greater than or equal to a preset value, it may be determined that the plurality of Hall sensors are abnormally positioned within the motor. When a plurality of Hall sensors are abnormally positioned within the motor, a difference (e.g., a second difference) between the command current trajectories (2010) may continuously occur in the same phase of the output current trajectory (2020).

[0256] In one embodiment, if the sections of rotation angles distinguished by the plurality of Hall sensors are normally calibrated, the difference between the command current trajectory (2010) and the output current trajectory (2020) may not be large. For example, if the first difference between the command current trajectory (2010) and the output current trajectory (2020) is greater than or equal to a preset value, it may be determined that the calibration was not performed normally. If the calibration is not performed normally, a difference (e.g., a second difference) between the command current trajectories (2010) may continuously occur in the same phase of the output current trajectory (2020).

[0257] FIG. 21 is a flowchart of a method for determining a state of a motor based on an RPM change trajectory of a shaft of the motor, according to one embodiment.

[0258] The following operations 2110 and 2120 may be performed by a control module (e.g., the control module (130) of FIG. 1 or the control module (510) of FIGS. 5A and 5B) or a drive module (e.g., the drive module (530) of FIG. 5C) of the wearable device. The drive 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.

[0259] According to one embodiment, operations 2110 and 2120 can be performed independently and in parallel with operations 1910 and 1920 described above with reference to FIG. 19.

[0260] According to one embodiment, operations 2110 and 2120 may be performed after operation 1920 described above with reference to FIG. 19 is performed.

[0261] According to one embodiment, the drive module may be installed in the wearable device described above with reference to FIG. 1 (e.g., the wearable device (100) of FIG. 1). When the drive module is installed in the wearable device, the control module of the wearable device (e.g., the control module (130) of FIG. 1 or the control module (510) of FIGS. 5A and 5B) may control the drive module.

[0262] Each embodiment of the present disclosure may be used in combination with other embodiments described in the present disclosure.

[0263] In operation 2110, the control module or the drive module can determine the RPM change trajectory of the shaft of the motor (e.g., motor (534) of FIG. 5A or motor (800) of FIG. 8) over time.

[0264] According to one embodiment, a wearable device can control a drive module to output torque through a motor. For example, the wearable device can transmit a command current for outputting torque to the drive module. The drive module can control the motor based on the command current. Based on the command current, the rotations per minute (RPM) of the motor shaft can change. The values ​​of the RPM that change over time can be referred to as an RPM change trajectory.

[0265] In operation 2120, the control module or the drive module may determine whether the first Hall sensor (e.g., the first Hall sensor (902a) of FIG. 9A) and the second Hall sensor (e.g., the second Hall sensor (902b) of FIG. 9A) are normally positioned within the motor based on the RPM change trajectory. For example, the control module or the drive module may determine whether the first Hall sensor, the second Hall sensor, and the third Hall sensor (e.g., the third Hall sensor (902c) of FIG. 9A) are normally positioned within the motor based on the RPM change trajectory. For example, for the RPM change trajectory, if an RPM change greater than or equal to a first difference occurs within a preset time, the first Hall sensor and the second Hall sensor may be determined to be abnormally positioned within the motor.

[0266] According to one embodiment, the control module may output information about the status of the motor when the first Hall sensor and the second Hall sensor are determined to be abnormally positioned within the motor. For example, the control module may inform the user of the status of the motor through at least one of a haptic module, a display, and an audio output module (e.g., an audio output module (550)) of the wearable device. For example, the control module may transmit information about the status of the motor to an electronic device (e.g., an electronic device (210)) connected to the wearable device. The user may check the status of the motor through the electronic device.

[0267] Fig. 22 illustrates an RPM change trajectory of a motor shaft according to one embodiment.

[0268] A control module (e.g., control module (130) of FIG. 1 or control module (510) of FIGS. 5A and 5B) or a drive module (e.g., drive module (530) of FIG. 5C) of a wearable device can determine whether an RPM change greater than or equal to a first difference has occurred within a preset time period for an RPM change trajectory (2210).

[0269] According to one embodiment, the control module or the drive module may determine that the first Hall sensor (e.g., the first Hall sensor (902a) of FIG. 9A) and the second Hall sensor (e.g., the second Hall sensor (902b) of FIG. 9A) are abnormally positioned within the motor if an RPM change greater than or equal to a first difference occurs within a preset time period.

[0270] According to one embodiment, the control module or the drive module may determine that the sections of rotation angles distinguished by the plurality of Hall sensors including the first Hall sensor and the second Hall sensor are not normally calibrated when a change in RPM greater than or equal to the first difference occurs within a preset time.

[0271] FIG. 23 is a flowchart of a method for transmitting information about a motor to a preset server according to one embodiment.

[0272] The following operations 2310, 2320, and 2330 may be performed by a control module of a wearable device (e.g., the control module (130) of FIG. 1 or the control module (510) of FIGS. 5A and 5B). For example, operation 2310 may be performed after operation 1920 described above with reference to FIG. 19 is performed. For example, operation 2320 may be performed after operation 2120 described above with reference to FIG. 21 is performed.

[0273] At operation 2310, the control module may generate information about a command current trajectory (e.g., command current trajectory (2010) of FIG. 20) and an output current trajectory (e.g., output current trajectory (2020) of FIG. 20). The generated information may be a log including a first difference between the command current trajectory and the output current trajectory.

[0274] At operation 2320, the control module may generate information about an RPM change trajectory of a shaft of the motor (e.g., RPM change trajectory (2210) of FIG. 22). The generated information may be a log containing information about RPM changes greater than or equal to a first difference that occurred within a preset time.

[0275] In operation 2330, the control module may transmit the generated information to a preset server. For example, the information transmitted to the server may be used for diagnosing the wearable device.

[0276] FIG. 24 illustrates a magnet and a plurality of Hall sensors arranged within a motor according to one embodiment.

[0277] According to one embodiment, with reference to FIG. 9A, a magnet (e.g., a magnet (901) of FIG. 9A), a first Hall sensor (e.g., a first Hall sensor (902a) of FIG. 9A), a second Hall sensor (e.g., a second Hall sensor (902b) of FIG. 9A), and a third Hall sensor (e.g., a third Hall sensor (902c) of FIG. 9A) included in a motor (e.g., a motor (534) of FIG. 5A or a motor (800) of FIG. 8) are described, but from the viewpoint of motor control, a structure of a magnet and a plurality of Hall sensors having the same measurement results as the magnet and the plurality of Hall sensors of FIG. 9A may be proposed.

[0278] In one embodiment, the motor (2400) may include a magnet (2410), a first Hall sensor (2411), a second Hall sensor (2412), and a third Hall sensor (2413) that rotate together with the shaft of the motor (2400) when the shaft rotates. For example, the magnet (2410) may be configured such that the N poles and the S poles are alternately and uniformly arranged. The number of N pole magnets and the number of S pole magnets arranged in the magnet (2410) may be ten. A pair of N pole magnets and S pole magnets may have a rotation angle of 36° from the center of the magnet (2410). From the perspective of controlling the motor (2400), a 36° rotation of the magnet (2410) may correspond to a 360° rotation of a magnet (e.g., magnet (901) of FIG. 9A) composed of one N pole magnet and one S pole magnet.

[0279] The first Hall sensor (2411) and the second Hall sensor (2412) can be arranged to have a rotation angle of 48° from the center of the magnet (2410). When a pair of N-pole magnets and S-pole magnets have a rotation angle of 36° from the center of the magnet (2410), from the perspective of controlling the motor (2400), a rotation angle of 48° (or 12°, 84°) between the first Hall sensor (2411) and the second Hall sensor (2412) can correspond to a rotation angle of 120° between the first Hall sensor (e.g., the first Hall sensor (902a) of FIG. 9A) and the second Hall sensor (e.g., the second Hall sensor (902b) of FIG. 9A) arranged on a magnet (e.g., the magnet (901) of FIG. 9A) composed of one N-pole magnet and one S-pole magnet.

[0280] Similarly to the above, the second Hall sensor (2412) and the third Hall sensor (2413) can be arranged to have a rotation angle of 48° from the center of the magnet (2410). When a pair of N-pole magnets and S-pole magnets have a rotation angle of 36° from the center of the magnet (2410), from the perspective of controlling the motor (2400), a rotation angle of 48° (or 12°, 84°) between the second Hall sensor (2412) and the third Hall sensor (2413) can correspond to a rotation angle of 120° between the second Hall sensor (e.g., the second Hall sensor (902b) of FIG. 9a) and the third Hall sensor (e.g., the third Hall sensor (902c) of FIG. 9a) arranged on a magnet (e.g., the magnet (901) of FIG. 9a) composed of one N-pole magnet and one S-pole magnet.

[0281] According to one embodiment, the drive module (35; 45; 530) includes at least one processor (535), and a memory (536) storing instructions executable by the at least one processor (535), and when the instructions are executed by the at least one processor (535), the drive module (35; 45; 530) at least: controls the motor (534; 800; 2400) of the drive module (35; 45; 530) to rotate the shaft of the motor (534; 800; 2400) at a target speed, and receives a first sensing signal from a first Hall sensor (902a; 2411) for sensing a rotation angle of the shaft of the motor (534; 800; 2400) while the shaft of the motor (534; 800; 2400) rotates at the target speed, and a second Hall sensor (902b; 2412) and determine whether the first Hall sensor and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400) based on the first sensing signal and the second sensing signal.

[0282] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may control the motor (534; 800; 2400) to rotate the shaft of the motor (534; 800; 2400) at a target speed by controlling at least: a motor driver circuit (532; 810) directly or indirectly connected to the motor (534; 800; 2400) using FOC.

[0283] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may be configured to at least: generate a rotation timing chart for a shaft of a motor (534; 800; 2400) based on the first sensing signal and the second sensing signal, set reference intervals for each of preset reference rotation angles on the rotation timing chart based on the total time of the timing chart, and determine whether the first Hall sensor and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400) based on the first sensing signal, the second sensing signal, and the reference intervals. As used herein, “based on” includes at least based on.

[0284] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may be configured to: set target sections based on the first sensing signal and the second sensing signal, and determine that at least one of the first Hall sensor and the second Hall sensor (902b; 2412) is abnormally positioned within the motor (534; 800; 2400) if a difference between the reference sections and the target sections is greater than or equal to a preset value.

[0285] According to one embodiment, when the instructions are executed by at least one processor (535), the driving module (35; 45; 530) may be configured to at least: set target sections based on the first sensing signal and the second sensing signal, and determine that the first Hall sensor and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400) when a difference between the reference sections and the target sections is less than a preset value.

[0286] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may be caused to at least: set target rotation angles for each of the reference sections if the difference between the reference sections and the target sections is less than a preset value.

[0287] According to one embodiment, the target rotation angles set for each of the reference sections can be used to determine the current rotation angle of the shaft of the motor (534; 800; 2400).

[0288] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may be configured to at least: generate a rotation timing chart for a shaft of a motor (534; 800; 2400) based on the first sensing signal and the second sensing signal, determine a first high signal time of the first sensing signal and a second high signal time of the second sensing signal appearing on the rotation timing chart, determine a first speed based on the first high signal time, determine a second speed based on the second high signal time, and determine whether a first Hall sensor and a second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400) based on the first speed and the second speed.

[0289] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may be caused to determine whether a first Hall sensor is normally positioned within a motor (534; 800; 2400) based on at least: a first error between a target speed and a first speed.

[0290] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may be caused to determine at least: whether the first Hall sensor and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400) based on a difference between the first speed and the second speed.

[0291] According to one embodiment, a method for determining a state of a motor (534; 800; 2400) performed by a driving module (35; 45; 530) comprises: an operation of controlling a motor (534; 800; 2400) of a driving module (35; 45; 530) so that a shaft of the motor (534; 800; 2400) rotates at a target speed; an operation of receiving a first sensing signal from a first Hall sensor for sensing a rotation angle of a shaft of the motor (534; 800; 2400) while the shaft of the motor (534; 800; 2400) rotates at the target speed, and a second sensing signal from a second Hall sensor (902b; 2412); and an operation of determining whether the first Hall sensor and the second Hall sensor (902b; 2412) are operating normally based on the first sensing signal and the second sensing signal. It may include an action to determine whether the motor (534; 800; 2400) is positioned within the motor.

[0292] According to one embodiment, a wearable device (100) includes a base body (80) positioned at the waist area of ​​a user (110) when the wearable device (100) is worn on the body of the user (110), a waist support frame (20) and a leg support frame (50; 55; 810) for supporting at least a part of the body of the user (110), a thigh fastening part (1; 2) for fixing the leg support frame (50; 55; 810) to the thigh of the user (110), an IMU (inertial measurement unit) (135) positioned within the base body, and a driving module (35; 45; 530) (35; 45; 120) for generating a torque applied to the leg of the user (110) - the driving module (35; 45; 530) includes a waist support frame (20) and a leg support frame (50; 55; 810); The drive module (35; 45; 530) may include a processor (535), a memory (536) for storing instructions executable by the processor (535), a motor (534; 800; 2400) and a first hall sensor (902a; 2411) and a second hall sensor (902b; 2412) for sensing a rotation angle of a shaft of the motor (534; 800; 2400), and a control module (130; 510) for controlling the wearable device (100).

[0293] According to one embodiment, when the instructions are executed by the processor (535), the drive module (35; 45; 530) may be configured to at least: obtain an output current trajectory used for controlling the motor (534; 800; 2400) based on a command current trajectory for controlling the motor (534; 800; 2400), and determine whether the first Hall sensor (902a; 2411) and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400) based on the command current trajectory and the output current trajectory.

[0294] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may be caused to at least: determine an RPM variation trajectory of the shaft of the motor (534; 800; 2400) over time, and determine based on the RPM variation trajectory whether the first Hall sensor (902a; 2411) and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400).

[0295] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may be configured to at least: control the motor (534; 800; 2400) such that the shaft of the motor (534; 800; 2400) rotates at a target speed, and while the shaft of the motor (534; 800; 2400) rotates at the target speed, receive a first sensing signal from the first Hall sensor (902a; 2411), receive a second sensing signal from the second Hall sensor (902b; 2412), and determine based on the first sensing signal and the second sensing signal whether the first Hall sensor (902a; 2411) and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400).

[0296] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may control the motor (534; 800; 2400) to rotate the shaft of the motor (534; 800; 2400) at a target speed by controlling the motor driver circuit (532; 810) connected to the motor (534; 800; 2400) using FOC (field oriented control).

[0297] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may be configured to at least: generate a rotation timing chart for a shaft of a motor (534; 800; 2400) based on the first sensing signal and the second sensing signal, set reference sections for each of preset reference rotation angles on the rotation timing chart based on the total time of the timing chart, and determine whether the first Hall sensor (902a; 2411) and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400) based on the first sensing signal, the second sensing signal, and the reference sections.

[0298] According to one embodiment, when the instructions are executed by at least one processor (535), the driving module (35; 45; 530) may be configured to at least: set target sections based on the first sensing signal and the second sensing signal, and determine that the first Hall sensor (902a; 2411) and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400) when a difference between the reference sections and the target sections is less than a preset value.

[0299] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may be caused to at least: set target rotation angles for each of the target sections if the difference between the reference sections and the target sections is less than a preset value.

[0300] According to one embodiment, when the instructions are executed by at least one processor (535), the drive module (35; 45; 530) may be caused to transmit at least: information about the command current trajectory and the output current trajectory to a preset server.

[0301] 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.

[0302] 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.

[0303] 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.

[0304] 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.

[0305] Although the embodiments have been described with limited drawings as described above, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the embodiments. For example, appropriate results can be achieved even if the described techniques are performed in a different order than the described method, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than the described method, or are replaced or substituted with other components or equivalents. While the present disclosure has been described and illustrated with reference to various embodiments, it should be understood that the various embodiments are illustrative and not limiting. Furthermore, those skilled in the art should understand that various changes in form and detail can be made without departing from the true spirit and full scope of the disclosure, including the appended claims and their equivalents. Furthermore, it should be understood that any of the embodiments described herein can be used with other embodiments described herein.

[0306] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. In the drive module (35; 45; 530), At least one processor (535) comprising a processing circuit; and A memory (536) storing instructions executable by at least one processor (535) Including, When the above instructions are individually and / or collectively executed by the at least one processor (535), the drive module (35; 45; 530) including the motor (534; 800; 2400) and / or the motor driver circuit (532; 810) at least: Controlling the motor (534; 800; 2400) of the drive module (35; 45; 530) so that the shaft of the motor (534; 800; 2400) rotates at a target speed, While the shaft of the motor (534; 800; 2400) rotates at the target speed, a first sensing signal is received from a first Hall sensor (902a; 2411) for sensing a rotation angle of the shaft of the motor (534; 800; 2400), and a second sensing signal is received from a second Hall sensor (902b; 2412). Based on the first sensing signal and the second sensing signal, it is determined whether the first Hall sensor and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400). To do, Drive module (35; 45; 530).

2. In paragraph 1, When the above instructions are executed by the at least one processor (535), the driving module (35; 45; 530) causes at least: The motor driver circuit (532; 810) connected to the motor (534; 800; 2400) is controlled using FOC (field oriented control) to control the motor (534; 800; 2400) so that the shaft of the motor (534; 800; 2400) rotates at the target speed. To do, Drive module (35; 45; 530).

3. In paragraph 1 or 2, When the above instructions are executed by the at least one processor (535), the driving module (35; 45; 530) causes at least: Generate a rotation timing chart for the shaft of the motor (534; 800; 2400) based on the first sensing signal and the second sensing signal, Based on the total time of the timing chart, reference sections are set for each of the preset reference rotation angles on the rotation timing chart, Based on the first sensing signal, the second sensing signal, and the reference sections, it is determined whether the first Hall sensor and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400). To do, Drive module (35; 45; 530).

4. In any one of paragraphs 1 to 3, When the above instructions are executed by the at least one processor (535), the driving module (35; 45; 530) causes at least: Setting target sections based on the first sensing signal and the second sensing signal, If the difference between the reference sections and the target sections is greater than or equal to a preset value, it is determined that at least one of the first Hall sensor and the second Hall sensor (902b; 2412) is abnormally positioned within the motor (534; 800; 2400). To do, Drive module (35; 45; 530).

5. In any one of paragraphs 1 to 4, When the above instructions are executed by the at least one processor (535), the driving module (35; 45; 530) causes at least: Setting target sections based on the first sensing signal and the second sensing signal, If the difference between the above reference sections and the above target sections is less than a preset value, it is determined that the first Hall sensor and the second Hall sensor (902b; 2412) are normally placed within the motor (534; 800; 2400). To do, Drive module (35; 45; 530).

6. In any one of paragraphs 1 to 5, When the above instructions are executed by the at least one processor (535), the driving module (35; 45; 530) causes at least: If the difference between the above reference sections and the above target sections is less than a preset value, target rotation angles are set for each of the above reference sections. To do, Drive module (35; 45; 530).

7. In any one of paragraphs 1 to 6, The target rotation angles set for each of the above reference sections are used to determine the current rotation angle of the shaft of the motor (534; 800; 2400). Drive module (35; 45; 530).

8. In any one of paragraphs 1 to 7, When the above instructions are executed by the at least one processor (535), the driving module (35; 45; 530) causes at least: Generate a rotation timing chart for the shaft of the motor (534; 800; 2400) based on the first sensing signal and the second sensing signal, Determine the first high signal time of the first sensing signal and the second high signal time of the second sensing signal appearing on the rotation timing chart, Determine the first speed based on the first high signal time, and determine the second speed based on the second high signal time, Based on the first speed and the second speed, it is determined whether the first Hall sensor and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400). To do, Drive module (35; 45; 530).

9. In any one of paragraphs 1 to 8, When the above instructions are executed by the at least one processor (535), the driving module (35; 45; 530) causes at least: Based on the first error between the target speed and the first speed, it is determined whether the first hall sensor is normally placed within the motor (534; 800; 2400). To do, Drive module (35; 45; 530).

10. In any one of paragraphs 1 to 9, When the above instructions are executed by the at least one processor (535), the driving module (35; 45; 530) causes at least: Based on the difference between the first speed and the second speed, it is determined whether the first Hall sensor and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400). To do, Drive module (35; 45; 530).

11. In a method for determining the state of a motor (534; 800; 2400) of a wearable device (100), performed by a driving module (35; 45; 530) including a motor and / or circuit, An operation of controlling the motor (534; 800; 2400) of the above drive module (35; 45; 530) so that the shaft of the motor (534; 800; 2400) rotates at a target speed; An operation of receiving a first sensing signal from a first Hall sensor for sensing a rotation angle of the shaft of the motor (534; 800; 2400) while the shaft of the motor (534; 800; 2400) rotates at a target speed, and receiving a second sensing signal from a second Hall sensor (902b; 2412); and An operation of determining whether the first Hall sensor and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400) based on the first sensing signal and the second sensing signal. including, How to determine motor status.

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

13. Wearable device (100) A base body (80) positioned at the waist area of ​​the user (110) when the wearable device (100) is worn on the body of the user (110); A waist support frame (20) and a leg support frame (50; 55; 810) for supporting at least a part of the body of the user (110); A thigh fastening member (1; 2) including a support member configured to operatively connect the leg support frame (50; 55; 810) to the thigh of the user (110); An inertial measurement unit (IMU) (135) including sensors and / or circuits arranged within the base body; A drive module (35; 45; 530) for generating a torque applied to the leg of the user (110) - the drive module (35; 45; 530) is positioned at least between the waist support frame (20) and the leg support frame (50; 55; 810), and the drive module (35; 45; 530) includes a processor (535) including a processing circuit, a memory (536) for storing instructions executable by the processor (535), a motor (534; 800; 2400), and a first hall sensor (902a; 2411) and a second hall sensor (902b; 2412) for sensing a rotation angle of a shaft of the motor (534; 800; 2400); and A control module (130; 510) including a processing circuit that controls the wearable device (100) Including, The above drive module (35; 45; 530) has at least: Obtaining an output current trajectory used for controlling the motor (534; 800; 2400) based on a command current trajectory for controlling the motor (534; 800; 2400), Based on the command current trajectory and the output current trajectory, it is determined whether the first Hall sensor (902a; 2411) and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400). configured to do so, Wearable device (100).

14. In paragraph 13, The above drive module (35; 45; 530) has at least: Determine the RPM (rotations per minute) change trajectory of the shaft of the motor (534; 800; 2400) over time, Based on the RPM change trajectory, it is determined whether the first Hall sensor (902a; 2411) and the second Hall sensor (902b; 2412) are normally positioned within the motor (534; 800; 2400). configured to do so, Wearable device (100).

15. In paragraph 13 or 14, The above drive module (35; 45; 530) has at least: Control the motor (534; 800; 2400) so that the shaft of the motor (534; 800; 2400) rotates at a target speed, While the shaft of the motor (534; 800; 2400) rotates at the target speed, a first sensing signal is received from the first Hall sensor (902a; 2411), and a second sensing signal is received from the second Hall sensor (902b; 2412). Based on the first sensing signal and the second sensing signal, it is determined whether the first Hall sensor (902a; 2411) and the second Hall sensor (902b; 2412) are normally placed in the motor (534; 800; 2400). configured to do so, Wearable device (100).

Images