Wearable device providing torque for periodic movement of user and method of operating same

Abstract

A wearable exercise device may: obtain a left hip joint angle and a right hip joint angle of a user by using at least one angle sensor; process the left hip joint angle and the right hip joint angle to correct DC components of the left hip joint angle and the right hip joint angle; determine a first torque value on the basis of the processed left hip joint angle; determine a second torque value on the basis of the processed right hip joint angle; determine, on the basis of movement information of the user, one of the first torque value and the second torque value as a target torque value; and control a driving module such that torque based on the determined target torque value is output by the driving module.

Description

Wearable device providing torque for user's periodic movement and method of operating the same

[0001] Certain embodiments relate to a wearable device and / or method of operating the same that provides torque for a user's periodic movements.

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

[0003] According to one embodiment, a wearable device may be provided that outputs a torque suitable for a user's movement (e.g., repetitive movement) through a hip joint angle corrected by a DC component.

[0004] According to one embodiment, the wearable device may include a driving module including a motor and / or a driving circuit and outputting a torque, at least one angle sensor, and a processing circuit, and may include a processor configured to obtain a left hip joint angle and a right hip joint angle of a user using the angle sensor, process the left hip joint angle and the right hip joint angle to correct a DC component of each of the left hip joint angle and the right hip joint angle, determine a first torque value based on the processed left hip joint angle, determine a second torque value based on the processed right hip joint angle, determine at least one of the first torque value and the second torque value as a target torque value based on movement information of the user, and control the driving module such that a torque based on the determined target torque value is output by the driving module.

[0005] According to one embodiment, a method of operating a wearable device may include an operation of acquiring a left hip joint angle and a right hip joint angle of a user using an angle sensor, an operation of processing the left hip joint angle and the right hip joint angle to correct a DC component of each of the left hip joint angle and the right hip joint angle, an operation of determining a first torque value based on the processed left hip joint angle, an operation of determining a second torque value based on the processed right hip joint angle, an operation of determining one of the first torque value and the second torque value as a target torque value based on movement information of the user, and an operation of outputting a torque based on the determined target torque value.

[0006] The above-described 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. 1A is a diagram illustrating an overview of a wearable device worn on a user's body according to one embodiment.

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

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

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

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

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

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

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

[0015] Figure 7 is a block diagram schematically illustrating the operation of a wearable device according to one embodiment.

[0016] FIGS. 8, 9, 10, and 11 are diagrams illustrating examples of a wearable device correcting a DC component of a user's hip joint angle according to one embodiment.

[0017] FIG. 12 is a diagram illustrating an example of a wearable device performing a time delay according to one embodiment.

[0018] FIGS. 13, 14, 15, 16, and 17 are drawings illustrating examples of a wearable device determining a torque value according to one embodiment.

[0019] FIGS. 18, 19, 20, 21, 22, 23, and 24 are diagrams illustrating examples of motions of a wearable device for a user performing a knee-up exercise according to one embodiment.

[0020] FIG. 25 is a diagram illustrating an example of a motion for a user performing a leg swing exercise by a wearable device according to one embodiment.

[0021] FIG. 26 is a diagram illustrating an example of a motion of a wearable device for a user performing a squat exercise according to one embodiment.

[0022] FIG. 27 is a block diagram illustrating another example of the operation of a wearable device according to one embodiment.

[0023] FIG. 28 is a block diagram illustrating another example of the operation of a wearable device according to one embodiment.

[0024] Figure 29 is a flowchart illustrating an operating method of a wearable device according to one embodiment.

[0025] The following detailed structural and functional descriptions are provided for illustrative purposes only, and various modifications and variations may be made to the embodiments. Accordingly, the embodiments are not limited to the present disclosure, but are intended to encompass all modifications, equivalents, and alternatives within the spirit and technical scope of the present disclosure.

[0026] While terms such as "first" or "second" may be used to describe various components, the components are not limited to these terms. These terms are used to distinguish one component from another. For example, a first component may be referred to as a "second component," and similarly, a second component may also be referred to as a "first component."

[0027] When a component is described as being "connected," "coupled," or "joined" to another component, the first component may be directly connected, coupled, or joined to the second component, but at least a third component(s) may be "connected," "coupled," or "joined" between the first component and the second component. Thus, for example, "connected" as used herein may include both direct and indirect connections.

[0028] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "has" should be understood to indicate the presence of a described feature, number, step, operation, component, part, or combination thereof, but not to exclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0029] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art. Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0030] Hereinafter, specific embodiments will be described in detail with reference to the attached drawings. In describing specific embodiments with reference to the attached drawings, identical components will be given the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0031] FIG. 1A is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0032] Referring to FIG. 1A, a wearable device (120) may be a device worn on a user's body to assist the user's walking, exercise, and / or work. In embodiments, the term "wearable device" may be replaced with a wearable robot, a walking assistance device, an exercise assistance device, etc. The user may be a human or an animal, but is not limited thereto. The wearable device (120) may be worn on the user's body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to provide an external force (e.g., assistance force and / or resistance force) to the user's body movement. Assistance force refers to a force applied in the same direction as the user's body movement direction, and resistance force refers to a force applied in the opposite direction to the user's body movement direction. The term "resistance force" may also be referred to as "exercise load."

[0033] When the wearable device (120) performs a walking assistance function to assist the user's walking, the wearable device (120) can assist the user's walking by providing assistance to some or all of the user's legs by providing assistance to the user's body. The wearable device (120) can assist the user's walking force, thereby enabling independent walking or long-term walking, thereby expanding the user's walking ability. The wearable device (120) can also help improve the walking of a pedestrian with abnormal walking habits or walking posture.

[0034] When the wearable device (120) performs an exercise function to enhance the user's exercise effect, the wearable device (120) may impede the user's body movement or provide resistance to the user's body movement by providing resistance to the user's body. When the wearable device (120) is, for example, a hip-type wearable device, the wearable device (120) may provide exercise load to the user's body movement while being worn on the leg, thereby further enhancing the user's exercise effect. The user may perform a walking motion while wearing the wearable device (120) for exercise, and in this case, the wearable device (120) may provide resistance to the leg movement during the user's walking motion.

[0035] In various embodiments, for convenience of explanation, a hip-type wearable device (120) worn on the waist and legs is described as an example. However, as described above, the wearable device (120) may be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly thighs), and the shape and configuration of the wearable device (120) may vary depending on the body part on which it is worn.

[0036] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0037] Referring to FIG. 1B, an electronic device (110) can communicate with a wearable device (120) and remotely control the wearable device (120). The electronic device (110) may be of various forms. The electronic device (110) may include, for example, a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, or a home appliance device, but is not limited to the aforementioned devices.

[0038] In one embodiment, the electronic device (110) and / or the wearable device (120) may be connected to another wearable device (130). For example, the wearable device (120), the electronic device (110), and the other wearable device (130) may be connected to each other via a wireless communication link (e.g., a Bluetooth communication link). The other wearable device (130) may include, but is not limited to, one or more of wireless earphones (131), a smart watch (132), or smart glasses (133). The smart watch (132) may be a watch-type wearable device (or a watch-type electronic device), and the smart glasses (133) may be a glasses-type wearable device (or a glasses-type electronic device).

[0039] In one embodiment, the smart watch (132) can control the wearable device (120). When the smart watch (132) is connected to the electronic device (110) via a wireless communication link, and the electronic device (110) is connected to the wearable device (120) via a wireless communication link, the smart watch (132) can control the wearable device (120) via the electronic device (110). Without being limited thereto, the smart watch (132) can be directly connected to the wearable device (120) and control the wearable device (120).

[0040] In one embodiment, the electronic device (110) may transmit a control signal to another wearable device (130) that commands the other wearable device (130) to provide feedback corresponding to the state of the wearable device (120) to the user. The other wearable device (130) may, upon receiving the control signal, provide (or output) feedback (e.g., at least one of visual feedback, auditory feedback, or tactile feedback) corresponding to the state of the wearable device (120).

[0041] In one embodiment, the electronic device (110) may communicate with the server (140) using short-range wireless communication (e.g., Wi-Fi) or mobile communication (e.g., 4G, 5G, etc.).

[0042] In one embodiment, the electronic device (110) may receive user profile information from the user. The profile information may include, for example, at least one of age, gender, height, weight, or BMI (Body Mass Index), or a combination thereof. The electronic device (110) may transmit the user profile information to the server (140).

[0043] In one embodiment, the electronic device (110) and / or the wearable device (120) may request the user to perform one or more target movements to determine (or check) the user's motor skills. The one or more target movements may include, for example, knee lifts, leg raises, etc. The knee lift may be a movement (or motion) in which the user starts from a standing upright position with both feet in contact with the ground, raises the knees as much as possible without bending the waist, and then returns to the standing position. The leg raise may be a movement (or motion) in which the user starts from a standing upright position with hands on a wall, raises the legs as much as possible without bending the waist, and then returns to the standing position.

[0044] In one embodiment, a wearable device (120) may obtain movement information of a user performing a target movement using a sensor (e.g., an Inertial Measurement Unit (IMU)) and transmit the obtained movement information to an electronic device (110). The electronic device (110) may transmit the obtained movement information to a server (140).

[0045] In one embodiment, the server (140) may determine a user's target exercise amount for each exercise type (e.g., strength training, balance training, aerobic exercise) based on profile information and movement information received from the electronic device (110). The server (140) may transmit the target exercise amount for each exercise type to the electronic device (110).

[0046] In one embodiment, the server (140) may include a database storing information about a plurality of exercise programs that can be provided to a user through a wearable device (120). For example, the server (140) may manage a user account for a user of an electronic device (110) or a wearable device (120). The server (140) may store and manage exercise programs performed by the user and the results of the exercise programs, etc., in association with the user account.

[0047] In one embodiment, the electronic device (110) and / or the server (140) may provide the user with various exercise programs to achieve exercise goals in various exercise environments desired by the user. The exercise goals may include, for example, at least one of, or a combination of, muscle strength enhancement, physical fitness enhancement, cardiopulmonary endurance enhancement, core stability enhancement, flexibility enhancement, and symmetry enhancement.

[0048] In one embodiment, the electronic device (110) and / or the server (140) may recommend exercise programs to the user to achieve the user's exercise goal. Each exercise program may be composed of one or more exercise modes. For example, each exercise mode may be for a physical movement to achieve a specific exercise goal. For example, running may be an exercise mode for improving the user's cardiopulmonary endurance. For example, lunging may be an exercise mode for improving the user's core stability. Depending on the user's exercise goal, the combination of multiple exercise modes constituting each exercise program may vary. Even for the same exercise goal, the electronic device (110) may provide the user with various exercise programs based on combinations of multiple exercise modes.

[0049] In one embodiment, a plurality of exercise modes may be stored in a database in an electronic device (110) or a server (140). The electronic device (110) or the server (140) may generate a plurality of exercise programs based on various pieces of information about the user, and may recommend a target exercise program among the plurality of exercise programs to the user by considering the user's exercise purpose or exercise performance status. For example, the electronic device (110) or the server (140) may determine a target exercise program to recommend to the user based on at least one of the user's exercise purpose, exercise history, or exercise performance result. Accordingly, even when the user exercises daily under the same exercise goal, the user may be recommended a new exercise program, and by performing the new exercise program, the user may feel like performing a different exercise than before.

[0050] FIG. 2a illustrates a rear schematic diagram of a wearable device according to one embodiment. FIG. 2b illustrates a left side view of the wearable device according to one embodiment.

[0051] The wearable device (200) illustrated in FIGS. 2A and 2B may be an example of a wearable device (120).

[0052] Referring to FIG. 2a, a wearable device (200) according to one embodiment may include a waist support module (10), a waist frame (20), a drive module (30) including a motor and / or a drive circuit, a thigh fastening member (40a, 40b), a main belt (50), and a thigh frame (70a, 70b).

[0053] According to one embodiment, the lumbar support module (10) may be positioned on the user's lumbar region (waist area) while the user wears the wearable device (200). The lumbar support module (10) may be mounted on the user's lumbar region to provide a cushioning feeling to the user's lumbar region and support the user's lumbar region. The lumbar support module (10) including a support may be hung over the user's buttocks (hip area) to prevent the wearable device (200) from falling downward due to gravity while the user wears the wearable device (200). The lumbar support module (10) may distribute a portion of the weight of the wearable device (200) to the user's lumbar region while the user wears the wearable device (200). The lumbar support module (10) may be directly or indirectly connected to the lumbar frame (20). Connecting elements (not shown) that may be connected to the lumbar frame (20) may be formed at both ends of the lumbar support module (10).

[0054] According to one embodiment, the lumbar support module (10) may include a lighting unit (60). The lighting unit (60) may include a plurality of light sources (e.g., light emitting diodes (LEDs)). The lighting unit (60) may emit light under the control of a processor (e.g., the processor (310) of FIGS. 3A and 3B to be described later). According to an embodiment, the processor may control the lighting unit (60) so that visual feedback corresponding to the status of the wearable device (200) (e.g., booting status, sensing status, etc.) may be provided (or output) to the user through the lighting unit (60).

[0055] According to one embodiment, a waist frame (20) may extend from both ends of a waist support module (10). A user's lower back may be accommodated on the inside of the waist frame (20). The waist frame (20) may include at least one rigid body beam. Each beam may have a curved shape having a predetermined curvature so as to surround the user's lower back. A main belt (50) may be directly or indirectly connected to an end of the waist frame (20). A drive module (30) may be mounted on the waist frame (20). The waist frame (20) may include a connector (not shown) for mounting the drive module (30).

[0056] According to one embodiment, the drive module (30) may include a first drive module (30a) positioned on the left side of the user while the user wears the wearable device (200) and a second drive module (30b) positioned on the right side of the user while the user wears the wearable device (200). Each “drive module” herein may include a motor and / or a drive circuit for a motor, and optionally may include at least one sensor (e.g., at least one angle sensor).

[0057] According to one embodiment, the first driving module (30a) may include a first angle sensor (e.g., a first encoder or a first hall sensor) for measuring an angle of a first joint of the user (e.g., a left hip joint angle). The second driving module (30b) may include a second angle sensor (e.g., a second encoder or a second hall sensor) for measuring an angle of a second joint of the user (e.g., a right hip joint angle).

[0058] According to one embodiment, the first driving module (30a) and the second driving module (30b) can generate torque. The first driving module (30a) can be directly or indirectly connected to the first thigh frame (70a), and the second driving module (30b) can be directly or indirectly connected to the second thigh frame (70b). The first driving module (30a) can provide the generated torque to the user's left leg through the first thigh frame (70a). The first thigh frame (70a) can provide an external force to the user's left leg by rotating through the torque generated by the first driving module (30a). The second driving module (30b) can provide the generated torque to the user's right leg through the second thigh frame (70b). The second thigh frame (70b) can provide an external force to the user's right leg by rotating through the torque generated by the second driving module (30b).

[0059] According to one embodiment, the thigh frame (70a, 70b) may support the user's leg (e.g., thigh) when the wearable device (200) is worn on the user's leg. The thigh frame (70a, 70b) may include a first thigh frame (70a) for supporting the user's left leg and a second thigh frame (70b) for supporting the user's right leg.

[0060] According to one embodiment, the thigh frame (70a, 70b) can transmit torque generated by, for example, the drive module (30a, 30b) to the user's thigh. One end of the thigh frame (70a, 70b) is directly or indirectly connected to the drive module (30a, 30b) and can rotate, and the other end of the thigh frame (70a, 70b) is directly or indirectly connected to the thigh fastening portion (40a, 40b), so that the thigh frame (70a, 70b) can support the user's thigh while transmitting torque generated by the drive module (30a, 30b) to the user's thigh. For example, the thigh frame (70a, 70b) can push or pull the user's thigh. The thigh frame (70a, 70b) can extend along the longitudinal direction of the user's thigh. The thigh frame (70a, 70b) can be bent to wrap at least a portion of the user's thigh circumference.

[0061] According to one embodiment, the thigh fastening portions (40a, 40b) are directly or indirectly connected to the thigh frame (70a, 70b) and can secure the thigh frame (70a, 70b) to the thigh. The thigh fastening portions (40a, 40b) may include a first thigh fastening portion (40a) for securing the first thigh frame (70a) to the user's left thigh and a second thigh fastening portion (40b) for securing the second thigh frame (70b) to the user's right thigh.

[0062] According to one embodiment, the first thigh fastening part (40a) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (40b) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover may be disposed on one side of the user's thigh. The first cover and the second cover may be disposed, for example, on the front side of the user's thigh. The first cover and the second cover may be disposed along the circumferential direction of the user's thigh. The first cover and the second cover may extend in both directions with the other end of the thigh frame (70a, 70b) as the center, and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be connected to the fastening frame, and the other end may be connected to the strap.

[0063] According to one embodiment, 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 thigh frame (70a, 70b). The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

[0064] In one embodiment, the first strap may encircle the remaining portion of the user's left thigh that is not covered by the first cover and the first fastening frame, and the second strap may encircle the remaining portion of the user's right thigh that is not covered by the second cover and the second fastening frame. The first strap and the second strap may comprise, for example, an elastic material (e.g., a band).

[0065] According to one embodiment, the main belt (50) may be directly or indirectly connected to the waist frame (20). The main belt (50) may include a first main belt (50a) that can wrap around the left abdomen of the user while the user wears the wearable device (200) and a second main belt (50b) that can wrap around the right abdomen of the user while the user wears the wearable device (200). The first main belt (50a) may be formed in a shape having a longer length than the second main belt (50b), but is not limited thereto, and the first main belt (50a) may be formed in a shape having the same length as or a shorter length than the second main belt (50b). The first main belt (50a) and the second main belt (50b) may be directly or indirectly connected to both ends of the waist frame (20), respectively. The main belt (50) may be bent in a direction that wraps around the user's abdomen when the user's body is inserted in the direction in which the wearable device (200) is accommodated. The first main belt (50a) and the second main belt (50b) may be interconnected while the user is wearing the wearable device (200). The main belt (50) may distribute a portion of the weight of the wearable device (200) to the user's abdomen while the user is wearing the wearable device (200).

[0066] Referring to FIG. 2b, the lumbar support module (10) may be mounted on the back of the user's lower back and may support a portion of the weight of the wearable device (200) by being hung on the user's buttocks. The first drive module (30a) may be positioned on the user's left lower back. The lumbar frame (20) may extend from an end of the lumbar support module (10) and may be inclined in a direction toward the first drive module (30a). The first main belt (50a) mounted on the lumbar frame (20) may be in a state of wrapping around the user's left abdomen.

[0067] FIGS. 3A and 3B are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0068] According to one embodiment, the wearable device (300) of FIG. 3A may include a processor (310) including a processing circuit, angle sensors (320, 320-1), a battery (330), a power management integrated circuit (PMIC) (340), a memory (350), an IMU (360), motor driver circuits (370, 370-1), motors (or actuators) (380, 380-1), and a communication module (390) including a communication circuit.

[0069] Although FIG. 3A illustrates a plurality of angle sensors (320, 320-1), a plurality of motor driver circuits (370, 370-1), and a plurality of motors (380, 380-1), this is merely exemplary, and the wearable device (300-1) illustrated in FIG. 3B may include one angle sensor (320), one motor driver circuit (370), and one motor (380). In addition, depending on the implementation, the wearable device (300, 300-1) may include a plurality of processors. The number of motor driver circuits, the number of motors, or the number of processors may vary depending on the body part on which the wearable device (300, 300-1) is worn. Each “processor” herein may include a processing circuit and / or include multiple processors. For example, the term "processor," as used herein, including in the claims, may encompass various processing circuits, including at least one processor, one or more of which may be configured to individually and / or collectively perform the various functions described herein in a distributed manner. As used herein, where "processor," "at least one processor," and "one or more processors" are described as being configured to perform various functions, these terms may encompass, for example, without limitation, a situation where one processor performs some of the functions, other processor(s) perform other of the functions, and also encompass a situation where a single processor may perform all of the functions. Additionally, the at least one processor may comprise a combination of processors that perform the various functions enumerated / disclosed, for example, in a distributed manner. The at least one processor may execute program instructions to achieve or perform the various functions.

[0070] The wearable device (300) of FIG. 3a and the wearable device (300-1) of FIG. 3b may correspond to examples of the wearable device (120) and the wearable device (200).

[0071] According to one embodiment, the angle sensor (320), the motor driver circuit (370), and the motor (380) may be included in the first drive module (30a) of FIG. 2a, and the angle sensor (320-1), the motor driver circuit (370-1), and the motor (380-1) may be included in the second drive module (30b) of FIG. 2a.

[0072] According to one embodiment, each of the angle sensor (320) and the angle sensor (320-1) may correspond to a Hall sensor, but is not limited thereto.

[0073] According to one embodiment, the angle sensor (320) can measure or sense the angle of the first thigh frame (70a) (or the angle of the user's first joint (e.g., the left hip joint, etc.)). The angle sensor (320) can transmit the measurement result (e.g., the angle value of the angle of the first thigh frame (70a)) to the processor (310).

[0074] According to one embodiment, the angle sensor (320-1) can measure or sense the angle of the second thigh frame (70b) (or the angle of the user's second joint (e.g., the right hip joint)). The angle sensor (320) can transmit the measurement result (e.g., the angle value of the angle of the second thigh frame (70b)) to the processor (310).

[0075] According to one embodiment, depending on the position of the angle sensor (320) and the angle sensor (320-1), the angle sensor (320) and the angle sensor (320-1)) can additionally measure the user's knee angle and ankle angle.

[0076] According to one embodiment, the wearable device (300, 300-1) may include a potentiometer. The potentiometer may sense an R-axis joint angle, an L-axis joint angle, an R-axis joint angular velocity, and an L-axis joint angular velocity according to a user's walking motion. The R / L axes may be reference axes for the user's right / left legs. For example, the R / L axes may be set to be perpendicular to the ground, and may be set such that the front side of a person's torso has a negative value and the back side of the torso has a positive value.

[0077] According to one embodiment, the PMIC (340) can charge the battery (330) using power supplied from an external power source. For example, the external power source and the wearable device (300, 300-1) can be connected via a cable (e.g., a USB cable, etc.). The PMIC (340) can receive power from the external power source via the cable and charge the battery (330) using the received power. According to an embodiment, the PMIC (340) can charge the battery (330) via a wireless charging method.

[0078] According to one embodiment, the PMIC (340) can transfer power stored in the battery (330) to components (e.g., processor (310), memory (350), IMU (360), communication module (390), etc.) within the wearable device (300, 300-1). The PMIC (340) can, for example, adjust the power stored in the battery (330) to a voltage or current level suitable for the components within the wearable device (300). The PMIC (340) can include, for example, a converter (e.g., a direct current (DC)-DC converter) or a regulator (e.g., a low drop out (LDO) regulator or a switching regulator) capable of performing the above-described adjustment.

[0079] According to one embodiment, the PMIC (340) can determine state information (e.g., state of charge, state of health, overvoltage, undervoltage, overcurrent, overcharge, overdischarge, overheat, short circuit, or swelling) of the battery (330) and transmit the state information of the battery (330) to the processor (310). The processor (310) can provide the state information of the battery (330) to the user. For example, the processor (310) can output the state information of the battery (330) through at least one of an audio output module (e.g., a speaker), a vibration output module (e.g., a vibration motor or a haptic motor), or a display module (e.g., a display or a lighting unit (60)). For example, the processor (310) can transmit status information of the battery (330) to the electronic device (110) through the communication module (390), and the electronic device (110) can display the status information of the battery (330) on a display.

[0080] According to one embodiment, the IMU (360) can obtain movement information of the wearable device (300, 300-1) (or the user). For example, the IMU (360) can obtain rotation angle values ​​(e.g., an angle value of an X rotation angle, an angle value of a Y rotation angle, and an angle value of a Z rotation angle) of the lumbar support module (10) (or the user). The X rotation angle may represent, for example, an angle at which the lumbar support module (10) rotates around the X axis, the Y rotation angle may represent, for example, an angle at which the lumbar support module (10) rotates around the Y axis, and the Z rotation angle may represent, for example, an angle at which the lumbar support module (10) rotates around the Z axis. The IMU (360) can transmit the obtained movement information (e.g., rotation angle values) to the processor (310). Depending on the implementation, the IMU (360) may, for example, acquire three-axis (e.g., X-axis, Y-axis, Z-axis) acceleration values ​​and angular acceleration values ​​of the lumbar support module (10) (or the user), and transmit the acquired acceleration values ​​and angular acceleration values ​​to the processor (310). The processor (310) may determine rotation angle values ​​of the lumbar support module (10) (or the user) based on at least some of the acquired acceleration values ​​and angular acceleration values.

[0081] According to one embodiment, the processor (310) can control the wearable device (300, 300-1) as a whole.

[0082] According to one embodiment, the processor (310) may be operatively connected to at least one or all of the angle sensors (320, 320-1), the memory (350), or the IMU (360).

[0083] According to one embodiment, the processor (310) may control components (e.g., motor driver circuits (370, 370-1), etc.) within the wearable device (300, 300-1) by executing software (or programs, instructions) stored in the memory (350), for example, and may perform various data processing or calculations. As at least a part of the data processing or calculations, the processor (310) may store data received from other components (e.g., IMU (360), angle sensors (320, 320-1), etc.) in the memory (350), and process instructions or data stored in the memory (350).

[0084] According to one embodiment, each of the motor driver circuits (370, 370-1) can control each of the motors (380, 380-1) under the control of the processor (310), and by such control, each of the motors (380, 380-1) can generate torque.

[0085] According to one embodiment, a communication module (390) including a communication circuit may support establishment of a direct (e.g., wired) communication channel or a wireless communication channel between a wearable device (300, 300-1) and an external electronic device, and performance of communication through the established communication channel. The communication module may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Any of these communication modules may communicate with an external electronic device via a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0086] According to one embodiment, the wearable device (300, 300-1) may include a display module. The display module may include, for example, a display and / or a lighting unit (e.g., the lighting unit (60) of FIG. 2A). The processor (310) may control the display module so that the display module can provide visual feedback to the user.

[0087] According to one embodiment, the wearable device (300, 300-1) may include an audio output module. The audio output module may include, for example, one or more speakers. The processor (310) may control the audio output module so that the audio output module can provide auditory feedback to the user.

[0088] According to one embodiment, the wearable device (300, 300-1) may include a vibration output module. The vibration output module may include, for example, one or more vibration motors or one or more haptic motors. The processor (310) may control the vibration output module so that the vibration output module can provide tactile feedback (or haptic feedback) to the user.

[0089] According to one embodiment, at least one of a processor (310), a battery (330), a PMIC (340), a memory (350), an IMU (360), a communication module (390), a display module, an audio output module, or a vibration output module, or a combination thereof, may be located inside the lumbar support module (10) of FIGS. 2a and 2b.

[0090] FIG. 4 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0091] Referring to FIG. 4, a wearable device (120) can communicate with an electronic device (410) (e.g., a smartphone or a smartwatch, including but not limited to the electronic device (110) and / or another wearable device (130). For example, the electronic device (410) can be a user terminal of a user using the wearable device (120) or a dedicated controller device for the wearable device (120). According to one embodiment, the wearable device (120) and the electronic device (410) can be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0092] According to one embodiment, the electronic device (410) may execute an application for checking the status of the wearable device (120) or controlling or operating the wearable device (120). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (120) or determining the operation mode of the wearable device (120) may be displayed on the display (412) of the electronic device (410). The UI may be, for example, a graphical user interface (GUI).

[0093] According to one embodiment, a user may input a command to control the operation of the wearable device (120) (e.g., a command to instruct to operate in an assist mode that generates assistive force or a command to instruct to operate in a resistance mode that generates resistive force) or change the settings of the wearable device (120) through a GUI screen on a display (412) of the electronic device (410). The electronic device (410) may generate a control command (or a control signal) corresponding to the operation control command or setting change command input by the user, and transmit the generated control command to the wearable device (120). The wearable device (120) may operate according to the received control command, and may transmit a control result according to the control command and / or sensor data measured by a sensor of the wearable device (120) (e.g., angle sensors (320, 320-1) and / or IMU (360)) to the electronic device (410). The electronic device (410) can provide the user with result information (e.g., walking ability information, exercise ability information, exercise movement evaluation information) derived by analyzing the control result and / or sensor data through a GUI screen.

[0094] FIG. 5 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0095] Referring to FIG. 5, a first position (501) at a first time point when the user's right foot touches the ground, a second position (503) at a second time point when the user's left foot touches the ground after the first time point, a third position (505) at a third time point when the user's right foot touches the ground again after the second time point, and a fourth position (507) at a fourth time point when the user's left foot touches the ground again after the third time point are shown.

[0096] In the example illustrated in FIG. 5, the length from a first position (501) where the user's right foot touches the ground to a third position (505) where the user's right foot touches the ground may correspond to the user's right stride length, and the difference between the third point in time and the first point in time may correspond to the user's right stride time. The length from a second position (503) where the user's left foot touches the ground to a fourth position (507) where the user's left foot touches the ground may correspond to the user's left stride length, and the difference between the fourth point in time and the second point in time may correspond to the left stride time.

[0097] In the example illustrated in FIG. 5, a user's step may, for example, represent a motion in which the user's first foot touches the ground and then touches the ground again. For example, a motion in which the user's right foot is at a first position (501) and then at a third position (505) may correspond to a step. A motion in which the user's left foot is at a second position (503) and then at a fourth position (507) may correspond to a step.

[0098] In one embodiment, when the user's hip joint is rotated forward from the gravity direction line (510) (or when the user's leg is in front of the gravity direction line (510), the user's hip joint angle may have a negative number value. When the user's hip joint is rotated backward from the gravity direction line (510) (or when the user's leg is behind the gravity direction line (510), the user's hip joint angle may have a positive number value. For example, in the example illustrated in FIG. 5, the user's right hip joint may be rotated forward from the gravity direction line (510), so the right hip joint angle (q r ) can have a negative value, and the user's left hip joint may be rotated backward from the line (510) in the direction of gravity, so the left hip joint angle (q l ) can have positive values.

[0099] According to one embodiment, if the direction of the torque provided by the wearable device (120) to the user is in a first direction (e.g., counterclockwise), the sign of the torque may be a first sign (e.g., minus), and if the direction of the torque provided by the wearable device (120) to the user is in a second direction (e.g., clockwise), the sign of the torque may be a second sign (e.g., plus).

[0100]

[0101] FIG. 6 is a block diagram illustrating an example of a configuration of a wearable device according to one embodiment.

[0102] Referring to FIG. 6, a wearable device (600) (e.g., wearable device (120), wearable device (200), wearable device (300), wearable device (300-1)) according to one embodiment may include a processor (610) (e.g., processor (310)), an angle sensor (620), and a driving module (630) (e.g., driving module (30)).

[0103] According to one embodiment, the processor (610) may include a processing circuit and may control the drive module (630) so that torque (e.g., resistance torque or auxiliary torque) may be output by the drive module (630).

[0104] According to one embodiment, the angle sensor (620) can sense or measure a joint angle (e.g., a hip joint angle) of a user and transmit a sensing result (or a measurement result) (e.g., a joint angle value) to the processor (610). For example, the angle sensor (620) can include an angle sensor (320) and / or an angle sensor (320-1). The angle sensor (320) can sense a left hip joint angle of a user. The angle sensor (320-1) can sense a right hip joint angle of a user.

[0105] According to one embodiment, the drive module (630) may include one or more motors (e.g., motor (380) and / or motor (380-1)) and one or more motor driver circuits (e.g., motor driver circuit (370) and / or motor driver circuit (370-1)). The drive module (630) may include a first drive module (30a) and / or a second drive module (30b).

[0106] According to one embodiment, the processor (610) may obtain the user's joint angle using the angle sensor (620). For example, the processor (610) may obtain the user's left hip joint angle using the angle sensor (320), and may obtain the user's right hip joint angle using the angle sensor (320-1). In another example, the angle sensor (620) may obtain the user's left hip joint angle (q l ) and right hip joint angle (q r ) difference between (q) d ) can sense the left hip joint angle (q). The processor (610) l ) and right hip joint angle (q r ) difference between (q) d) based on the user's left hip joint angle (q l )(e.g. q d / 2) and right hip joint angle (q r )(eg: -q d / 2) can be obtained. q d For example, q l and q r Difference between (eg: q l -q r ) may correspond to the left hip joint angle (q l ) and the absolute value of the right hip joint angle (q r ) are similar in absolute value to each other and the left hip joint angle (q l ) and the sign of the right hip joint angle (q r ) may have different signs. In this case, the processor (610) may q d / 2 is the left hip angle (q l ) can be determined by -q d / 2 is the right hip angle (q r ) can be determined.

[0107] In one embodiment, the processor (610) may process the left hip angle and the right hip angle to correct (or remove) a direct current (DC) component (or DC offset) of the user's left hip angle and the user's right hip angle, respectively. The DC component may represent, for example, a component having a frequency of 0 in the frequency domain.

[0108] According to one embodiment, the processor (610) may determine a first torque value based on the processed left hip joint angle. The processor (610) may determine a second torque value based on the processed right hip joint angle. For example, through a predetermined mapping relationship (e.g., a mapping relationship between hip joint angle and torque value), the processor (610) may determine a first torque value based on the processed left hip joint angle, and may determine a second torque value based on the processed right hip joint angle.

[0109] According to one embodiment, the processor (610) may determine one of the first torque value and the second torque value as the target torque value based on the user's movement information. The user's movement information may include, for example, at least one of the user's left hip joint angle, the user's right hip joint angle, the user's left hip joint angular velocity, the user's right hip joint angular velocity, or sensing data of an IMU sensor (e.g., the IMU (360) of FIG. 3A or the IMU (360) of FIG. 3B).

[0110] According to one embodiment, the processor (610) can control the drive module (630) so that a torque based on the determined target torque value is output (or provided) by the drive module (630).

[0111] For example, when the processor (610) determines the first target value as the target torque value, the processor (610) may control the drive module (630) (or the first drive module (30a)) to output (or provide) a torque corresponding to the target torque value (e.g., the first target value) to the user's left leg. The drive module (630) (or the first drive module (30a)) may output (or provide) a torque corresponding to the target torque value (e.g., the first target value) to the user's left leg. The processor (610) may control the drive module (630) (or the second drive module (30b)) to output a torque in the opposite direction of the torque corresponding to the target torque value (e.g., the first target value) (or a torque corresponding to a negative value of the target torque value) to the user's right leg. The drive module (630) (or the second drive module (30b)) may output (or provide) a torque in the opposite direction of the torque corresponding to the target torque value (e.g., the first target value) to the user's right leg.

[0112] For another example, if the processor (610) determines the second target value as the target torque value, the processor (610) may control the drive module (630) (or the second drive module (30b)) to output (or provide) a torque corresponding to the target torque value (e.g., the second target value) to the user's right leg. The drive module (630) (or the second drive module (30b)) may output (or provide) a torque corresponding to the target torque value (e.g., the second target value) to the user's right leg. The processor (610) may control the drive module (630) (or the first drive module (30a)) to output a torque in the opposite direction of the torque corresponding to the target torque value (e.g., the second target value) (or a torque corresponding to a negative value of the target torque value) to the user's left leg. The drive module (630) (or the first drive module (30a)) can output (or provide) a torque in the opposite direction to the torque corresponding to the target torque value (e.g., the second target value) to the user's left leg.

[0113]

[0114] Figure 7 is a block diagram schematically illustrating the operation of a wearable device according to one embodiment.

[0115] The operations of FIG. 7 can be performed by a wearable device (600).

[0116] According to one embodiment, the wearable device (600) (e.g., processor (610)) uses an angle sensor (620) to measure the left hip joint angle (e.g., q l (t)) and right hip joint angle (e.g. q r (t)) can be obtained. Time t can represent, for example, discrete time.

[0117] According to one embodiment, the wearable device (600) (e.g., processor (610)) is configured to measure the left hip joint angle (e.g., q) in operation 711. l By correcting the DC component (or DC offset) of (t)), the processed left hip angle (e.g. q l_AC (t)) can be obtained. The wearable device (600) (e.g., processor (610)) can obtain the right hip joint angle (e.g., q) in operation 712. r By correcting the DC component (or DC offset) of (t)), the processed right hip angle (e.g. q r_AC (t)) can be obtained. The processed left hip joint angle (e.g. q l_AC (t)) and processed right hip angle (e.g. q r_AC (t)) Each of them may have the DC component removed or the DC component reduced.

[0118] According to one embodiment, in operation 721, the wearable device (600) (e.g., processor (610)) processes the processed left hip angle (e.g., q l_AC(t)) can perform a time delay. For example, the wearable device (600) (e.g., the processor (610)) can store the processed left hip joint angle in the first register. The wearable device (600) (e.g., the processor (610)) can store a time value related to the torque output delay (or a time value related to the torque output time) (e.g., ) after a delay of time, the processed left hip joint angle can be retrieved (or obtained) from the first register. q l_AC The result of the time delay performed at (t) (or the left hip angle obtained after the time delay) is, for example, q l_AC (t-Δt) can be expressed as. In operation 722, the wearable device (600) (e.g., processor (610)) processes the processed right hip joint angle (e.g., q r_AC (t)) can perform a time delay. For example, the wearable device (600) (e.g., processor (610)) can store the processed right hip joint angle in a second register. After a time delay equal to the time value (e.g., Δt) for the torque output delay, the wearable device (600) (e.g., processor (610)) can retrieve (or obtain) the processed right hip joint angle from the second register. q r_AC The result of the time delay performed at (t) (or the right hip angle obtained after the time delay) is, for example, q r_AC It can be expressed as (t-Δt).

[0119] According to one embodiment, in operation 731, the wearable device (600) (e.g., processor (610)) acquires the left hip joint angle (e.g., q) after a time delay. l_AC Based on the first torque value (e.g. τ) (t-Δt) l(t-Δt)) can be determined. For example, the wearable device (600) (e.g., the processor (610)) can determine the first torque value based on the left hip joint angle acquired after a time delay through a predetermined mapping relationship (e.g., a linear function, a clipping function, a sinusoidal function, a logistic function, etc.). In operation 732, the wearable device (600) (e.g., the processor (610)) can determine the first torque value based on the left hip joint angle acquired after a time delay (e.g., q r_AC A second torque value (e.g. τ) based on (t-Δt) r (t-Δt)) can be determined. For example, the wearable device (600) (e.g., the processor (610)) can determine the second torque value based on the right hip joint angle acquired after a time delay through a predetermined mapping relationship (e.g., a linear function, a clipping function, a sinusoidal function, a logistic function, etc.). In some embodiments, the mapping relationship used to determine the first torque value may be the same as the mapping relationship used to determine the second torque value. However, the present invention is not limited thereto, and the mapping relationship used to determine the first torque value may be different from the mapping relationship used to determine the second torque value.

[0120] According to one embodiment, in operation 740, the wearable device (600) (e.g., processor (610)) selects a target torque value (e.g., τ) from among the first torque value and the second torque value based on the user's movement information. target (t-Δt)) can be determined. The target torque value may represent, for example, a torque value based on which the wearable device (600) will provide the user.

[0121] In one embodiment, although not shown in FIG. 7, the wearable device (600) (e.g., processor (610)) may be configured to detect a first torque value (e.g., τ l (t-Δt)) as the target torque value (e.g. τ target(t-Δt)) can be determined. For example, τ target (t-Δt)=τ l (t-Δt). The wearable device (600) may be configured to detect a target torque value (e.g., τ) through the driving module (630) (or the first driving module (30a)). target (t-Δt)=τ l (t-Δt)) can be output or provided to the user's left leg, and a negative value of the target torque value (e.g., -τ) can be provided through the drive module (630) (or the second drive module (30b)). target A torque of (t-Δt) can be output or provided to the user's right leg.

[0122] In one embodiment, although not shown in FIG. 7, the wearable device (600) (e.g., processor (610)) may be configured to detect a second torque value (e.g., τ r (t-Δt)) as the target torque value (e.g. τ target (t-Δt)) can be determined. For example, τ target (t-Δt))=τ r (t-Δt). The wearable device (600) may be configured to detect a target torque value (e.g., τ) through the driving module (630) (or the second driving module (30b)). target (t-Δt)=τ r (t-Δt)) can be output or provided to the user's right leg, and a negative value of the target torque value (e.g. -τ) can be provided through the drive module (630) (or the first drive module (30a)). target A torque of (t-Δt) can be output or provided to the user's left leg.

[0123]

[0124] FIGS. 8, 9, 10, and 11 are diagrams illustrating examples of a wearable device correcting a DC component of a user's hip joint angle according to one embodiment.

[0125] Operation 811 of FIG. 8 may be an example of operation 711 of FIG. 7, and operation 812 of FIG. 8 may be an example of operation 712 of FIG. 7.

[0126] Referring to FIG. 8, in operation 811, the wearable device (600) (e.g., processor (610)) detects the user's left hip joint angle (e.g., q) through a filter (811-1). l (t)) can be corrected (or removed). The wearable device (600) can correct (or remove) the DC component of the user's left hip joint angle values ​​through the filter (811-1). Through this correction, the wearable device (600) can correct (or remove) the DC component of the left hip joint angle values ​​of the user (e.g., FIG. 8). ) can be obtained. For example, can be. Here, R can have a value between 0.9 and 1.0.

[0127] At operation 812, the wearable device (600) (e.g., processor (610)) detects the user's right hip angle (e.g., q) through a filter (812-1). r (t)) can be corrected (or removed). The wearable device (600) can correct (or remove) the DC component of the user's right hip joint angle values ​​through the filter (812-1). Through this correction, the wearable device (600) can correct (or remove) the DC component of the user's right hip joint angle values ​​(e.g., the right hip joint angle of FIG. 8) with the DC component corrected. ) can be obtained. For example, It could be.

[0128] According to one embodiment, each of filter (811-1) and filter (812-1) may be a filter (e.g., a notch filter, etc.) that can block (or remove) data (or signals) of 0 Hz. The transfer function by z-transform of each of filter (811-1) and filter (812-1) may be expressed by the following mathematical expression 1.

[0129] [Mathematical Formula 1]

[0130]

[0131] In the above mathematical expression 1, R can have a value between 0.9 and 1.0.

[0132] Moving on to FIG. 9, operation 911 of FIG. 9 may be an example of operation 711 of FIG. 7, and operation 912 of FIG. 9 may be an example of operation 712 of FIG. 7.

[0133] Referring to FIG. 9, in operation 911, the wearable device (600) (e.g., processor (610)) measures the user's left hip joint angle (e.g., q l (t)) by correcting (or removing) the DC component (or DC offset) of the left hip joint angle (e.g., Fig. 9) with the DC component corrected. ) can be obtained. In operation 912, the wearable device (600) (e.g., processor (610)) obtains the user's right hip joint angle (e.g., q r (t)) by correcting (or removing) the DC component (or DC offset) of the right hip joint angle (e.g., in Fig. 9) with the DC component corrected. ) can be obtained. Below, actions 911 and 912 are described in detail.

[0134] In the example illustrated in FIG. 9, the wearable device (600) (e.g., processor (610)) receives the user's left hip joint angle value (e.g., q l _1) and the right hip joint angle value (e.g. q r _1) can be obtained. The wearable device (600) (e.g., processor (610)) determines a statistical value (e.g., mean value, moving average (MA) value, median value, half of maximum and minimum difference, etc.) of a predetermined number (e.g., 5) of left hip angle values, until the left hip angle value (e.g., q) is obtained in operation 911-2. l_1) can perform a time delay for the left hip angle value (e.g., q) until a statistical value of a predetermined number of left hip angle values ​​is determined. For example, the processor (610)) may perform a time delay for the left hip angle value (e.g., q) until a statistical value of a predetermined number of left hip angle values ​​is determined. l _1) can be stored in the third register. The wearable device (600) (e.g., processor (610)) determines the statistical values ​​(e.g., average value, moving average value, median value, half of maximum and minimum difference, etc.) of the right hip angle values ​​of a predetermined number (e.g., 5) in operation 912-2, until the right hip angle values ​​(e.g., q) are determined. r _1) can perform a time delay for the right hip angle value (e.g., q) until a statistical value of a predetermined number of right hip angle values ​​is determined. For example, the processor (610)) may perform a time delay for the right hip angle value (e.g., q) until a statistical value of a predetermined number of right hip angle values ​​is determined. r _1) can be stored in the 4th register.

[0135] The wearable device (600) (e.g., processor (610)) receives a left hip joint angle value (e.g., q l After acquisition of _1), the left hip joint angle values ​​(e.g. q l _2, q l _3, q l _4, q l _5) can be sequentially acquired. The wearable device (600) (e.g., processor (610)) can obtain the right hip joint angle value (e.g., q r After acquisition of _1), the right hip joint angle values ​​(e.g. q r _2, q r _3, q r _4, q r _5) Each can be acquired sequentially.

[0136] Left hip angle values ​​(e.g. q l _1, q l _2, q l _3, q l _4, q l_5) can satisfy a fixed number (e.g., 5). In this case, in operation 911-1, the wearable device (600) (e.g., processor (610)) can satisfy the left hip joint angle values ​​(e.g., q l _1, q l _2, q l _3, q l _4, q l _5) can determine the statistical values. For example, the processor (610) can determine the left hip joint angle values ​​(e.g., q l _1, q l _2, q l _3, q l _4, q l _5) moving average value (e.g. MA l _1) can be calculated. For another example, the processor (610) can calculate left hip joint angle values ​​(e.g., q l _1, q l _2, q l _3, q l _4, q l _5) median (e.g. median l _1) can be determined. For another example, the processor (610) may determine the left hip joint angle values ​​(e.g., q l _1, q l _2, q l _3, q l _4, q l _5) among the largest (e.g. max l _1) and minimum (min) l _1) can be determined, and half the difference between the maximum and minimum (e.g. (max l _1-min l _1) / 2) can be calculated.

[0137] Right hip angle values ​​(e.g. q r _1, q r _2, q r _3, q r _4, q r_5) can satisfy a fixed number (e.g., 5). In this case, in operation 912-1, the wearable device (600) (e.g., processor (610)) can satisfy the right hip joint angle values ​​(e.g., q r _1, q r _2, q r _3, q r _4, q r _5) can determine the statistical values. For example, the processor (610) can determine the right hip joint angle values ​​(e.g., q r _1, q r _2, q r _3, q r _4, q r _5) moving average value (e.g. MA r _1) can be calculated. For another example, the processor (610) can calculate the right hip joint angle values ​​(e.g., q r _1, q r _2, q r _3, q r _4, q r _5) median (e.g. median r _1) can be determined. For another example, the processor (610) can determine the right hip joint angle values ​​(e.g., q r _1, q r _2, q r _3, q r _4, q r _5) among the largest (e.g. max r _1) and minimum (min) r _1) can be determined, and half the difference between two different values, for example the difference between the maximum and minimum (e.g. (max r _1-min r _1) / 2) can be calculated.

[0138] The wearable device (600) (e.g., processor (610)) receives left hip joint angle values ​​(e.g., q l _1, q l _2, q l _3, q l _4, q l_5) statistical values ​​(e.g. MA l _1, median l _1, or (max l _1-min l If _1) / 2) is determined, the left hip joint angle value (e.g. q l _1) in the statistical values ​​(e.g. MA l _1, median l _1, or (max l _1-min l By subtracting _1) / 2), the left hip angle value (e.g. q l _1) The DC component can be compensated.

[0139] The wearable device (600) (e.g., processor (610)) receives right hip joint angle values ​​(e.g., q r _1, q r _2, q r _3, q r _4, q r _5) statistical values ​​(e.g. MA r _1, median r _1, or (max r _1-min r If _1) / 2) is determined, the right hip joint angle value (e.g. q r _1) in the statistical values ​​(e.g. MA r _1, median r _1, or (max r _1-min r By subtracting _1) / 2), the right hip angle value (e.g. q r _1) The DC component can be compensated.

[0140] Left hip angle value (e.g. q l _1) In the same manner as the DC component correction, the wearable device (600) (e.g., processor (610)) calculates the left hip joint angle value (e.g., q l _1) The next value is the left hip angle value (e.g. q l_2) can compensate for the DC component. The wearable device (600) (e.g., processor (610)) can compensate for the left hip joint angle value (e.g., q l _6) can be obtained, and the left hip joint angle values ​​(e.g. q l _2, q l _3, q l _4, q l _5, q l _6) statistical values ​​(e.g. MA l _2, median l _2, or (max l _2-min l _2) / 2) can be determined. The wearable device (600) (e.g., processor (610)) can determine the left hip joint angle value (e.g., q l _2) in the statistical values ​​(e.g. MA l _2, median l _2, or (max l _2-min l By subtracting _2) / 2), the left hip angle value (e.g. q l _2) can be corrected for the DC component. In the same manner, the wearable device (600) (e.g., processor (610)) can correct the DC component of each of the sequentially acquired left hip joint angle values.

[0141] Right hip angle value (e.g. q r _1) In the same manner as the DC component correction, the wearable device (600) (e.g., processor (610)) calculates the right hip joint angle value (e.g., q r _1) The next value is the right hip angle value (e.g. q r _2) can correct the DC component. The wearable device (600) (e.g., processor (610)) can correct the right hip joint angle value (e.g., q r _6) can be obtained, and the right hip joint angle values ​​(e.g. q r _2, q r _3, q r _4, q r _5, q r_6) statistical values ​​(e.g. MA r _2, median r _2, or (max r _2-min r _2) / 2) can be determined. The wearable device (600) (e.g., processor (610)) can determine the right hip joint angle value (e.g., q r _6) in the statistical values ​​(e.g. MA r _2, median r _2, or (max r _2-min r By subtracting _2) / 2), the right hip angle value (e.g. q r _2) can be corrected for the DC component. In the same manner, the wearable device (600) (e.g., processor (610)) can correct the DC component of each of the sequentially acquired right hip joint angle values.

[0142] Moving on to FIG. 10, operation 1011 of FIG. 10 may be an example of operation 711 of FIG. 7, and operation 1012 of FIG. 10 may be an example of operation 712 of FIG. 7.

[0143] Referring to FIG. 10, in operation 1011, the wearable device (600) (e.g., processor (610)) measures the user's left hip joint angle (e.g., q l (t)) by correcting (or removing) the DC component (or DC offset) of the left hip joint angle (e.g., Fig. 10) with the DC component corrected. ) can be obtained. In operation 1012, the wearable device (600) (e.g., processor (610)) obtains the user's right hip joint angle (e.g., q r (t)) by correcting (or removing) the DC component (or DC offset) of the right hip joint angle (e.g., in Fig. 10) with the DC component corrected. ) can be obtained. Below, actions 1011 and 1012 are described in detail.

[0144] The description of operations 911-1 and 911-2 of FIG. 9 may be applied to operations 1030 and 1040 of FIG. 10, respectively, and the description of operations 912-1 and 912-2 of FIG. 9 may be applied to operations 1050 and 1060 of FIG. 10, respectively.

[0145] In the example illustrated in FIG. 10, the wearable device (600) (e.g., processor (610)) calculates the left hip joint angle values ​​(e.g., q) described through FIG. 9. l _1, q l _2, q l _3, q l _4, q l _5) statistical values ​​(e.g. MA l _1, median l _1, or (max l _1-min l _1) / 2) is determined, the determined statistical value can be multiplied by the first value (e.g. w in Fig. 10). The first value can be, for example, the left hip joint angle values ​​(e.g. q l _1, q l _2, q l _3, q l _4, q l _5) may represent a value that upweights or downweights the statistical value. In the case of upweighting, the first value may have a value exceeding 1 (e.g., 1.4, etc.), and in the case of downweighting, the first value may have a value less than 1 (e.g., 0.7, etc.). The wearable device (600) (e.g., the processor (610)) may be configured to receive a left hip joint angle value (e.g., q l _1) is the statistical value multiplied by the first value (e.g. w×MA l _1, w×median l _1, or w×(max l _1-min l By subtracting _1) / 2), the left hip angle value (e.g. q l _1) The DC component can be compensated.

[0146] The wearable device (600) (e.g., processor (610)) may be configured to measure the right hip joint angle values ​​(e.g., q) described through FIG. 9. r _1, q r _2, q r _3, q r _4, q r _5) statistical values ​​(e.g. MA r _1, median r _1, or (max r _1-min r _1) / 2) is determined, the determined statistical value can be multiplied by the first value (e.g., w in FIG. 10). The wearable device (600) (e.g., processor (610)) can determine the right hip joint angle value (e.g., q r _1) is the statistical value multiplied by the first value (e.g. w×MA r _1, w×median r _1, or w×(max r _1-min r By subtracting _1) / 2), the right hip angle value (e.g. q r _1) The DC component can be compensated.

[0147] Moving on to FIG. 11, operation 1111 of FIG. 11 may be an example of operation 711 of FIG. 7, and operation 1112 of FIG. 11 may be an example of operation 712 of FIG. 7.

[0148] Referring to FIG. 11, in operation 1111, the wearable device (600) (e.g., processor (610)) measures the user's left hip joint angle (e.g., FIG. 11). ) to correct (or remove) the DC component (or DC offset) of the left hip joint angle (e.g., in Fig. 11) with the DC component corrected. In operation 1112, the wearable device (600) (e.g., processor (610)) may obtain the user's right hip joint angle (e.g., FIG. 11). )) to correct (or remove) the DC component (or DC offset) of the right hip joint angle corrected for the DC component (e.g., in Fig. 11). ) can be obtained. Below, actions 1111 and 1112 are described in detail.

[0149] The wearable device (600) (e.g., processor (610)) measures the left hip joint angle values ​​(e.g., FIG. 11). ) can be obtained. In operation 1130, the wearable device (600) (e.g., processor (610)) can perform a frequency domain transformation (e.g., Fast Fourier Transform (FFT)) on the left hip joint angle values ​​to obtain frequency components for the left hip joint angle values. Among the frequency components for the left hip joint angle values, a component of 0 Hz may correspond to a DC component. In operation 1140, the wearable device (600) (e.g., processor (610)) can change the value of the component of 0 Hz among the frequency components for the left hip joint angle values ​​to 0. In operation 1150, the wearable device (600) (e.g., processor (610)) performs an inverse frequency domain transform (e.g., IFFT (inverse FFT)) on the frequency components of the left hip angle values ​​(wherein the value of the 0 Hz component is changed to 0 by operation 1140) to obtain left hip angle values ​​(e.g., FIG. 11) with the DC component corrected (or removed). ) can be obtained.

[0150] The wearable device (600) (e.g., processor (610)) measures the right hip joint angle values ​​(e.g., FIG. 11). )) can be obtained. In operation 1160, the wearable device (600) (e.g., processor (610)) can perform a frequency domain transformation (e.g., FFT) on the right hip joint angle values ​​to obtain frequency components for the right hip joint angle values. Among the frequency components for the right hip joint angle values, a component of 0 Hz may correspond to a DC component. In operation 1170, the wearable device (600) (e.g., processor (610)) can change the value of the component of 0 Hz among the frequency components for the right hip joint angle values ​​to 0. In operation 1180, the wearable device (600) (e.g., processor (610)) performs an inverse frequency domain transform (e.g., IFFT) on the frequency components of the right hip angle values ​​(wherein the value of the 0 Hz component is changed to 0 by operation 1170) to obtain the DC component corrected (or removed) right hip angle values ​​(e.g., FIG. 11). ) can be obtained.

[0151] FIG. 12 is a diagram illustrating an example of a wearable device performing a time delay according to one embodiment.

[0152] Action 1211 of FIG. 12 may be an example of action 721 of FIG. 7, and action 1212 of FIG. 12 may be an example of action 722 of FIG. 7.

[0153] Referring to FIG. 12, in operation 1211, the wearable device (600) (e.g., processor (610)) processes the processed left hip angle (e.g., DC component corrected left hip angle ( )(Example: Fig. 8 , Fig. 9 , Fig. 10 , or of Fig. 11 ) can be stored in the first register.

[0154] At operation 1212, the wearable device (600) (e.g., processor (610)) processes the processed right hip angle (e.g., DC component corrected right hip angle ( )(Example: Fig. 8 , Fig. 9 , Fig. 10 , or of Fig. 11 ) can be stored in the second register.

[0155] The wearable device (600) (e.g., processor (610)) processes the left hip joint angle (e.g., the left hip joint angle) processed in the first register after a time delay of the time value (e.g., Δt) regarding the torque output delay. ) can be obtained (or brought in). The processor (610) can process the processed left hip joint angle (e.g., ) is stored in the first register, and when the time value (e.g., Δt) is delayed (or elapsed), the left hip angle processed in the first register (e.g., ) can be obtained. The processed left hip joint angle obtained after a time delay is, for example, can be expressed as . The length of the first register can be related to a time value (e.g. Δt) or proportional to a time value (e.g. Δt), for example.

[0156] The wearable device (600) (e.g., processor (610)) processes the right hip angle (e.g., the right hip angle) processed in the second register after a time delay of the time value (e.g., Δt). ) can be obtained (or brought in). The processor (610) can process the right hip joint angle (e.g., ) is stored in the second register, and when the time value (e.g., Δt) is delayed (or elapsed), the right hip angle processed in the second register (e.g., ) can be obtained. The processed right hip angle obtained after a time delay is, for example, can be expressed as . The length of the second register can be related to a time value (e.g. Δt) or proportional to a time value (e.g. Δt), for example.

[0157] FIGS. 13, 14, 15, 16, and 17 are drawings illustrating examples of a wearable device determining a torque value according to one embodiment.

[0158] Referring to FIG. 13, the wearable device (600) (e.g., processor (610)) acquires the left hip joint angle (e.g., FIG. 13) after a time delay. ) and the mapping relationship (1311) to obtain the first torque value (e.g., in FIG. 13). ) can be acquired or determined. The wearable device (600) (e.g., processor (610)) can acquire the right hip joint angle (e.g., of FIG. 13) after a time delay. ) and the mapping relationship (1312) to obtain the second torque value (e.g., in FIG. 13). ) can be obtained or determined. The mapping relationship (1311) and the mapping relationship (1312) can represent a mapping between each of several hip joint angle values ​​and each of several torque values. The mapping relationship (1311) and the mapping relationship (1312) can represent a function (e.g., a linear function to be described through FIG. 14, a clipping function to be described through FIG. 15, a sinusoidal function to be described through FIG. 16, or a logistic function to be described through FIG. 17) or a table corresponding to the function.

[0159] In Fig. 14, a linear function (1410) corresponding to each example of the mapping relationship (1311) and the mapping relationship (1312) is illustrated. In the example illustrated in Fig. 14, the first torque value can be expressed by the following mathematical expression 2, and the second torque value can be expressed by the following mathematical expression 3.

[0160] [Equation 2]

[0161]

[0162] [Equation 3]

[0163]

[0164] In the above mathematical equations 2 and 3, κ may represent a parameter for adjusting the size of the angle value. κ may be, for example, 0.1, but is not limited thereto.

[0165] For the example shown in Fig. 14, the first torque value is the corresponding left hip angle value (e.g., the left hip angle obtained from the first register after a time delay (e.g., )) and the second torque value may be proportional to the corresponding right hip angle value (e.g., the right hip angle obtained from the second register after a time delay (e.g., )) can be proportional to.

[0166] In the example illustrated in FIG. 14, the wearable device (600) (e.g., processor (610)) can obtain a corresponding first torque value by applying the left hip joint angle value with the DC component corrected to a linear function (1410). The wearable device (600) (e.g., processor (610)) can obtain a corresponding second torque value by applying the right hip joint angle value with the DC component corrected to a linear function (1410).

[0167] Clipping functions (1510) corresponding to different examples of mapping relationships (1311) and mapping relationships (1312) are illustrated in FIG. 15. For the example illustrated in FIG. 15, the first torque value can be expressed by the following mathematical expression 4, and the second torque value can be expressed by the following mathematical expression 5.

[0168] [Equation 4]

[0169]

[0170] [Equation 5]

[0171]

[0172] In the above mathematical equations 4 and 5, can represent the upper limit value, can represent a lower limit value. For example, it can be 100 degrees, For example, it can be -100 degrees, but is not limited thereto.

[0173] For the example shown in Fig. 15, the first torque value is and The corresponding left hip angle value within the range (e.g., the left hip angle acquired after a time delay (e.g., )) can be proportional to the second torque value. and The corresponding right hip angle value within the range (e.g., the right hip angle acquired after a time delay (e.g., )) can be proportional to.

[0174] In the example illustrated in FIG. 15, the wearable device (600) (e.g., processor (610)) can obtain a corresponding first torque value by applying the left hip joint angle value with the DC component corrected to the clipping function (1510). The wearable device (600) (e.g., processor (610)) can obtain a corresponding second torque value by applying the right hip joint angle value with the DC component corrected to the clipping function (1510).

[0175] Fig. 16 illustrates a sinusoidal function (1610) corresponding to each of different examples of the mapping relationship (1311) and the mapping relationship (1312). In the example illustrated in Fig. 16, the first torque value can be expressed by mathematical expression 6, and the second torque value can be expressed by mathematical expression 7 below.

[0176] [Equation 6]

[0177]

[0178] [Equation 7]

[0179]

[0180] In the above mathematical equations 6 and 7, κ slκ can represent a parameter for adjusting the size of the sinusoidal function value. sl For example, it can be 10 days, but is not limited thereto.

[0181] In the example illustrated in FIG. 17, the wearable device (600) (e.g., processor (610)) can obtain a corresponding first torque value by applying the left hip joint angle value with the DC component corrected to a sinusoidal function (1610). The wearable device (600) (e.g., processor (610)) can obtain a corresponding second torque value by applying the right hip joint angle value with the DC component corrected to a sinusoidal function (1610).

[0182] In Fig. 17, a logistic function (1710) corresponding to each of different examples of mapping relationships (1311) and mapping relationships (1312) is illustrated. In the example illustrated in Fig. 17, the first torque value can be expressed by the following mathematical expression (8), and the second torque value can be expressed by the following mathematical expression (9).

[0183] [Equation 8]

[0184]

[0185] [Equation 9]

[0186]

[0187] In the above mathematical equations 8 and 9, ρ is a parameter of the logistic function (1710), and ρ may be, for example, 0.03, but is not limited thereto.

[0188] In the example illustrated in FIG. 17, the wearable device (600) (e.g., processor (610)) can obtain a corresponding first torque value by applying the left hip joint angle value with the DC component corrected to a logistic function (1710). The wearable device (600) (e.g., processor (610)) can obtain a corresponding second torque value by applying the right hip joint angle value with the DC component corrected to a logistic function (1710).

[0189] According to one embodiment, the wearable device (600) may determine one of the first torque value and the second torque value as the target torque value based on the user's movement information. For example, if one of the change in the user's left hip joint angle and the change in the user's right hip joint angle is less than a predetermined level and the other is greater than or equal to the predetermined level, the wearable device (600) may determine the torque value based on the hip joint angle having a change greater than or equal to the predetermined level among the first torque value and the second torque value as the target torque value.

[0190] According to one embodiment, the wearable device (600) may output or provide a torque based on a target torque value to a user performing an exercise (or an exercise including a periodic movement) including a repetitive movement (or motion) (e.g., a knee-up exercise described later with reference to FIG. 18, a leg swing exercise described later with reference to FIG. 25, a squat exercise, a lunge exercise described later with reference to FIG. 26, etc.). For example, when the wearable device (600) determines a first torque value as the target torque value, the wearable device (600) may output or provide a torque of the first torque value to the user's left leg, and may output or provide a torque of a negative value of the first torque value (or a torque in the opposite direction to the torque of the first torque value) to the user's right leg.

[0191] FIGS. 18, 19, 20, 21, 22, 23, and 24 are diagrams illustrating examples of motions of a wearable device for a user performing a knee-up exercise according to one embodiment.

[0192] An example of a knee up exercise is shown in Fig. 18.

[0193] In the example illustrated in FIG. 18, the knee-up exercise may include, for example, a movement (or motion) (1810) in which the user lifts a first knee (e.g., a left knee) and a movement (or motion) (1820) in which the user lifts a second knee (e.g., a right knee). When the user lifts the first knee, the user's second foot (e.g., a right foot) may be in contact with the ground, and when the user lifts the second knee, the user's first foot (e.g., a left foot) may be in contact with the ground.

[0194] The knee-up exercise can be an exercise that involves repetition of movement (1810) and movement (1820).

[0195] According to one embodiment, the wearable device (600) can obtain the left hip joint angle and the right hip joint angle of the user performing the knee-up exercise. The wearable device (600) can process the left hip joint angle and the right hip joint angle, respectively, so as to correct (or remove) the DC component of the left hip joint angle and the right hip joint angle, respectively. The wearable device (600) can perform a time delay (e.g., a time delay of operation 721 of FIG. 7) on the processed left hip joint angle (e.g., a left hip joint angle with the DC component corrected), and can perform a time delay (e.g., a time delay of operation 722 of FIG. 7) on the processed right hip joint angle (e.g., a right hip joint angle with the DC component corrected).

[0196] In Fig. 19, a graph (1910) of the left hip joint angle of a user performing a knee-up exercise, a graph (1920) of the left hip joint angle with the DC component corrected, and a graph (1930) of the left hip joint angle obtained by performing a time delay are shown. In Fig. 20, a graph (2010) of the right hip joint angle of a user performing a knee-up exercise, a graph (2020) of the right hip joint angle with the DC component corrected, and a graph (2030) of the right hip joint angle obtained by performing a time delay are shown.

[0197] In the example illustrated in FIG. 19, the wearable device (600) can correct (or remove) the DC component (or DC offset) of the user's left hip joint angle (e.g., the left hip joint angle corresponding to the graph (1910)) through operation 711 (e.g., operation 811, operation 911, operation 1011, or operation 1111). Through this correction, the wearable device (600) can obtain the left hip joint angle with the DC component corrected (e.g., the left hip joint angle with the DC component corrected corresponding to the graph (1920)). The wearable device (600) can store the left hip joint angle with the DC component corrected in a first register (e.g., the first register of operation 1211 of FIG. 12), and can obtain the left hip joint angle with the DC component corrected from the first register after a predetermined time (e.g., a time corresponding to the time value (t)) has elapsed.

[0198] In the example illustrated in FIG. 20, the wearable device (600) can correct (or remove) the DC component (or DC offset) of the user's right hip joint angle (e.g., the right hip joint angle corresponding to graph (2010)) through operation 712 (e.g., operation 812, operation 912, operation 1012, or operation 1112). Through this correction, the wearable device (600) can obtain the right hip joint angle with the DC component corrected (e.g., the right hip joint angle with the DC component corrected corresponding to graph (2020)). The wearable device (600) can store the right hip joint angle with the DC component corrected in a second register (e.g., the second register of operation 1212 of FIG. 12), and can obtain the right hip joint angle with the DC component corrected from the second register after a predetermined time (e.g., a time corresponding to the time value (Δt)) has elapsed.

[0199] According to one embodiment, the wearable device (600) may determine a first torque value based on a processed left hip joint angle obtained by performing a time delay (e.g., a left hip joint angle with a DC component corrected obtained from a first register after a time value (Δt) has elapsed). The wearable device (600) may determine a second torque value based on a processed right hip joint angle obtained by performing a time delay (e.g., a right hip joint angle with a DC component corrected obtained from a second register after a time value (Δt) has elapsed). A graph (2120) of the first torque value is illustrated in FIG. 21, and a graph (2220) of the second torque value is illustrated in FIG. 22.

[0200] According to one embodiment, in the example illustrated in FIG. 21, when comparing a graph (2110) for a user's left hip joint angle (e.g., graph (1910) of FIG. 19) with a graph (2120) of a first torque value, the first torque value may be delayed by a time value (Δt) or more than the user's left hip joint angle (or the left hip joint angle with the DC component corrected). The wearable device (600) may determine the first torque value corresponding to the left hip joint angle value with the DC component corrected. At this time, the wearable device (600) may delay a time value (Δt) from the time point of acquiring the left hip joint angle value with the DC component corrected and then determine the first torque value corresponding to the left hip joint angle value with the DC component corrected. The time difference between the time point of the first torque value and the time point of the corresponding left hip joint angle value of the first torque value (e.g., the left hip joint angle value with the DC component corrected) may be based on the time value (Δt).

[0201] According to one embodiment, in the example illustrated in FIG. 22, when comparing a graph (2210) for a user's right hip joint angle (e.g., graph (2010) of FIG. 20) with a graph (2220) of a second torque value, the second torque value may be delayed by a time value (Δt) or more from the user's right hip joint angle (or the right hip joint angle with the DC component corrected). The wearable device (600) may determine the second torque value corresponding to the right hip joint angle value with the DC component corrected, and may delay a time value (Δt) from the time point of acquiring the right hip joint angle value with the DC component corrected, and then determine the second torque value corresponding to the right hip joint angle value with the DC component corrected. The time difference between the time point of the second torque value and the time point of the corresponding right hip joint angle value of the second torque value (e.g., the right hip joint angle value with the DC component corrected) may be based on the time value (Δt).

[0202] According to one embodiment, the wearable device (600) may determine a target torque value among a first torque value and a second torque value based on the user's movement information. In the case of a knee-up exercise, the user's left knee and right knee may rise alternately. The wearable device (600) may determine the first torque value and the second torque value as the target torque value alternately for the user performing the knee-up exercise. The wearable device (600) may determine the first torque value as the target torque value when the user's left knee rises (or when the user performs the movement (1810)), and may determine the second torque value as the target torque value when the user's right knee rises (or when the user performs the movement (1820)).

[0203] According to one embodiment, the wearable device (600) may determine whether one of the change in the user's left hip joint angle and the change in the user's right hip joint angle is below a predetermined level and the other is above a predetermined level. The wearable device (600) may determine a torque value based on the hip joint angle having a change above a predetermined level among the first torque value and the second torque value as a target torque value.

[0204] For example, in FIG. 23, a graph (2310) of the left hip joint angle (e.g., graph (1910)), a graph (2320) of the torque value used to control the first drive module (30a), a graph (2330) of the right hip joint angle (e.g., graph (2010)), and a graph (2340) of the torque value used to control the second drive module (30b) are shown.

[0205] In the example illustrated in FIG. 23, the wearable device (600) may determine that a change in the left hip joint angle is greater than or equal to a predetermined level in a time interval between 0 and 1 second, and may determine that a change in the right hip joint angle is less than or equal to a predetermined level. The wearable device (600) may determine a first torque value (e.g., a torque value based on the left hip joint angle having a change greater than or equal to a predetermined level) as a target torque value in a time interval between 0 and 1 second. In a time interval between 0 and 1 second, the wearable device (600) may output a torque of the first torque value through the driving module (630) (or the first driving module (30a)), and may output a torque of a negative value of the first torque value (or a torque in the opposite direction to the torque of the first torque value) through the second driving module (30b).

[0206] The wearable device (600) may determine that the change in the left hip joint angle is less than a predetermined level in a time interval between 1 second and 2 seconds, and may determine that the change in the right hip joint angle is greater than or equal to the predetermined level. The wearable device (600) may determine a second torque value (e.g., a torque value based on a right hip joint angle having a change greater than or equal to the predetermined level) as a target torque value in a time interval between 1 second and 2 seconds. In a time interval between 1 second and 2 seconds, the wearable device (600) may output a torque of the second torque value through the driving module (630) (or the second driving module (30b)), and may output a torque of a negative value of the second torque value (or a torque in the opposite direction to the torque of the second torque value) through the first driving module (30a).

[0207] The wearable device (600) can determine a first torque value as a target torque value in a time interval between 2 seconds and 3 seconds, can determine a second torque value as a target torque value in a time interval between 3 seconds and 4 seconds, can determine the first torque value as a target torque value in a time interval between 4 seconds and 5 seconds, and can determine the second torque value as a target torque value in a time interval between 5 seconds and 6 seconds.

[0208] In the example illustrated in FIG. 23, the wearable device (600) can determine a first torque value as a target torque value in a time interval in which the user's left knee goes up (e.g., a time interval between 0 and 1 second, a time interval between 2 and 3 seconds, a time interval between 4 and 5 seconds), and can determine a second torque value as a target torque value in a time interval in which the user's right knee goes up (e.g., a time interval between 1 and 2 seconds, a time interval between 3 and 4 seconds, a time interval between 5 and 6 seconds).

[0209] According to one embodiment, the wearable device (600) may multiply the statistical value of the left hip joint angle by the first value in operation 1011 described through FIG. 10 and then correct the DC component of the left hip joint angle, and may multiply the statistical value of the right hip joint angle by the first value in operation 1012 and then correct the DC component of the right hip joint angle. When the statistical value of each hip joint angle is multiplied by the first value, the waveform of the graph of the torque value used to control each driving module may become smoother. FIG. 24 illustrates a graph (2420) of a torque value used to control the first driving module (30a) when the statistical value of the left hip joint angle is multiplied by the first value, and illustrates a graph (2440) of a torque value used to control the second driving module (30b) when the statistical value of the right hip joint angle is multiplied by the first value. The waveform of the graph (2420) of FIG. 24 may be smoother than the waveform of the graph (2320) of FIG. 23, and the waveform of the graph (2440) of FIG. 24 may be smoother than the waveform of the graph (2340) of FIG. 23.

[0210] FIG. 25 is a diagram illustrating an example of a motion for a user performing a leg swing exercise by a wearable device according to one embodiment.

[0211] An example of a leg swing exercise is shown in Fig. 25.

[0212] In the example illustrated in FIG. 25, the leg swing movement may include, for example, a movement (or motion) (2510) in which the user rotates one leg backward and a movement (or motion) (2520) in which the user rotates one leg forward. When the user swings the first leg (e.g., the left leg), the user's second foot (e.g., the right foot) may be in contact with the ground, and when the user swings the second leg (e.g., the right leg), the user's first foot (e.g., the left foot) may be in contact with the ground.

[0213] The leg swing exercise may be an exercise in which movement (2510) and movement (2520) are repeated.

[0214] According to one embodiment, the wearable device (600) can obtain the left hip joint angle and the right hip joint angle of the user performing the leg swing exercise. The wearable device (600) can process the left hip joint angle and the right hip joint angle respectively so as to correct (or remove) the DC component of the left hip joint angle and the right hip joint angle respectively of the user. The wearable device (600) can perform a time delay (e.g., a time delay of operation 721 of FIG. 7) on the processed left hip joint angle (e.g., a left hip joint angle with a DC component corrected) and can perform a time delay (e.g., a time delay of operation 722 of FIG. 7) on the processed right hip joint angle (e.g., a right hip joint angle with a DC component corrected). The wearable device (600) can determine a first torque value based on the processed left hip joint angle with a time delay and can determine a second torque value based on the processed right hip joint angle with a time delay.

[0215] When the user's left leg swings and the right leg touches the ground, the change in the left hip joint angle may be greater than or equal to a predetermined level, and the change in the right hip joint angle may be less than or equal to a predetermined level. In this case, the first torque value may be based on the left hip joint angle having a change greater than or equal to the predetermined level. The wearable device (600) may determine the first torque value among the first torque value and the second torque value as a target torque value. The wearable device (600) may output the torque of the first torque value to the user's left leg through the driving module (630) (or the first driving module (30a)) and output the torque in the opposite direction of the torque of the first torque value to the user's right leg through the driving module (630) (or the second driving module (30b)). When the user's right leg swings and the left leg touches the ground, the wearable device (600) may determine that the change in the right hip joint angle may be greater than or equal to a predetermined level, and the change in the left hip joint angle may be less than or equal to a predetermined level. In this case, the second torque value may be based on a right hip joint angle having a change greater than a predetermined level. The wearable device (600) may determine the second torque value among the first torque value and the second torque value as a target torque value. The wearable device (600) may output the torque of the second torque value to the user's right leg through the driving module (630) (or the second driving module (30b)) and may output the torque in the opposite direction of the torque of the second torque value to the user's right leg through the driving module (630) (or the first driving module (30a)).

[0216] FIG. 26 is a diagram illustrating an example of a motion of a wearable device for a user performing a squat exercise according to one embodiment.

[0217] An example of a squat exercise is shown in Fig. 26.

[0218] In the example illustrated in FIG. 26, the squat exercise may include, for example, a movement (or motion) (2620) in which the user bends both knees and lowers the hips, and a movement (or motion) (2610) in which the user straightens both bent knees. The squat exercise may correspond to an exercise in which the movement (2610) and the movement (2620) are repeated.

[0219] According to one embodiment, the wearable device (600) can acquire the left hip joint angle and the right hip joint angle of a user performing a squat exercise. The wearable device (600) can process the left hip joint angle and the right hip joint angle respectively so as to correct (or remove) the DC component of the left hip joint angle and the right hip joint angle respectively of the user. The wearable device (600) can perform a time delay (e.g., a time delay of operation 721 of FIG. 7) on the processed left hip joint angle (e.g., a left hip joint angle with a DC component corrected) and can perform a time delay (e.g., a time delay of operation 722 of FIG. 7) on the processed right hip joint angle (e.g., a right hip joint angle with a DC component corrected). The wearable device (600) can determine a first torque value based on the processed left hip joint angle with a time delay and can determine a second torque value based on the processed right hip joint angle with a time delay.

[0220] According to one embodiment, in the case of a squat exercise, a change in the angle of the user's left hip joint may be substantially the same as a change in the angle of the user's right hip joint. In this case, the wearable device (600) may randomly determine one of the first torque value and the second torque value as a target torque value. In the example illustrated in FIG. 26, when the wearable device (600) determines the first torque value as the target torque value, the wearable device (600) may output the torque of the first torque value to the user's left leg through the driving module (630) (or the first driving module (30a)). In the case where the change in the angle of the left hip joint and the change in the angle of the right hip joint may be substantially the same, such as in a squat exercise, the wearable device (600) may output a torque in the same direction as the torque of the first torque value, rather than a torque in the opposite direction of the torque of the first torque value, to the user's right leg through the driving module (630) (or the second driving module (30b)). When the wearable device (600) determines the second torque value as the target torque value, the wearable device (600) can output the torque of the second torque value to the user's right leg through the driving module (630) (or the second driving module (30b)). The wearable device (600) can output the torque in the same direction as the torque of the second torque value to the user's left leg through the driving module (630) (or the first driving module (30a)).

[0221] FIG. 27 is a block diagram illustrating another example of the operation of a wearable device according to one embodiment.

[0222] In the example illustrated in Fig. 27, after the first torque value and the second torque value are determined, a time delay can be performed on the first torque value and the second torque value.

[0223] According to one embodiment, the wearable device (600) measures the user's left hip joint angle (e.g., q) in operation 2711 (e.g., operation 711). l (t)) can be compensated for the DC component, and the user's right hip angle (e.g. q) at action 2712 (e.g. action 712)r The DC component of (t) can be compensated.

[0224] According to one embodiment, in operation 2721, through a defined mapping relationship, the wearable device (600) calculates the DC component corrected left hip angle (e.g., ) based on the first torque value (e.g. ) can be determined. In operation 2722, through the determined mapping relationship, the wearable device (600) determines the right hip joint angle (e.g., the DC component is corrected) through the determined mapping relationship. ) based on the second torque value (e.g. ) can be determined.

[0225] According to one embodiment, the wearable device (600) may perform a time delay on the first torque value in operation 2731, and may perform a time delay on the second torque value in operation 2732. For example, the wearable device (600) may store the first torque value in the first register, and may obtain the first torque value from the first register when the time value (Δt) has elapsed (or has been delayed). The wearable device (600) may store the second torque value in the second register, and may obtain the second torque value from the second register when the time value (Δt) has elapsed (or has been delayed). Each of the first torque value and the second torque value obtained when the time value (Δt) has elapsed may be, for example, and Each can be expressed as:

[0226] According to one embodiment, in operation 2740, the wearable device (600) may determine one of the first torque value and the second torque value obtained when a time equivalent to the time value (Δt) has elapsed, as the target torque value, based on the user's movement information.

[0227] The embodiments described through FIGS. 1A to 26 can be applied to the embodiment of FIG. 27.

[0228] FIG. 28 is a block diagram illustrating another example of the operation of a wearable device according to one embodiment.

[0229] In the example illustrated in FIG. 28, the wearable device (600) can perform a time delay in the operation of performing DC component correction.

[0230] According to one embodiment, the wearable device (600) measures the user's left hip joint angle (e.g., q) in operation 2811. l (t)) can be compensated for the DC component. For example, the wearable device (600) may compensate for the time value ( in operation 911-2 of FIG. 9 or operation 1040 of FIG. 10 ) until the left hip angle value (e.g. q) has elapsed. l _1) can be stored in the third register, and when the statistical values ​​of the left hip angle values ​​are determined, the left hip angle values ​​(e.g. q) can be stored in the third register. l _1) can be obtained, and the left hip joint angle value (e.g. q l _1) can subtract the statistical values ​​of the left hip joint angle values. Accordingly, the wearable device (600) can calculate the left hip joint angle (e.g., the left hip joint angle) with the DC component corrected and the time delay performed. ) can be obtained. The wearable device (600) can obtain the user's right hip joint angle (e.g., q) in operation 2812. r (t)) can be compensated for. For example, the wearable device (600) may compensate for the right hip joint angle value (e.g., q) until the time value (Δt) elapses in operation 912-2 of FIG. 9 or operation 1046 of FIG. 10. r _1) can be stored in the fourth register, and when the statistical values ​​of the right hip angle values ​​are determined, the right hip angle values ​​(e.g. q) can be stored in the fourth register. r _1) can be obtained, and the right hip joint angle value (e.g. q r_1) can subtract the statistical values ​​of the right hip joint angle values. Accordingly, the wearable device (600) can calculate the right hip joint angle (e.g., the right hip joint angle) with the DC component corrected and the time delay performed. ) can be obtained.

[0231] The descriptions of operations 2821, 2822, and 2830 of FIG. 28 may be applied to the descriptions of operations 731, 732, and 740 of FIG. 7.

[0232] Figure 29 is a flowchart illustrating an operating method of a wearable device according to one embodiment.

[0233] Referring to FIG. 29, in operation 2910, the wearable device (600) can obtain the user's left hip joint angle and right hip joint angle using the angle sensor (620).

[0234] At operation 2920, the wearable device (600) may process the left hip joint angle and the right hip joint angle to correct the DC component of each of the user's left hip joint angle and the right hip joint angle.

[0235] For example, in operation 2920, the wearable device (600) may perform filtering on each of the left hip joint angle and the right hip joint angle to correct the DC component of each of the left hip joint angle and the right hip joint angle.

[0236] For another example, in operation 2920, the wearable device (600) can perform a frequency domain transformation on the angle values ​​of the left hip joint angle and the angle values ​​of the right hip joint angle to obtain first frequency components for the angle values ​​of the left hip joint angle and second frequency components for the angle values ​​of the right hip joint angle. The wearable device (600) can correct the DC component of the angle values ​​of the left hip joint angle and the DC component of the angle values ​​of the right hip joint angle by changing the value of the component having a frequency of 0 among the first frequency components to 0 and changing the value of the component having a frequency of 0 among the second frequency components to 0.

[0237] For another example, in operation 2920, the wearable device (600) calculates a first statistical value of the angle values ​​of the left hip joint angle (e.g., the left hip joint angle values ​​(q) described through FIG. 9). l _1, q l _2, q l _3, q l _4, q l _5) can calculate the statistical value). The wearable device (600) can calculate the first angle value ((e.g., the left hip joint angle value (q) described through FIG. 9) obtained at the earliest point in time among the angle values ​​of the left hip joint angle. l _1)) can be used to correct the DC component of the first angle value by subtracting the first statistical value from the second statistical value of the angle values ​​of the right hip joint angle (e.g., the right hip joint angle values ​​(q) described through FIG. 9). The wearable device (600) can be used to correct the DC component of the first angle value by subtracting the first statistical value from the second statistical value of the angle values ​​of the right hip joint angle (e.g., the right hip joint angle values ​​(q) described through FIG. 9). r _1, q r _2, q r _3, q r _4, q r _5) can calculate the statistical value). The wearable device (600) can calculate the second angle value (e.g., q) obtained at the earliest point in time among the angle values ​​of the right hip joint angle. r The DC component of the second angle value can be corrected by subtracting the second statistical value from _1).

[0238] At operation 2930, the wearable device (600) can determine a first torque value based on the processed left hip joint angle.

[0239] At operation 2940, the wearable device (600) can determine a first torque value based on the processed right hip joint angle.

[0240] In operation 2950, ​​the wearable device (600) may determine one of the first torque value and the second torque value as a target torque value based on the user's movement information.

[0241] In operation 2960, the wearable device (600) may output a torque based on the determined target torque value. According to one embodiment, the torque based on the target torque value may be delayed and output. For example, if the first torque value is determined as the target torque value, the first torque based on the first torque value (or the first torque corresponding to the first torque value) may be delayed and output (or provided) to the user's left leg, and the second torque corresponding to the negative value of the first torque value (or the second torque in the opposite direction of the first torque) may be delayed and output (or provided) to the user's right leg. The delay of the torque based on the target torque value (e.g., the first torque and / or the second torque) may be based on a time value related to the torque output time.

[0242] The embodiments described through FIGS. 1A to 28 can be applied to the operating method of the wearable device (600) of FIG. 29.

[0243] According to one embodiment, a wearable device (120, 200, 300, 300-1, 600) may include a driving module (630) for outputting a torque, an angle sensor (620), and a processing circuit, and a processor (610) for controlling the driving module. The processor may obtain a left hip joint angle and a right hip joint angle of a user using the angle sensor, process the left hip joint angle and the right hip joint angle to correct a DC component of each of the left hip joint angle and the right hip joint angle, determine a first torque value based on the processed left hip joint angle, determine a second torque value based on the processed right hip joint angle, determine one of the first torque value and the second torque value as a target torque value based on movement information of the user, and control the driving module such that a torque based on the determined target torque value is output by the driving module.

[0244] According to one embodiment, the torque based on the target torque value may be output with a delay, and the delay of the torque based on the target torque value may be based on a time value related to the torque output time.

[0245] According to one embodiment, the processor can determine the first torque value based on the processed left hip joint angle and determine the second torque value based on the processed right hip joint angle after a time delay equal to a time value associated with a torque output time.

[0246] According to one embodiment, the processor may store the processed left hip joint angle in a first register, and obtain the processed left hip joint angle from the first register when the time is delayed, and store the processed right hip joint angle in a second register, and obtain the processed right hip joint angle from the second register when the time is delayed.

[0247] According to one embodiment, each of the first register and the second register may have a length associated with the time value.

[0248] According to one embodiment, the processor may determine one of the first torque value and the second torque value as the target torque value using at least one of the left hip joint angle, the right hip joint angle, the left hip joint angular velocity of the user, the right hip joint angular velocity of the user, or sensing data of an IMU sensor of the wearable device.

[0249] According to one embodiment, when one of the change in the left hip joint angle and the change in the right hip joint angle is less than a predetermined level and the other is greater than or equal to the predetermined level, the processor may determine a torque value based on a hip joint angle having a change greater than or equal to the predetermined level among the first torque value and the second torque value as the target torque value.

[0250] According to one embodiment, when the processor determines the first target value as the target torque value, the processor may control the driving module so that a first torque corresponding to the target torque value is output to the user's left leg, and control the driving module so that a second torque in the opposite direction of the first torque is output to the user's right leg.

[0251] According to one embodiment, the processor may perform filtering on each of the left hip joint angle and the right hip joint angle to correct the DC component of each of the left hip joint angle and the right hip joint angle.

[0252] According to one embodiment, the processor performs a frequency domain transformation on the angle values ​​of the left hip joint angle and the angle values ​​of the right hip joint angle to obtain first frequency components for the angle values ​​of the left hip joint angle and second frequency components for the angle values ​​of the right hip joint angle, and changes the value of a component having a frequency of 0 among the first frequency components to 0 and changes the value of a component having a frequency of 0 among the second frequency components to 0, thereby correcting the DC component of the angle values ​​of the left hip joint angle and the DC component of the angle values ​​of the right hip joint angle.

[0253] According to one embodiment, the processor may calculate a first statistical value of angle values ​​of the left hip joint angle, and correct a DC component of the first angle value by subtracting the first statistical value from a first angle value obtained at an earliest point in time among the angle values ​​of the left hip joint angle, and may calculate a second statistical value of angle values ​​of the right hip joint angle, and correct a DC component of the second angle value by subtracting the second statistical value from a second angle value obtained at an earliest point in time among the angle values ​​of the right hip joint angle.

[0254] In one embodiment, the first statistical value may include at least one of: half the difference between a maximum and a minimum of the angle values ​​of the left hip joint angle, a moving average of the angle values ​​of the left hip joint angle, or a median of the angle values ​​of the left hip joint angle. The second statistical value may include at least one of: half the difference between a maximum and a minimum of the angle values ​​of the right hip joint angle, a moving average of the angle values ​​of the right hip joint angle, or a median of the angle values ​​of the right hip joint angle.

[0255] According to one embodiment, the processor may apply upward weighting or downward weighting to each of the first statistical value and the second statistical value.

[0256] According to one embodiment, the processor can determine the first torque value mapped to the processed left hip joint angle through a predetermined mapping relationship, and can determine the second torque value mapped to the processed right hip joint angle through the predetermined mapping relationship.

[0257] According to one embodiment, a method of operating a wearable device may include an operation of acquiring a left hip joint angle and a right hip joint angle of a user using an angle sensor, an operation of processing the left hip joint angle and the right hip joint angle to correct a DC component of each of the left hip joint angle and the right hip joint angle, an operation of determining a first torque value based on the processed left hip joint angle, an operation of determining a second torque value based on the processed right hip joint angle, an operation of determining one of the first torque value and the second torque value as a target torque value based on movement information of the user, and an operation of outputting a torque based on the determined target torque value.

[0258] According to one embodiment, the operation of determining the first torque value may include an operation of determining the first torque value based on the processed left hip joint angle after a time delay equal to a time value related to a torque output time.

[0259] In one embodiment, the operation of determining the second torque value may include an operation of determining the second torque value based on the processed right hip joint angle after a time delay equal to the time value.

[0260] According to one embodiment, the operation of determining one of the first torque value and the second torque value as the target torque value may include an operation of determining one of the first torque value and the second torque value as the target torque value using at least one of the left hip joint angle, the right hip joint angle, the left hip joint angular velocity of the user, the right hip joint angular velocity of the user, or sensing data of an IMU sensor of the wearable device.

[0261] According to one embodiment, the operation of outputting the torque may include an operation of outputting a first torque corresponding to the target torque value to the user's left leg when the first target value is determined as the target torque value, and outputting a second torque in the opposite direction of the first torque to the user's right leg.

[0262] According to one embodiment, the processing operation includes: performing filtering on each of the left hip joint angle and the right hip joint angle to correct the DC component of each of the left hip joint angle and the right hip joint angle; performing frequency domain transformation on the angle values ​​of the left hip joint angle and the angle values ​​of the right hip joint angle to obtain first frequency components for the angle values ​​of the left hip joint angle and second frequency components for the angle values ​​of the right hip joint angle, and correcting the DC component of the angle values ​​of the left hip joint angle and the DC component of the angle values ​​of the right hip joint angle by changing the value of the component having a frequency of 0 among the first frequency components to 0 and changing the value of the component having a frequency of 0 among the second frequency components to 0; or calculating a first statistical value of the angle values ​​of the left hip joint angle and subtracting the first statistical value from the first angle value obtained at the earliest point in time among the angle values ​​of the left hip joint angle to correct the DC component of the first angle value, and calculating a second statistical value of the angle values ​​of the right hip joint angle. The method may include calculating and subtracting the second statistical value from the second angle value obtained at the earliest point in time among the angle values ​​of the right hip joint angle, thereby correcting the DC component of the second angle value.

[0263] Each implementation herein may be used in combination with any other implementation(s) described herein.

[0264] 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. Furthermore, the processing device may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used 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, each of which may include processing circuitry. Other processing configurations, such as parallel processors, are also possible.

[0265] Software may include a computer program, code, instructions, or a combination of one or more of these, and may configure a processing device to perform a desired operation or, independently or collectively, command the processing device. The software and / or data may be stored on any type of machine, component, physical device, virtual equipment, computer storage medium, or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium.

[0266] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may store program commands, data files, data structures, etc., alone or in combination, and the program commands recorded on the medium may be those specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0267] The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

[0268] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the described embodiments. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0269] While the present disclosure has been illustrated and described with reference to various embodiments, it is to be understood that the various embodiments are intended to be illustrative and not limiting. Furthermore, those skilled in the art will appreciate that various changes in form and detail may be made without departing from the true spirit and scope of the present disclosure, including the appended claims and their equivalents. It is also to be understood that any of the embodiments described herein may be used in conjunction with any of the other embodiments described herein.

[0270] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. In wearable devices (120, 200, 300, 300-1, 600), A drive module (630) including a motor and / or circuit and outputting torque for a user of the wearable device; At least one angle sensor (620); and A processor (610) including a processing circuit Including, The above processor, Obtaining the left hip joint angle and the right hip joint angle of the user using the at least one angle sensor, processing the left hip joint angle and the right hip joint angle to correct the DC component of each of the left hip joint angle and the right hip joint angle, determining a first torque value based on the processing of the left hip joint angle, determining a second torque value based on the processing of the right hip joint angle, determining at least one of the first torque value and the second torque value as a target torque value based on the movement information of the user, and controlling the driving module so that a torque based on the determined target torque value is output by the driving module. Wearable devices.

2. In paragraph 1, The torque based on the target torque value is delayed and output by the drive module, and the delay of the torque based on the target torque value is based on a time value related to the torque output time. Wearable devices.

3. In any one of paragraphs 1 and 2, The above processor, After a time delay equal to the time value associated with the torque output time, the first torque value is determined based on the processing of the left hip joint angle and the second torque value is determined based on the processing of the right hip joint angle. Wearable devices.

4. In paragraph 3, The above processor, The processed left hip joint angle is stored in a first register, and when the time is delayed, the processed left hip joint angle is obtained from the first register, and the processed right hip joint angle is stored in a second register, and when the time is delayed, the processed right hip joint angle is obtained from the second register. Wearable devices.

5. In paragraph 4, Each of the first register and the second register has a length related to the time value, Wearable devices.

6. In any one of paragraphs 1 to 5, The above processor, Using at least one of the left hip joint angle, the right hip joint angle, the left hip joint angular velocity of the user, the right hip joint angular velocity of the user, or the sensing data of an IMU (Inertial Measurement Unit) sensor of the wearable device, one of the first torque value and the second torque value is determined as the target torque value. Wearable devices.

7. In paragraph 6, The above processor, If one of the change in the left hip joint angle and the change in the right hip joint angle is below the level and the other is above the level, a torque value based on a hip joint angle having a change above the set level among the first torque value and the second torque value is determined as the target torque value. Wearable devices.

8. In any one of paragraphs 1 to 7, The above processor, When the first torque value is determined as the target torque value, the driving module is controlled so that a first torque corresponding to the target torque value is output to the user's left leg, and the driving module is controlled so that a second torque in the opposite direction of the first torque is output to the user's right leg. Wearable devices.

9. In any one of paragraphs 1 to 8, The above processor, Filtering is performed on each of the left hip joint angle and the right hip joint angle to correct the DC component of each of the left hip joint angle and the right hip joint angle. Wearable devices.

10. In any one of paragraphs 1 to 9, The above processor, Performing at least a frequency domain transformation on the angle values ​​of the left hip joint angle and the angle values ​​of the right hip joint angle to obtain first frequency components for the angle values ​​of the left hip joint angle and second frequency components for the angle values ​​of the right hip joint angle, and correcting the DC component of the angle values ​​of the left hip joint angle and the DC component of the angle values ​​of the right hip joint angle. Wearable devices.

11. In any one of paragraphs 1 to 10, The above processor, Computing a first statistical value of angle values ​​of the left hip joint angle, and correcting a DC component of the first angle value by at least subtracting the first statistical value from the first angle value obtained at the earliest point in time among the angle values ​​of the left hip joint angle, and calculating a second statistical value of angle values ​​of the right hip joint angle, and correcting a DC component of the second angle value by at least subtracting the second statistical value from the second angle value obtained at the earliest point in time among the angle values ​​of the right hip joint angle. Wearable devices.

12. In paragraph 11, The first statistical value includes at least one of half the difference between the maximum and minimum angle values ​​of the left hip joint angle, a moving average value of the angle values ​​of the left hip joint angle, or a median value of the angle values ​​of the left hip joint angle, The second statistical value includes at least one of half the difference between the maximum and minimum angle values ​​of the right hip joint angle, a moving average value of the angle values ​​of the right hip joint angle, or a median value of the angle values ​​of the right hip joint angle. Wearable devices.

13. In paragraph 11, The above processor, Applying upweighting and / or downweighting to each of the first statistical value and the second statistical value, Wearable devices.

14. In any one of paragraphs 1 to 13, The above processor, At least determining the first torque value mapped to the processed left hip joint angle through a predetermined mapping relationship, and at least determining the second torque value mapped to the processed right hip joint angle through the predetermined mapping relationship. Wearable devices.

15. In the operating method of a wearable device (120, 200, 300, 300-1, 600), An operation of obtaining a left hip joint angle and a right hip joint angle of a user of the wearable device using at least one angle sensor; An operation of processing the left hip joint angle and the right hip joint angle to correct the DC component of each of the left hip joint angle and the right hip joint angle; An operation of determining a first torque value based on the processed left hip joint angle; An operation of determining a second torque value based on the processed right hip joint angle; An operation of determining one of the first torque value and the second torque value as a target torque value based on the movement information of the user; and An operation for outputting torque based on the target torque value determined above. including, How to operate a wearable device.

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