Wearable device with zero point setting function and operation method thereof

Abstract

Provided are a wearable device including a zero point setting function, and an operating method of the wearable device, wherein the wearable device may be a walking assistance device for aiding exercise of a user, and may include a driving module which generates a torque applied to the body of a user, a torque transfer frame configured to transfer the torque to a leg of the user, an angle sensor configured to measure an angle of the torque transfer frame, and one or more processors configured to set a zero point of the angle sensor on the basis of the measured angle of the torque transfer frame. The one or more processors may individually or collectively determine whether the user is walking, on the basis of the angle of the torque transfer frame, measured by the angle sensor, collect, in response to determining that the user is walking, the angle of the torque transfer frame at a time point when the angle speed of the torque transfer frame satisfies a set condition, determine a zero offset value for setting a zero point, on the basis of the angle of the torque transfer frame collected at each time point when the condition is satisfied, and set the zero point of the angle sensor by using the determined zero offset value.

Description

Wearable device having a zero point setting function and method of operating the wearable device

[0001] Certain embodiments relate to a wearable device having a zero point setting function and / or a method of operating a wearable device.

[0002] In general, a walking assistance device is a device or apparatus that helps patients who cannot walk on their own due to various diseases or accidents, or patients who want to exercise, to perform walking exercises for rehabilitation purposes, and / or a device or apparatus that can be used for exercise. Recently, as the aging society deepens, the number of people who have difficulty walking normally or complain of discomfort when walking due to leg joint problems is increasing, and interest in walking assistance devices is also increasing. Walking assistance devices are attached to the user's body and can assist the user's muscle strength required for walking, for example, and guide the user's walking so that the user can walk with a normal walking pattern. These walking assistance devices can also perform functions that assist the user with various leg exercises (e.g., power walking, jogging, stair climbing, lunges, stretching).

[0003] According to an embodiment, a wearable device having a zero-point setting function may include a drive module including a motor and / or circuit and generating a torque applied to a body of a user, a torque transmission frame for transmitting the generated torque to a leg of the user, a thigh fastening part directly or indirectly connected to the torque transmission frame and for fixing the torque transmission frame to the leg of the user, an angle sensor including a processing circuit and measuring an angle of the torque transmission frame, and one or more processors for performing zero-point setting of the angle sensor based on the measured angle of the torque transmission frame. In various embodiments, the angle sensor may or may not be a part of the drive module.

[0004] According to an embodiment, the one or more processors may determine whether the user is in a walking state based on an angle of the torque transmission frame measured by the angle sensor. The one or more processors may, in response to determining that the user is in a walking state, collect an angle of the torque transmission frame at a time point when the angular velocity of the torque transmission frame satisfies a set condition. The one or more processors may determine a zero offset value for the zero point setting based on the angles of the torque transmission frame collected at each time point when the condition is satisfied, and perform zero point setting of the angle sensor using the determined zero offset value.

[0005] According to an embodiment, the wearable device may further include a position detection sensor that outputs a status value according to the position of the torque transmission frame.

[0006] According to an embodiment, the one or more processors may collect angles of the torque transmission frame. The one or more processors may determine, based on changes in the collected angles of the torque transmission frame, whether a change in a state value of the position detection sensor is a change due to movement of the torque transmission frame in a first direction or a change due to movement in a second direction different from the first direction. The one or more processors may select a target angle from among the collected angles of the torque transmission frame based on the determination of the change in the state value of the position detection sensor. The one or more processors may determine a zero offset value for the zero point setting based on the selected target angle, and perform zero point setting of the angle sensor using the determined zero offset value.

[0007] According to an embodiment, a method for operating a wearable device including a driving module for generating a torque applied to a user's body, a torque transmission frame for transmitting the generated torque to the user's leg, and an angle sensor for measuring an angle of the torque transmission frame may include an operation for determining whether movement of the torque transmission frame is detected, an operation for performing zero point setting of the angle sensor using the position detection sensor when movement of the torque transmission frame is detected and a position detection sensor for outputting a status value according to a position of the torque transmission frame is present, and an operation for performing zero point setting of the angle sensor using an angle of the torque transmission frame measured through the angle sensor when movement of the torque transmission frame is detected and the position detection sensor is not present.

[0008] According to an embodiment, a computer-readable recording medium may have recorded thereon instructions that, when executed by one or more processors, cause the one or more processors to individually and / or collectively perform a method of operating a wearable device of the present disclosure.

[0009] The above and other aspects, features and advantages of specific embodiments will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0010] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to various embodiments.

[0011] FIG. 2 is a drawing for explaining an exercise assistance system according to various embodiments.

[0012] FIG. 3 illustrates a rear schematic diagram of a wearable device according to various embodiments.

[0013] FIG. 4 illustrates a left side view of a wearable device according to various embodiments.

[0014] FIG. 5 is a diagram illustrating configurations of a wearable device according to various embodiments.

[0015] FIG. 6 is a diagram illustrating interaction between a wearable device and an electronic device according to various embodiments.

[0016] FIG. 7 is a diagram illustrating configurations of an electronic device according to various embodiments.

[0017] FIG. 8 is a drawing for explaining a position detection sensor according to various embodiments.

[0018] FIG. 9 is a diagram for explaining an overview of zero point setting of a wearable device according to various embodiments.

[0019] FIG. 10 is a flowchart illustrating an operation method of a wearable device having a zero point setting function according to various embodiments.

[0020] FIG. 11 and FIG. 12 are flowcharts for explaining a zero point setting method based on a walking pattern according to various embodiments.

[0021] FIG. 13 is a diagram for explaining determining a zero offset value based on a walking pattern according to various embodiments.

[0022] FIG. 14 is a flowchart illustrating a high-speed zero point setting method using a position detection sensor according to various embodiments.

[0023] FIG. 15 is a flowchart illustrating a method for performing zero setting with a one-way base zero offset value according to various embodiments.

[0024] FIG. 16 is a diagram for explaining determining the direction of a falling edge based on queue data according to various embodiments.

[0025] FIG. 17 is a flowchart illustrating a method for performing zero setting with a bidirectional-based zero offset value according to various embodiments.

[0026] FIG. 18 is a diagram for explaining determining a zero offset value based on a decision criterion value according to various embodiments.

[0027] FIG. 19 is a flowchart illustrating a high-accuracy zero point setting method using a position detection sensor according to various embodiments.

[0028] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Therefore, the actual implementation is not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or alternatives within the technical concepts described in the embodiments.

[0029] 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.

[0030] 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.

[0031] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components will be assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0032]

[0033] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to various embodiments.

[0034] Referring to FIG. 1, in one embodiment, a wearable device (100) may be a device worn on a user's (110) body to assist the user's (110) walking, exercising, and / or working. The wearable device (100) may also be used to measure the user's (110) physical ability (e.g., walking ability, exercise ability, exercise posture). In embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking assistance device', or 'exercise assistance device'. The user (110) may be a person who wears the wearable device (100) and walks, exercises, or works.

[0035] A wearable device (100) may be worn on a user's (110) body (e.g., lower body (legs, ankles, knees, etc.) and / or upper body (torso, arms, wrists, etc.)) to apply external forces, such as assistance force and / or resistance force, to the body movements of the user (110). Assistance force refers to a force applied in the same direction as the body movement direction of the user (110), and represents a force that assists the body movements of the user (110). Resistance force refers to a force applied in the opposite direction to the body movement direction of the user (110), and represents a force that hinders the body movements of the user (110). The term 'resistance force' may also be referred to as 'exercise load'.

[0036] In one embodiment, the wearable device (100) may operate in a walking assistance mode to assist the walking of the user (110). In the walking assistance mode, the wearable device (100) may assist the walking of the user (110) by applying an assistive force generated from the driving module (120) of the wearable device (100) to the body of the user (110). The wearable device (100) may assist the force required for the walking of the user (110), thereby enabling the user (110) to walk independently or to walk for a long time, thereby expanding the walking ability of the user (110). The wearable device (100) may also help improve the walking of a user with abnormal walking habits or walking posture.

[0037] In one embodiment, the wearable device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110) or to provide various exercise experiences to the user (110). The exercise assistance mode may include a resistance mode and an assistance mode. The resistance mode of the exercise assistance mode refers to a mode that impedes the body movement of the user (110) or provides resistance to the body movement of the user (110) by applying a resistance force generated from the driving module (120) to the body of the user (110). If the wearable device (100) is a hip-type wearable device worn on the waist (or pelvis) and legs (e.g., thighs) of the user (110), the wearable device (100) may provide an exercise load to the leg movement of the user (110) while being worn on the legs in the resistance mode, thereby further enhancing the exercise effect on the legs of the user (110). The assist mode of the exercise assistance mode refers to a mode in which an assistive force is applied to the body of the user (110) to assist the body movement of the user (110). In the assist mode, an assistive force, which is a force in the same direction as the body movement, is provided to the user (110). For example, when a disabled person or an elderly person wears a wearable device (100) and exercises, the wearable device (100) may provide an assistive force to assist the body movement. In the assistive mode, the wearable device (100) may provide a force in the same direction as the leg movement direction of the user (110), and the user (110) may perform an exercise with less force through the force provided from the wearable device (100). In an exercise program performed using the wearable device (100), the resistance mode and the assistive mode may be operated in combination. For example, the wearable device (100) may provide an assistive force and a resistance force in combination for each exercise section or time section, such as providing an assistive force in some exercise sections and a resistance force in other exercise sections.In the exercise assistance mode, various exercise programs can be operated according to the exercise purpose and / or the physical ability of the user (110). The exercise program is exercise content that the user (110) performs using the wearable device (100), and may include, for example, aerobic exercise, strength training, postural balancing exercise, or any combination thereof. The type of exercise program is not limited thereto and may vary. Depending on the exercise program performed by the wearable device (100), the resistance mode and the assistance mode may be appropriately operated in an alternating manner, and a target exercise speed that matches the appropriate physical condition (e.g., heart rate) of the user (110) while performing the exercise may be guided to the user.

[0038] In one embodiment, the wearable device (100) may operate in a physical ability measurement mode for measuring the physical ability of a user (110). The wearable device (100) may measure movement information of the user (110) using a sensor (e.g., an angle sensor (125)) or an inertial measurement unit (IMU) (135)) provided in the wearable device (100) while the user (110) walks and / or exercises, and may evaluate the physical ability of the user (110) based on the measured movement information. For example, the gait index (e.g., number of steps, total walking distance, stride) or the exercise ability index (e.g., muscle strength, exercise endurance, postural balance) of the user (110) may be estimated through the movement information of the user (110) measured by the wearable device (100).

[0039] In a specific embodiment, for convenience of explanation, a hip-type wearable device (100) as illustrated in FIG. 1 is used as an example, but is not limited thereto. As described above, the wearable device (100) may also be worn on other body parts (e.g., upper arms, lower arms, hands, calves, or feet) other than the waist and thighs. The shape and configuration of the wearable device (100) may vary depending on the body part on which it is worn.

[0040] The wearable device (100) may include a support frame (e.g., a waist support frame (20) of FIGS. 3 and 4) for supporting the body of the user (110) when the wearable device (100) is worn on the body of the user (110), a drive module (120) for generating a torque applied to the legs of the user (110) (e.g., a first drive module (45) and a second drive module (35) of FIG. 3), a torque transmission frame for transmitting the torque generated by the drive module (120) to the legs of the user (110) (e.g., a first torque transmission frame (55) and a second torque transmission frame (50) of FIG. 3), a sensor circuit including one or more sensors for obtaining sensor data including movement information on the body movement of the user (110) (e.g., leg movement, upper body movement), and a control circuit (130) for controlling the operation of the wearable device (100) (e.g., a control circuit (510) of FIG. 5). there is.

[0041] In one embodiment, the wearable device (100) may include an angle sensor (125) and an inertial sensor (135). The angle sensor (125) may measure a rotational angle of a torque transmission frame of the wearable device (100) corresponding to a hip joint angle of the user (110). The angle sensor (125) may include, for example, an encoder and / or a hall sensor. In one embodiment, the angle sensor (125) may be positioned near a motor included in the drive module (120) that is directly or indirectly connected to the torque transmission frame. The inertial sensor (135) may include an acceleration sensor and / or an angular velocity sensor, and may measure changes in acceleration and / or angular velocity according to movements of the user (110). The inertial sensor (135) can measure, for example, a movement value of a waist support frame (e.g., waist support frame (20) of FIG. 3) or a base body (e.g., base body (80) of FIG. 3) of a wearable device (100). The movement value of the waist support frame or base body measured by the inertial sensor (135) can correspond to a waist movement value (or upper body movement value) of a user (110).

[0042] In one embodiment, the control circuit (130) and the inertial sensor (135) may be placed within a base body of the wearable device (100) (e.g., the base body (80) of FIG. 3). The base body may be positioned at the waist area of ​​the user (110) while the user (110) is wearing the wearable device (100). The base body may be formed or attached to the outside of the waist support frame of the wearable device (100). The base body may support the lumbar region of the user (110).

[0043]

[0044] FIG. 2 is a drawing for explaining an exercise assistance system according to various embodiments.

[0045] Referring to FIG. 2, the exercise assistance system (200) may include a wearable device (100), an electronic device (210), another wearable device (220), and a server (230). In the exercise assistance system (200), at least one of the devices other than the wearable device (100) (e.g., the electronic device (210), another wearable device (220), or the server (230)) may be omitted, or one or more other devices (e.g., a dedicated controller device for the wearable device (100)) may be added.

[0046] In one embodiment, the wearable device (100) may be worn on the user's body in a walking assistance mode to assist the user's movements. For example, the wearable device (100) may be worn on the user's leg to generate an assistive force to assist the user's leg movements, thereby assisting the user's walking.

[0047] In one embodiment, the wearable device (100) may generate and apply to the user's body a resistance force to hinder the user's body movement and / or an assistive force to assist the user's body movement in order to enhance the user's exercise effect in the exercise assistance mode. In the exercise assistance mode, the user may select an exercise program (e.g., aerobic exercise such as power walking and outdoor walking, strength training such as squats, split lunges, dumbbell squats, and lunge and knee ups, stretching, postural balancing exercise, or any combination thereof) and / or an exercise intensity to be applied to the exercise program via the electronic device (210). The wearable device (100) may control a driving module (e.g., a driving module (120) of FIG. 1) of the wearable device (100) according to the exercise program and / or exercise intensity selected by the user. For example, the wearable device (100) can adjust the strength of the resistance and / or assist force generated by the drive module according to the exercise intensity selected by the user. The wearable device (100) can control the drive module to generate a resistance force corresponding to the exercise intensity selected by the user. As the exercise intensity increases, the magnitude of the resistance force applied to the user can also increase.

[0048] The wearable device (100) can transmit sensor data measured through a sensor (e.g., an angle sensor (125) or an inertial sensor (135) of FIG. 1) to an electronic device (210) and receive a control signal for controlling the operation of the wearable device (100) from the electronic device (210).

[0049] The electronic device (210) can communicate with the wearable device (100) via wireless communication (e.g., Bluetooth communication) or wired communication, and can remotely control the wearable device (100) or provide the user with status information regarding the status of the wearable device (100) (e.g., booting status, charging status, exercise program operation status, error status). The electronic device (210) can recommend an exercise program using the wearable device (100) to the user and analyze the exercise performed by the user. The electronic device (210) can receive sensor data acquired by a sensor of the wearable device (100) from the wearable device (100), and can estimate the user's current exercise status, exercise result, exercise posture, and / or physical ability based on the received sensor data. The electronic device (210) can provide the user with the estimated current exercise status, exercise result, exercise posture, and / or physical ability of the user through a graphical user interface (GUI).

[0050] In one embodiment, a user may execute a program (e.g., an application) on an electronic device (210) to control a wearable device (100), and the user may adjust the operation or setting values ​​(e.g., the torque intensity output from the motor of the drive module, the volume of audio output from an audio output circuit (e.g., the audio output circuit (550) of FIG. 5), the brightness of a lighting unit (e.g., the lighting unit (85) of FIG. 3)) of the wearable device (100) through the program. The program executed on the electronic device (210) may provide a graphical user interface for interaction with the user. The electronic device (210) may be a variety of devices. For example, the electronic device (210) may include, but is not limited to, a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, or a home appliance device (e.g., a television, an audio device, a projector device).

[0051] According to one embodiment, the electronic device (210) may be connected to the server (230) using short-range wireless communication or cellular communication. The server (230) may receive user profile information of a user using the wearable device (100) from the electronic device (210), and store and manage the received user profile information. The user profile information may include, for example, information on at least one of name, age, gender, height, weight, medical history, or body mass index (BMI). The server (230) may receive exercise history information regarding exercise performed by the user from the electronic device (210), and store and manage the received exercise history information. The server (230) may provide the electronic device (210) with various exercise programs or physical ability measurement programs that may be provided to the user. In one embodiment, the server (230) may be connected to the wearable device (100). The server (230) can receive sensor data measured by the wearable device (100) from the wearable device (100) and transmit control signals and / or exercise program-related data for controlling the operation of the wearable device (100) to the wearable device (100). In one embodiment, the server (230) can be a cloud server.

[0052] According to one embodiment, the wearable device (100) and / or the electronic device (210) may be connected to another wearable device (220). The user's exercise result information, physical ability information, and / or exercise motion evaluation information determined by the electronic device (210) may be transmitted to the other wearable device (220) and provided to the user through the other wearable device (220). Status information of the wearable device (100) may also be transmitted to the other wearable device (220) and provided to the user through the other wearable device (220). In one embodiment, the wearable device (100), the electronic device (210), and the other wearable device (220) may be connected to each other through wireless communication (e.g., Bluetooth communication, Wi-Fi communication). Other wearable devices (220) may be, for example, wireless earphones (222), a smartwatch (or a wearable device in the form of a watch) (224), or smartglasses (a wearable device in the form of glasses or goggles) (226), but are not limited to the aforementioned devices.

[0053] In one embodiment, the wireless earphones (222) may be wirelessly connected to the electronic device (210) and / or the wearable device (100) to output guide voices, music, and / or sound effects related to an exercise program. The wireless earphones (222) may provide the user with information related to the exercise program (e.g., an introduction to the exercise program, remaining exercise time) or may inquire about the user's selection through the guide voices. The wireless earphones (222) may include a microphone, and the microphone may receive a user's voice input. The voice input received through the microphone may be transmitted to the electronic device (210), and voice recognition may be performed on the voice input in the electronic device (210).

[0054] In one embodiment, the smartwatch (224) may include a biosensor (e.g., a heart rate sensor, an electromyography sensor) that measures a biosignal including heart rate information of the user, and may transmit the biosignal measured by the biosensor to the electronic device (210) and / or the wearable device (100). The electronic device (210) may estimate the heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) and / or electromyography information of the user based on the biosignal received from the smartwatch (224), and may provide the estimated heart rate information and / or electromyography information to the user. The heart rate information and / or electromyography information may be used to determine the haptic intensity of the haptic feedback provided through the wearable device (100).

[0055] In one embodiment, the smartwatch (224) may include an inertial sensor for measuring user movement information and / or a position sensor for measuring user location information, and may transmit the user movement information and / or location information to the electronic device (210) and / or the wearable device (100). The smartwatch (224) may include a communication circuit (e.g., a short-range communication circuit) for communicating with another device (e.g., the electronic device (210), the wearable device (100)). In one embodiment, the smartwatch (224) may provide an exercise program related interface through a display. The exercise program related interface may be implemented through a separate application installed on the smartwatch (224). The user may also control the wearable device (100) through the smartwatch (224).

[0056] In one embodiment, the smart glasses (226) can provide information to the user through a glass-shaped display. For example, in exercise mode, the smart glasses (226) can output information such as current exercise speed, target exercise speed, current exercise volume achieved, exercise time, and biometric information through the display. Additionally, the smart glasses (226) can output a screen to guide the user on their exercise route.

[0057]

[0058] FIG. 3 illustrates a rear schematic diagram of a wearable device according to various embodiments. FIG. 4 illustrates a left side view of a wearable device according to various embodiments.

[0059] Referring to FIGS. 3 and 4, a wearable device (100) according to one embodiment may include a base body (80), a waist support frame (20), a driving module (35, 45), a torque transmission frame (50, 55), a thigh fastening part (1, 2), and a waist fastening part (60). The base body (80) may include a lighting unit (85). In one embodiment, at least one of these components (e.g., the lighting unit (85)) may be omitted from the wearable device (100), or one or more other components may be added.

[0060] The base body (80) may be positioned on the lumbar or stomach of the user while the user is wearing the wearable device (100). In one embodiment, the base body (80) may be mounted on the lumbar of the user to provide a cushioning feeling to the user's waist and support the user's waist. The base body (80) may be hung over the user's buttocks (hip area) so as to prevent the wearable device (100) from being detached downward due to gravity or reduce the possibility of the wearable device (100) being detached. The base body (80) may distribute a portion of the weight of the wearable device (100) to the user's waist while the user is wearing the wearable device (100). The base body (80) may be directly or indirectly connected to the waist support frame (20). Both ends of the base body (80) may be provided with a waist support frame connecting element (not shown) that can be directly or indirectly connected to the waist support frame (20).

[0061] In one embodiment, a lighting unit (85) may be provided on the outer surface of the base body (80). The lighting unit (85) may include a light source (e.g., a light emitting diode (LED)). The lighting unit (85) may emit light under the control of a processor (not shown) (e.g., a processor (512) of FIG. 5) of the wearable device (100). According to an embodiment, the lighting unit (85) may be controlled so that visual feedback corresponding to the status of the wearable device (100) may be provided (or output) through the lighting unit (85).

[0062] In one embodiment, a display (not shown) may be provided on the outer surface of the base body (80). The display may provide a screen for various visual information related to the wearable device (100) (e.g., status information of the wearable device (100)) and a user interface.

[0063] The waist support frame (20) can support the user's body (e.g., waist) when the wearable device (100) is worn on the user's body. The waist support frame (20) can extend from both ends of the base body (80). The user's waist can be accommodated on the inside of the waist support frame (20). The waist support frame (20) can include at least one rigid body beam. Each beam can have a curved shape with a preset curvature so as to surround the user's waist. A waist fastening part (60) can be directly or indirectly connected to an end of the waist support frame (20). A first driving module (45) and a second driving module (35) can be directly or indirectly connected to the waist support frame (20).

[0064] In one embodiment, a processor, a memory (e.g., a memory (514) of FIG. 5), an inertial sensor (e.g., an inertial sensor (135) of FIG. 1, an inertial sensor (522) of FIG. 5), a communication circuit (e.g., a communication circuit (516) of FIG. 5), an audio output circuit (e.g., an audio output circuit (550) of FIG. 5), and a battery (not shown) may be disposed inside the base body (80). The base body (80) may protect the components disposed inside. The processor may generate a control signal that controls the operation of the wearable device (100). The processor may control a motor (or actuator) of each of the first driving module (45) and the second driving module (35) that generates torque based on electric energy stored in the battery.

[0065] In one embodiment, the wearable device (100) may include one or more sensors. The wearable device (100) may include one or more sensors that acquire sensor data including movement information of the user and / or movement information of components of the wearable device (100). For example, the one or more sensors may include, but are not limited to, an inertial sensor (e.g., the inertial sensor (135) of FIG. 1 and the inertial sensor (522) of FIG. 5) for measuring a movement value of the user's upper body or a movement value of the lumbar support frame (20) and / or an angle sensor (e.g., the angle sensor (125) of FIG. 1 and the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5) for measuring a hip joint angle of the user or an angle of the torque transmission frame (50, 55). The angular velocity of the user's hip joint or the angular velocity of the torque transmission frame (50, 55) can be determined by differentiating the user's hip joint angle or the angle of the torque transmission frame (50, 55) measured by the angle sensor.

[0066] For example, the one or more sensors may further include at least one of a position sensor, a torque sensor, a pressure sensor, a temperature sensor, a biosignal sensor (e.g., a heart rate sensor, an electrocardiogram sensor), a distance sensor, or a proximity sensor.

[0067] The waist fastening member (60) can be directly or indirectly connected to the waist support frame (20) and can secure the waist support frame (20) to the user's waist. The waist fastening member (60) can include, for example, a pair of belts.

[0068] The first driving module (45) and the second driving module (35) can generate an external force (or torque) applied to the user's body based on a control signal generated by the processor. For example, the first driving module (45) and the second driving module (35) can generate an assistive force or a resistance force applied to the user's leg. In one embodiment, the first driving module (45) can be positioned corresponding to the user's right hip joint position, and the second driving module (35) can be positioned corresponding to the user's left hip joint position. The first driving module (45) can include a first actuator and a first joint member, and the second driving module (35) can include a second actuator and a second joint member. The first actuator can provide power transmitted to the first joint member, and the second actuator can provide power transmitted to the second joint member. The first actuator and the second actuator may each include a motor that receives power from a battery and generates force (or torque). When powered and driven, the motor may generate force to assist the user's body movements (assistive force) or force to impede the user's body movements (resistive force). In one embodiment, the processor may control the strength and direction of the force generated by the motor by adjusting the voltage and / or current supplied to the motor.

[0069] In one embodiment, the first joint member and the second joint member can receive power from the first actuator and the second actuator, respectively, and apply an external force to the user's body based on the received power. In one embodiment, the first joint member and the second joint member can be disposed at positions corresponding to the user's joints, respectively. One side of the first joint member can be directly or indirectly connected to the first actuator, and the other side can be directly or indirectly connected to the first torque transmission frame (55). The first joint member can be rotated by the power received from the first actuator. An encoder or a hall sensor can be disposed on one side of the first joint member, which can act as an angle sensor for measuring a rotation angle (corresponding to the user's joint angle) of the first joint member or the first torque transmission frame (55). One side of the second joint member may be directly or indirectly connected to the second actuator, and the other side may be directly or indirectly connected to the second torque transmission frame (50). The second joint member may be rotated by power transmitted from the second actuator. An encoder or a hall sensor that may function as an angle sensor for measuring a rotation angle of the second joint member or the second torque transmission frame (50) may also be arranged on one side of the second joint member.

[0070] In one embodiment, the first actuator may be disposed laterally of the first joint member, and the second actuator may be disposed laterally of the second joint member. The rotational axis of the first actuator and the rotational axis of the first joint member may be disposed to be spaced apart from each other, and the rotational axis of the second actuator and the rotational axis of the second joint member may also be disposed to be spaced apart from each other. However, the present invention is not limited thereto, and the actuator and the joint member may share a rotational axis. In one embodiment, each actuator may be disposed to be spaced apart from the joint member. In this case, the drive module (35, 45) may further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, a cable, a string, a spring, a belt, or a chain. However, the scope of the embodiment is not limited by the positional relationship between the actuator and joint member and the power transmission structure described above.

[0071] In one embodiment, the first torque transmission frame (55) and the second torque transmission frame (50) can transmit the torque generated by the first driving module (45) and the second driving module (35) to the user's body (e.g., the leg) when the wearable device (100) is worn on the user's leg. The transmitted torque can act as an external force applied to the movement of the user's leg. One end of each of the first torque transmission frame (55) and the second torque transmission frame (50) can be directly or indirectly connected to a joint member and rotated. The other end of each of the first torque transmission frame (55) and the second torque transmission frame (50) is directly or indirectly connected to the first thigh fastening portion (2) and the second thigh fastening portion (1), so that the first torque transmission frame (55) and the second torque transmission frame (50) can support the user's thigh while transmitting the torque generated by the first driving module (45) and the second driving module (35) to the user's thigh. For example, the first torque transmission frame (55) and the second torque transmission frame (50) can push or pull the user's thigh. The first torque transmission frame (55) and the second torque transmission frame (50) can extend along the length of the user's thigh and can be bent to wrap at least a portion of the user's thigh circumference. The first torque transmission frame (55) can be a torque transmission frame for transmitting torque to the user's right leg, and the second torque transmission frame (50) can be a torque transmission frame for transmitting torque to the user's left leg.

[0072] The first thigh fastening part (2) and the second thigh fastening part (1) are directly or indirectly connected to the first torque transmission frame (55) and the second torque transmission frame (50), respectively, and can fasten the wearable device (100) to the user's leg (particularly, the thigh). The first thigh fastening part (2) may be a thigh fastening part for fastening the wearable device (100) to the user's right thigh, and the second thigh fastening part (1) may be a thigh fastening part for fastening the wearable device (100) to the user's left thigh.

[0073] In one embodiment, the first thigh fastening unit (2) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening unit (1) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover may apply torque generated from the first driving module (45) and the second driving module (35) to the user's thigh, respectively. The first cover and the second cover may be disposed on one side of the user's thigh, respectively, to push or pull 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 respect to the other end of the first torque transmission frame (55) and the second torque transmission frame (50), respectively, and may include a curved surface corresponding to the user's thigh. One end of each of the first cover and the second cover may be directly or indirectly connected to the first fastening frame and the second fastening frame, respectively. The other end of each of the first cover and the second cover can be directly or indirectly connected to the first strap and the second strap.

[0074] 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 detached from the wearable device (100) or reducing the possibility of detachment. 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.

[0075] The first strap may encircle the user's right thigh, the remaining portion not covered by the first cover and the first fastening frame, and the second strap may encircle the user's left thigh, the remaining portion not covered by the second cover and the second fastening frame. The first strap and the second strap may comprise, for example, an elastic material (e.g., a band).

[0076]

[0077] FIG. 5 is a diagram illustrating configurations of a wearable device according to various embodiments.

[0078] Referring to FIG. 5, the wearable device (100) may include a control circuit (510), a communication circuit (516), one or more sensors (e.g., an inertial sensor (522, a first angle sensor (524), a second angle sensor (524-1)), a drive module (530, 530-1), an input circuit (540), an audio output circuit (550) including a speaker, and a haptic circuit (560).

[0079] The drive module (530) may include a motor (534) and a motor driver circuit (532) for driving the motor (534), and the drive module (530-1) may include a motor (534-1) and a motor driver circuit (532-1) for driving the motor (534-1). In the embodiment of FIG. 5, two drive modules are illustrated, but this is merely an example, and the number of drive modules may be one or three or more. The drive module (530) including the motor driver circuit (532) and the motor (534) may correspond to the first drive module (45) of FIG. 3, and the drive module (530-1) including the motor driver circuit (532-1) and the motor (534-1) may correspond to the second drive module (35) of FIG. 3.

[0080] One or more sensors may include one or more sensors that acquire sensor data (or sensed values). The one or more sensors may transmit the acquired sensor data to the control circuit (510). The one or more sensors may include, for example, an inertial sensor (522), a first angle sensor (524), and / or a second angle sensor (524-1). Each of these sensors may be present in multiples, and some may be omitted.

[0081] The inertial sensor (522) can measure the movement value of the user's body. The inertial sensor (522) can sense the acceleration of the X-axis, Y-axis, and Z-axis and the angular velocity of the X-axis, Y-axis, and Z-axis according to the user's movement. The inertial sensor (522) can measure, for example, the movement value of the user's upper body. The movement value of the user's upper body can correspond to the movement value of the waist support frame of the wearable device (100) (e.g., the waist support frame (20) of FIGS. 3 and 4). In one embodiment, the inertial sensor (522) can be located on a printed circuit board present inside the base body (80) of the wearable device (100), and can measure a signal indicating the degree of inclination of the wearable device (100) and / or the acceleration of the wearable device (100).

[0082] The first angle sensor (524) and the second angle sensor (524-1) can measure the hip joint angle according to the user's leg movement. The first angle sensor (524) can sense the hip joint angle of the user's right leg, and the second angle sensor (524-1) can sense the hip joint angle of the user's left leg. Each of the first angle sensor (524) and the second angle sensor (524-1) can include, for example, an encoder and / or a hall sensor. The hip joint angle of the right leg sensed by the first angle sensor (524) may correspond to a movement value (e.g., angle) of the first torque transmission frame of the wearable device (e.g., the first torque transmission frame (55) of FIG. 3), and the hip joint angle of the left leg sensed by the second angle sensor (524-1) may correspond to a movement value (e.g., angle) of the second torque transmission frame of the wearable device (e.g., the second torque transmission frame (50) of FIG. 3).

[0083] In one embodiment, the processor (512) can determine the angular velocity of the first torque transfer frame by differentiating the angular change over time of the first torque transfer frame sensed by the first angle sensor (524), and can determine the angular velocity of the second torque transfer frame by differentiating the angular change over time of the second torque transfer frame sensed by the second angle sensor (524-1).

[0084] In one embodiment, the one or more sensors may further include a torque sensor for sensing a torque value, a position sensor for obtaining a position value of the wearable device (100), a proximity sensor for detecting the proximity of an object, a biosignal sensor for detecting a biosignal of a user, a distance sensor for measuring a distance to an object, a pressure sensor for measuring a pressure value, and / or a temperature sensor for measuring an ambient temperature.

[0085] The input circuit (540) can receive commands or data to be used in a component of the wearable device (100) (e.g., a processor (512)) from an external source (e.g., a user) of the wearable device (100). The input circuit (540) can include, for example, keys (e.g., buttons) and / or a touch screen.

[0086] The audio output circuit (550) can output an audio signal to the outside of the wearable device (100). The audio output circuit (550) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound), music content, or a guide voice.

[0087] In one embodiment, the wearable device (100) may further include a battery (not shown) for supplying power to each component of the wearable device (100) and a power management circuit (not shown) for controlling the power supply. The wearable device (100) may convert the power of the battery to an operating voltage of each component of the wearable device (100) and supply the converted power to each component.

[0088] The drive module (530, 530-1) can generate an external force applied to the user's leg under the control of the control circuit (510). The drive module (530, 530-1) is located at a location corresponding to the user's hip joint position and can generate a torque applied to the user's leg based on a control signal generated by the control circuit (510). The control circuit (510) can transmit the control signal to the motor driver circuit (532, 532-1), and the motor driver circuit (532, 532-1) can control the operation of the motor (534, 534-1) by generating a current signal (or voltage signal) corresponding to the control signal and supplying it to the motor (534, 534-1). Depending on the control signal, the current signal may not be supplied to the motor (534, 534-1). The motor (534, 534-1) can generate an assistive force that assists the user's leg movement or a resistive force that impedes the leg movement when a current signal is supplied to the motor (534, 534-1) and the motor is driven.

[0089] The control circuit (510) controls the overall operation of the wearable device (100) and can generate control signals for controlling each component of the wearable device (100). The control circuit (510) may include a processor (512) and a memory (514).

[0090] The processor (512) may, for example, execute software to control at least one other component (e.g., hardware or software component) of the wearable device directly or indirectly connected to the processor (512), and may perform various data processing or calculations. According to one embodiment, as at least a part of the data processing or calculation, the processor (512) may store instructions or data received from another component (e.g., communication circuit (516)) in the memory (514), process the instructions or data stored in the memory (514), and store the result data after the processing in the memory (514). The processor (512) may include one or more processors, and the operations of the wearable device (100) described herein may be individually or collectively performed by one processor, or may be performed by a combination of multiple processors.

[0091] According to one embodiment, the processor (512) may include at least one of a main processor (e.g., a central processing unit (CPU) or an application processor) and / or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or in conjunction therewith. The processor (512) may also be implemented as a system on chip (SoC) or an integrated circuit (IC) that performs processing. The auxiliary processor may be implemented separately from the main processor or as part of the main processor. Each “processor” herein may include a processing circuit or may include multiple processors. For example, as used herein, including in the claims, the term “processor” may include various processing circuits that include at least one processor, wherein one or more of the at least one processors may be configured to perform the various functions described herein in an individually and / or collectively distributed manner. When “processor,” “at least one processor,” and “one or more processors” are described herein as being configured to perform multiple functions, these terms include, but are not limited to, situations where one processor performs some of the recited functions and another processor performs other of the recited functions, and situations where a single processor can perform all of the recited functions. Furthermore, the at least one processor may comprise a combination of processors that perform various recited / disclosed functions, for example, in a distributed manner. At least one processor may execute program instructions to achieve or perform various functions.

[0092] The memory (514) can store various data used by at least one component (e.g., the processor (512)) of the control circuit (510). The data can include, for example, input data or output data for software, sensor data, and commands related thereto. The memory (514) can include at least one instruction executable by the processor (512). The memory (514) can include one or more memories, and instructions for controlling the processor (512) to perform operations of the wearable device (100) described in the present disclosure can be stored in one memory or can be divided and stored in multiple memories. The memory (514) can include a volatile memory or a non-volatile memory.

[0093] The communication circuit (516) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the control circuit (510) and other components of the wearable device (100) or an external electronic device (e.g., the electronic device (210) of FIG. 2 or another wearable device (220)), and the performance of communication through the established communication channel. The communication circuit (516) may, for example, transmit sensor data acquired by a sensor to an external electronic device (e.g., the electronic device (210) of FIG. 2) and receive a control signal from the external electronic device. In one embodiment, the communication circuit (516) may include one or more communication processors that operate independently from the processor (512) and support direct (e.g., wired) communication or wireless communication. In one embodiment, the communication circuit (516) may include a wireless communication circuit (e.g., a cellular communication circuit, a short-range wireless communication circuit, or a global navigation satellite system (GNSS) communication circuit) and / or a wired communication circuit. The wireless communication circuitry may communicate with other components of the wearable device (100) and / or external devices via, for example, Bluetooth, WiFi (wireless fidelity), ANT (advanced and adaptive network technology), IrDA (infrared data association), a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a local area network (LAN) or a wide area network (WAN).

[0094] The haptic circuit (560) can provide haptic feedback to a user under the control of the processor (512). The haptic circuit (560) can include one or more haptic actuators. The haptic actuators can include, for example, a piezo actuator, a bander type actuator, and / or a vibration motor-based actuator. The haptic actuators can be one or more. In one embodiment, the haptic actuators can be located in at least one of a base body (e.g., the base body (80) of FIG. 3), a torque transmission frame (e.g., the first torque transmission frame (55) of FIG. 3, the second torque transmission frame (50)), and a thigh fastening part (e.g., the first thigh fastening part (2) of FIG. 3, the second thigh fastening part (1)) of the wearable device (100).

[0095] The position detection sensor (570) can output a status value according to the position of the torque transmission frame. The position detection sensor (570) may be a Hall sensor that detects the position using the Hall effect. The position detection sensor (570) may output a first status value when the torque transmission frame is located in a detection area (e.g., an area between -12 degrees and +12 degrees with respect to the reference axis), and may output a second status value different from the first status value when the torque transmission frame is located in a non-detection area. For example, the first status value may be a high level value (e.g., '1'), and the second status value may be a low level value (e.g., '0'). The position detection sensor (570) may include a first position detection sensor that outputs a status value according to the position of the first torque transmission frame, and a second position detection sensor that outputs a status value according to the position of the second torque transmission frame. The first position detection sensor may be placed around the position where the first torque transmission frame and the motor (534) that moves the first torque transmission frame are combined, and the second position detection sensor may be placed around the position where the second torque transmission frame and the motor (534-1) that moves the second torque transmission frame are combined.

[0096] In one embodiment, one or more processors (512) can determine whether movement of a torque transmission frame (e.g., a first torque transmission frame (55), a second torque transmission frame (50) of FIG. 3) of a wearable device (100) is detected. If movement of the torque transmission frame is detected and a position detection sensor (570) that outputs a status value according to the position of the torque transmission frame (55; 50) exists, one or more processors (512) can use the position detection sensor (570) to perform zero point setting of an angle sensor (e.g., a first angle sensor (524), a second angle sensor (524-1).

[0097] <Zero point setting using position detection sensor (570)>

[0098] In one embodiment, a wearable device (100) having a zero-point setting function using a position detection sensor (570) may include a driving module (530, 530-1) that generates a torque applied to a user's body, a torque transmission frame (e.g., a first torque transmission frame (55), a second torque transmission frame (50) of FIG. 3) for transmitting the generated torque to the user's leg, a thigh fastening part (e.g., a first thigh fastening part (2), a second thigh fastening part (1) of FIG. 3) connected to the torque transmission frame for fixing the torque transmission frame to the user's leg, an angle sensor (e.g., a first angle sensor (524), a second angle sensor (524-1)) for measuring an angle of the torque transmission frame (corresponding to a rotational angle of a motor of the wearable device (100), a position detection sensor (570) that outputs a status value according to a position of the torque transmission frame, and one or more processors (512) that perform zero-point setting of the angle sensor based on the measured angle of the torque transmission frame.

[0099] In one embodiment, one or more processors (512) can collect angles of torque transmission frames. One or more processors (512) can sequentially store the collected angles of torque transmission frames in queue data. The angles of torque transmission frames can be sequentially stored in the queue data having a first in first out (FIFO) structure. One or more processors (512) can determine, based on changes in the angles stored in the queue data, whether a change in the state value of the position detection sensor (570) is due to movement in a first direction or a change due to movement in a second direction.

[0100] In one embodiment, the one or more processors (512) can determine, based on changes in angles of torque transfer frames collected in a time interval, whether the change in the state value of the position detection sensor (570) is a change due to movement in a first direction of the torque transfer frame (e.g., the direction in which the user is walking, forward, or in a flexion direction) or a change due to movement in a second direction different from the first direction (e.g., the opposite direction of the direction in which the user is walking, backward, or in an extension direction). The one or more processors (512) can control to store the angle of the torque transfer frame in cue data corresponding to the first direction or cue data corresponding to the second direction. The one or more processors (512) can determine a decision criterion value based on the cue data corresponding to the first direction and the cue data corresponding to the second direction, and determine, based on the decision criterion value, whether the change in the state value of the position detection sensor (570) is a change due to movement in the first direction or a change due to movement in the second direction.

[0101] One or more processors (512) may select a target angle from among the angles of the collected torque transmission frames based on the determination of a change in the state value of the position detection sensor (570). One or more processors (512) may determine a zero offset value for zero point setting based on the selected target angle.

[0102] In one embodiment, one or more processors (512) can perform zero setting with a unidirectional based zero offset value. In response to determining that a change in the state value of the position detection sensor (570) is due to movement of the torque transmission frame in a first direction, the one or more processors (512) can select a maximum value among the angles of the collected torque transmission frames (50; 55) as a target angle, and determine a result of applying a reference angle (e.g., +12 degrees) corresponding to the first direction to the target angle as a zero offset value. In response to determining that a change in the state value of the position detection sensor (570) is due to movement of the torque transmission frame in a second direction, the one or more processors (512) can select a minimum value among the angles of the collected torque transmission frames (50; 55) as a target angle, and determine a result of applying a reference angle (e.g., -12 degrees) corresponding to the second direction to the target angle as a zero offset value.

[0103] In one embodiment, one or more processors (512) may perform zero setting using a bidirectional-based zero offset value. One or more processors (512) may select a maximum value among angles included in the cue data corresponding to a first direction as a first target angle, and a minimum value among angles included in the cue data corresponding to a second direction as a second target angle. One or more processors (512) may determine a zero offset value based on the first target angle and the second target angle.

[0104] One or more processors (512) can perform zero setting of the first angle sensor (524) and / or the second angle sensor (524-1) using the determined zero offset value. The one or more processors (512) can adjust the output angle of the angle sensor by applying the determined zero offset value to the angle measured and output by the angle sensor. For example, the one or more processors (512) can obtain the zero-adjusted angle value by adding (or subtracting) the zero offset value to the angle output from the angle sensor. The torque to be output through the drive module (530) and / or the drive module (530-1) can be determined based on the zero-adjusted angle value.

[0105] When movement of the torque transfer frame is detected and the position detection sensor (570) is not present (or the position detection sensor (570) is disabled or malfunctions), one or more processors (512) can perform zero point setting based on the walking pattern using the angle of the torque transfer frame measured through the angle sensor (e.g., the first angle sensor (524), the second angle sensor (524-1).

[0106] <Zero point setting based on walking pattern>

[0107] In one embodiment, a wearable device (100) having a zero-point setting function based on a gait pattern may include a driving module (530, 530-1) for generating a torque applied to a user's body, a torque transmission frame for transmitting the generated torque to the user's legs (e.g., a first torque transmission frame (55), a second torque transmission frame (50) of FIG. 3), a thigh fastening part connected to the torque transmission frame and for fixing the torque transmission frame to the user's legs (e.g., a first thigh fastening part (2), a second thigh fastening part (1) of FIG. 3), an angle sensor for measuring an angle of the torque transmission frame (e.g., a first angle sensor (524), a second angle sensor (524-1)), and one or more processors (512) for performing zero-point setting of the angle sensor based on the measured angle of the torque transmission frame. The one or more processors (512) may automatically perform zero-point setting based on the angle of the torque transmission frame collected during execution of an exercise program of the wearable device (100) without performing user guidance for zero-point setting.

[0108] In one embodiment, one or more processors (512) can determine whether the user is in a walking state based on an angle of a torque transfer frame measured by an angle sensor. The torque transfer frame can include a first torque transfer frame (e.g., the first torque transfer frame (55) of FIG. 3) and a second torque transfer frame (e.g., the second torque transfer frame (50) of FIG. 3) for transferring torque to different legs of the user. The one or more processors (512) can determine whether the user is in a walking state based on an angular velocity of the first torque transfer frame and an angular velocity of the second torque transfer frame.

[0109] In one embodiment, the one or more processors (512) can determine whether the angular velocity of the first torque transfer frame is less than or equal to a first threshold value, and after it is determined that the angular velocity of the first torque transfer frame (55) is less than or equal to the first threshold value, can determine whether the angular velocity of the first torque transfer frame (55) is greater than or equal to a second threshold value. After it is determined that the angular velocity of the first torque transfer frame (55) is greater than or equal to the second threshold value, the one or more processors (512) can determine that the user is in a walking state when the angular velocity of the second torque transfer frame is less than or equal to a third threshold value when the angular velocity of the first torque transfer frame is at a minimum or low value within one cycle.

[0110] In response to determining that the user is in a walking state, one or more processors (512) may collect angles of the torque transfer frame at points in time when the angular velocity of the torque transfer frame satisfies a set condition. The one or more processors (512) may determine that the angular velocity of the torque transfer frame (50; 55) satisfies the condition when the angular velocity of the torque transfer frame is a minimum or low value within a period. The one or more processors (512) may determine a zero offset value for setting the zero point based on the angles of the torque transfer frame collected at each point in time when the condition is satisfied.

[0111] In one embodiment, the one or more processors (512) may determine whether the number of angles of the collected torque transfer frames is greater than or equal to a fourth threshold value at each time point that the above condition is satisfied. In response to determining that the number of angles of the collected torque transfer frames (50; 55) is greater than or equal to the fourth threshold value, the one or more processors (512) may determine whether a deviation between the angles of the collected torque transfer frames is less than or equal to a fifth threshold value. In response to determining that the deviation is less than or equal to the fifth threshold value, the one or more processors (512) may determine a zero offset value based on the angles of the collected torque transfer frames. For example, the one or more processors (512) may determine the zero offset value based on an average value of the angles of the collected torque transfer frames (50; 55).

[0112] One or more processors (512) can perform zero setting of the angle sensor using the determined zero offset value. The one or more processors (512) can adjust the output angle of the angle sensor by applying the determined zero offset value to the angle measured and output by the angle sensor. For example, the one or more processors (512) can obtain the zero-adjusted angle value by adding (or subtracting) the zero offset value to the angle output from the angle sensor. The torque to be output through the drive module (530) and / or the drive module (530-1) can be determined based on the zero-adjusted angle value.

[0113]

[0114] FIG. 6 is a diagram illustrating interaction between a wearable device and an electronic device according to various embodiments.

[0115] Referring to FIG. 6, a wearable device (100) can communicate with an electronic device (210). For example, the electronic device (210) may be a user terminal of a user using the wearable device (100). According to one embodiment, the wearable device (100) and the electronic device (210) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0116] In one embodiment, the electronic device (210) may execute an application for checking the status of the wearable device (100) or controlling or operating the wearable device (100). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (100) or determining the operation mode of the wearable device (100) may be displayed on the display (212) of the electronic device (210). The UI may be, for example, a graphical user interface (GUI).

[0117] In one embodiment, a user may input a command (e.g., a command to execute a walking assistance mode or an exercise assistance mode) for controlling the operation of the wearable device (100) or change the settings of the wearable device (100) through a GUI screen on a display (212) of the electronic device (210). In addition, the user may set an exercise goal and change a torque parameter to be applied to the wearable device (100) through the GUI screen. The torque parameter may include, for example, a first parameter that controls the intensity of a torque generated by a motor of the wearable device (100) (e.g., motor (534) or motor (534-1) of FIG. 5) and / or a second parameter that controls the timing of application of the torque. In various embodiments of the present disclosure, the term 'torque parameter' may be replaced with the term 'parameter', 'robot parameter', or 'control parameter'.

[0118] The electronic device (210) can generate a control command (or control signal) corresponding to a motion control command or setting change command input by a user, and transmit the generated control command to the wearable device (100). In one embodiment, the control command may include a torque parameter set by the user. The wearable device (100) can operate according to the received control command, and transmit a control result according to the control command and / or sensor data measured by a sensor module of the wearable device (100) to the electronic device (210). The electronic device (210) can analyze the control result and / or sensor data to provide the user with result information (e.g., current exercise status information, exercise result information, exercise posture evaluation information, physical ability evaluation information) through a GUI screen.

[0119]

[0120] FIG. 7 is a diagram illustrating configurations of an electronic device according to various embodiments.

[0121] Referring to FIG. 7, the electronic device (210) may include a processor (710), a memory (720), a communication circuit (730), a display circuit (740), an audio output circuit (750), and an input circuit (760). In one embodiment, the electronic device (210) may omit at least one of these components (e.g., an audio output circuit (750)), or may have one or more other components added (e.g., a sensor circuit, a haptic circuit, a battery).

[0122] The processor (710) may control at least one other component (e.g., hardware or software component) of the electronic device (210) and perform various data processing or calculations. According to one embodiment, as at least a part of the data processing or calculation, the processor (710) may store a command or data received from another component (e.g., communication circuit (730)) in the memory (720), process the command or data stored in the memory (720), and store the resulting data in the memory (720). The processor (710) may include one or more processors, and the operations of the electronic device (210) described in the present disclosure may be performed by one processor or by a combination of multiple processors.

[0123] According to one embodiment, the processor (710) may include at least one of a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or in conjunction with the main processor. The processor (710) may also be implemented as a system on a chip (SoC) or an integrated circuit that performs processing.

[0124] The memory (720) can store various data used by at least one component (e.g., the processor (710) or the communication circuit (730)) of the electronic device (210). The data can include, for example, input data or output data for a program (e.g., an application) and instructions related thereto. The memory (720) can include at least one instruction executable by the processor (710). The memory (720) can include one or more memories, and instructions for controlling the processor (710) to perform operations of the electronic device (210) described in the present disclosure can be stored in one memory or can be divided and stored in multiple memories. The memory (720) can include a volatile memory or a non-volatile memory.

[0125] The communication circuit (730) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device (210) and another electronic device (e.g., wearable device (100), another wearable device (220), server (230)), and the performance of communication through the established communication channel. The communication circuit (730) may include a communication circuit for performing a communication function. The communication circuit (730) may operate independently from the processor (710) (e.g., application processor) and may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication circuit (730) may include a wireless communication circuit (e.g., a Bluetooth communication circuit, a cellular communication circuit, a Wi-Fi communication circuit, or a GNSS communication circuit) or a wired communication circuit (e.g., a LAN communication circuit or a power line communication circuit) that performs wireless communication. The communication circuit (730) may, for example, transmit a control command to the wearable device (100) and receive at least one of sensor data including body movement information of a user wearing the wearable device (100), status data of the wearable device (100), or control result data corresponding to the control command from the wearable device (100).

[0126] The display circuit (740) can visually provide information to an external device (e.g., a user) of the electronic device (210). The display circuit (740) can include, for example, an LCD or OLED display, a holographic device, or a projector device. The display circuit (740) can further include a control circuit for controlling display operation. In one embodiment, the display circuit (740) can further include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of a force generated by a touch. The display circuit (740) can output a user interface screen for controlling the wearable device (100) or providing various information (e.g., exercise evaluation information, setting information of the wearable device (100).

[0127] The audio output circuit (750) can output an audio signal to the outside of the electronic device (210). The audio output circuit (750) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound), music content, or a guide voice based on the status of the wearable device (100).

[0128] The input circuit (760) can receive commands or data to be used in a component of the electronic device (210) (e.g., a processor (710)) from an external source (e.g., a user) of the electronic device (210). The input circuit (760) can include an input component circuit and can receive user input. The input circuit (760) can include, for example, a key (e.g., a button) and / or a touch recognition circuit for recognizing a touch on a screen.

[0129]

[0130] FIG. 8 is a drawing for explaining a position detection sensor according to various embodiments.

[0131] Referring to FIG. 8, the position detection sensor (800) of the wearable device (100) (e.g., the position detection sensor (570) of FIG. 5) can output a status value (840) according to the position of the second torque transmission frame (50). Another position detection sensor (not shown) that outputs a status value according to the position of the first torque transmission frame (55) may also exist on the opposite side of the wearable device (100). The position detection sensor (800) may be a Hall sensor. The position detection sensor (800) may be toggled on when the angle formed by the driving axis of the second torque transmission frame (50) with respect to the reference axis (830) is within the detection area (820), and may be toggled off when the angle is in a non-detection area outside the detection area (820). The reference axis (830) may be, for example, a reference line when the user stands upright.

[0132] The position detection sensor (800) can output a first state value (e.g., '1') when the second torque transmission frame (50) is located in the detection area (820), and can output a second state value (e.g., '0') when the second torque transmission frame (50) is located in the non-detection area. Within the detection area (820), the forward detection area (822) can correspond to the area between the reference axis (830) and the first detection boundary line (832), and the rearward detection area (824) can correspond to the area between the reference axis (830) and the second detection boundary line (834).

[0133] For example, when the driving shaft of the second torque transmission frame (50) is in the non-detected area and enters the detection area (820) due to the movement of the user's leg, a rising edge (842) changing from '0' to '1' may appear in the status value of the position detection sensor (800). When the driving shaft of the second torque transmission frame (50) is in the detection area (820) and enters the non-detected area, a falling edge (844) changing from '1' to '0' may appear in the status value of the position detection sensor (800). In one embodiment, it may be determined whether the second torque transmission frame (50) is in the forward or backward direction based on the detection of the falling edge (844).

[0134] When the user extends the left leg forward while walking and the driving axis of the second torque transmission frame (50) faces forward, the angular velocity of the second torque transmission frame (50) may have a negative value, and when the left leg faces backward and the driving axis of the second torque transmission frame (50) faces backward, the angular velocity of the second torque transmission frame (50) may have a positive value.

[0135]

[0136] FIG. 9 is a diagram for explaining an overview of zero point setting of a wearable device according to various embodiments.

[0137] When the wearable device (100) applies an assistive force or a resistive force to the user's body, the wearable device (100) may provide an assistive force or resistance in the direction in which the user's joint moves. At this time, the magnitude of the force generated from the wearable device (100) or the effect of the user's exercise may vary depending on the zero point position of the angle sensor (e.g., the first angle sensor (524), the second angle sensor (524-1)) included in the wearable device (100). In addition, the judgment of the user's current posture or exercise posture may vary depending on the zero point position. The magnitude of the force to be applied to the user or the method of motion assistance varies depending on the user's body movement (e.g., joint movement) measured based on the zero point-set position. If the zero point is not set or is set to an incorrect zero point, a problem may occur in which abnormal torque is transmitted to the user. In this way, it is important to accurately set the zero point of the angle sensor included in the wearable device (100). In the case of a wearable device (100), it is important to quickly and accurately set the zero position because the angle (hip joint angle) of the torque transmission frame is used to control the driving module or determine the status (e.g., determine the walking phase).

[0138] Referring to FIG. 9, in one embodiment, the wearable device (100) may perform zero setting to adjust the zero position of the drive axis of the second torque transmission frame (50) with respect to the second angle sensor (524-1). The angle that the drive axis forms with respect to the reference axis (910) (e.g., an axis perpendicular to the horizon) may vary depending on the wearing state of the wearable device (100) and / or the body shape of the user. The zero setting may be, for example, a process of aligning the position of the drive axis with the reference axis (910). The process of the zero setting may include determining a zero offset value to offset the difference between the drive axis and the reference axis (910) in order to align the drive axis position with the reference axis (910). The value of the second angle sensor (524-1) may be compensated based on the zero offset value. For example, when the angle of the driving axis of the second torque transmission frame (50) with respect to the direction (920) toward which it is directed is measured by the second angle sensor (524-1), the angle of the second torque transmission frame (50) with respect to the reference axis (910) can be more accurately determined by applying (e.g., adding or subtracting) a zero offset value to the measured angle.

[0139] According to embodiments, the zero-point setting process of the wearable device (100) may be performed only with a walking motion, thereby improving user convenience. Zero-point setting may be performed automatically without a separate zero-point setting step requiring user participation. This allows the user to wear the wearable device (100) and immediately begin exercising. When zero-point setting is performed, zero-point setting may be performed based on the user's walking pattern and / or based on a position detection sensor (e.g., the position detection sensor (570) of FIG. 5 and the position detection sensor (800) of FIG. 9). When the position detection sensor of the wearable device (100) is used for zero-point setting, the wearable device (100) may determine the rotational direction of the torque transmission frame (or motor) based on the change trend of the angle of the torque transmission frame and the angle (or position) without using the angular velocity. This may prevent or reduce the possibility of zero-point being set incorrectly due to a delay in transmission of the angular velocity of the torque transmission frame. In one embodiment, the wearable device (100) can increase the speed of zero setting by performing zero setting using initially collected data, and can gradually increase the accuracy of zero setting by updating the zero position using subsequently measured data.

[0140] According to embodiments, zero-point setting can be performed automatically during a user's exercise without performing a separate zero-point setting process requiring the user's participation (e.g., performing a guided movement), and zero-point setting can be performed without collecting high-quality data required for zero-point setting. This increases usability and enables zero-point setting to be performed quickly. Furthermore, according to embodiments, the zero-point setting process is not performed only initially, but is continuously performed based on sensor data sensed by an angle sensor of a wearable device (100), thereby enabling more accurate zero-point setting.

[0141]

[0142] FIG. 10 is a flowchart illustrating an operating method of a wearable device equipped with a zero-point setting function according to various embodiments. In one embodiment, at least one of the operations in FIG. 10 may be performed simultaneously or in parallel with another operation, and the order of the operations may be changed. Furthermore, at least one of the operations may be omitted, and another operation may be additionally performed.

[0143] Referring to FIG. 10, in operation (1010), a processor of the wearable device (100) (e.g., processor (512) of FIG. 5) may determine whether movement of a torque transmission frame of the wearable device (100) (e.g., first torque transmission frame (55) and second torque transmission frame (50) of FIG. 3) is detected. When a user wears the wearable device (100) and starts walking, the torque transmission frame of the wearable device (100) moves and an angular change of the torque transmission frame may be sensed by an angular sensor of the wearable device (100) (e.g., first angle sensor (524) and second angle sensor (524-1) of FIG. 5). When a change in an angle or angular velocity of the torque transmission frame is detected, it may be determined that movement of the torque transmission frame is detected.

[0144] When movement of the torque transmission frame is detected (when 'Yes' is detected in operation (1010)), the zero point setting method may be performed differently depending on whether there is a position detection sensor (e.g., position detection sensor (570) of FIG. 5) that outputs a status value according to the position of the torque transmission frame within the wearable device (100).

[0145] When movement of the torque transfer frame is detected and there is no position detection sensor ('No' in operation (1020)), in operation (1030), the processor may perform a zero-setting method based on a gait pattern that performs zero-setting of the angle sensor using the angle of the torque transfer frame measured by the angle sensor of the wearable device (100). In the zero-setting method based on a gait pattern, the position detection sensor is not used. In one embodiment, the operation of performing zero-setting of the angle sensor using the angle of the torque transfer frame may include an operation of determining whether the user is in a walking state based on the angle of the torque transfer frame measured by the angle sensor, an operation of collecting the angle of the torque transfer frame at a time point when the angular velocity of the torque transfer frame satisfies a set condition in response to determining that the user is in a walking state, an operation of determining a zero-offset value for zero-setting based on the angles of the torque transfer frame collected at each time point when the condition is satisfied, and an operation of performing zero-setting of the angle sensor using the determined zero-offset value. The zero point setting method based on walking pattern is described in more detail below through Figures 11-13.

[0146] If the movement of the torque transmission frame is detected and there is a position detection sensor that outputs a status value according to the position of the torque transmission frame (if 'Yes' in operation (1020)), the processor may perform a position detection sensor-based zero setting method that performs zero setting of an angle sensor using the position detection sensor in operation (1040). In one embodiment, the operation of performing zero setting of the angle sensor using the position detection sensor may include: collecting an angle of the torque transmission frame at a time point when a change in the status value of the position detection sensor is detected; determining, based on a change in the angles of the torque transmission frame collected in a time section, whether the change in the status value of the position detection sensor is a change due to movement of the torque transmission frame in a first direction or a change due to movement in a second direction different from the first direction; selecting a target angle from among the angles of the torque transmission frame collected based on the determination of the change in the status value of the position detection sensor; determining a zero offset value for zero setting based on the selected target angle; and performing zero setting of the angle sensor using the determined zero offset value.

[0147] In one embodiment, a zero-setting method based on a position detection sensor may include a fast zero-setting method using a position detection sensor and a high-accuracy zero-setting method using a position detection sensor. The fast zero-setting method may be performed for fast zero-setting at the initial operation of the wearable device (100). The high-accuracy zero-setting method may be performed after sufficient data required for zero-setting has been collected. The fast zero-setting method is described in more detail below with reference to FIGS. 14-18. The high-accuracy zero-setting method is described in more detail below with reference to FIG. 19.

[0148]

[0149] Figures 11 and 12 are flowcharts illustrating a zero point setting method based on a gait pattern according to various embodiments. In one embodiment, at least one of the operations in Figures 11 and 12 may be performed simultaneously or in parallel with another operation, and the order of the operations may be changed. Furthermore, at least one of the operations may be omitted, and another operation may be additionally performed.

[0150] Referring to FIG. 11, in operation (1110), a processor of a wearable device (100) (e.g., a processor (512) of FIG. 5) may determine whether a user is in a walking state based on an angle of a torque transfer frame measured by an angle sensor of the wearable device (100) (e.g., a first angle sensor (524) and a second angle sensor (524-1) of FIG. 5). For example, when a periodic angle change for a first torque transfer frame and a second torque transfer frame of the wearable device (100) is detected through the first angle sensor and the second angle sensor of the wearable device (100), for example, when an angle for the first torque transfer frame and an angle for the second torque transfer frame appear to swing alternately, it may be determined that the user is in a walking state. The determination of the walking state may include determining whether the user is performing a valid step. The processor may determine whether the user is performing a normal walk based on the angle and angular velocity of the torque transfer frame. For example, If the angle of the second torque transfer frame (or the first torque transfer frame) does not satisfy the condition when the angular velocity of the first torque transfer frame (or the second torque transfer frame) has an extreme value (or peak value) within one cycle (e.g., the angle of the second torque transfer frame is close to 0 degrees), it may be determined that the user is not performing normal walking. If the user is walking in place, the angle of the second torque transfer frame may be close to 0 degrees (the reference axis position) when the angular velocity of the first torque transfer frame has an extreme value. Since walking in place is not a normal walking state, the processor may distinguish between normal walking and walking in place, and may perform a zero point setting process when it is determined to be normal walking.

[0151] In response to a determination that the user is in a walking state (e.g., a 'Yes' in operation (1120)), in operation (1130) the processor may collect the angle of the torque transfer frame at a point in time when the angular velocity of the torque transfer frame satisfies a set condition. The angular velocity of the torque transfer frame may be determined to satisfy the condition when the angular velocity of the torque transfer frame is minimum within one period.

[0152] In operation (1140), the processor may determine a zero offset value for setting a zero point based on the angles of the torque transfer frame collected in operation (1130). The processor may collect n angles (n is a natural number greater than or equal to 2) of the torque transfer frame collected when the angular velocity of the torque transfer frame is minimum within one cycle, and determine a zero offset value based on the collected n angles when a deviation between the n angles is less than or equal to a threshold value. For example, the processor may determine the zero offset value such that a result of adding an experimentally determined constant to an average value of the angles of the collected torque transfer frame becomes a zero position.

[0153] In operation (1150), the processor may perform zero setting of the angle sensor using the determined zero offset value. The processor may adjust the output angle of the angle sensor by applying the zero offset value determined in the zero setting process to the angle measured and output by the angle sensor.

[0154] One embodiment of a zero-point setting method based on a walking pattern is as follows. A user can wear a wearable device (100) and start walking. When the user wears the wearable device (100) and moves, the processor can determine whether the user is in a walking state based on the angle and angular velocity of each of the first torque transfer frame and the second torque transfer frame obtained through the first angle sensor and the second angle sensor of the wearable device (100). The processor can determine a situation in which the user raises and lowers his or her legs forward and backward based on changes in the angular velocity of the first torque transfer frame and the second torque transfer frame. The processor can determine whether the user is walking in place by checking the angular velocity of one torque transfer frame when the angular velocity of the other torque transfer frame is minimum. The processor can determine that the user is walking in place if there is little movement of the other torque transfer frame when the angular velocity of one torque transfer frame is minimum. If it is determined that the user is walking in place, the processor does not proceed with the zero-point setting method. If it is determined that the user is in a walking state, the processor can collect the angle of the second torque transfer frame (or the first torque transfer frame) when the angular velocity of each of the first torque transfer frames (or the second torque transfer frame) is minimum within one cycle. If the deviation of the collected angles is less than a set reference value, the processor can determine an average value of the collected angles as a zero point candidate position. The processor can determine an offset value for the difference between the zero point candidate position and the actual zero point position as a zero offset value, and estimate the final zero angle by adding the determined zero offset value to the angle measured by the angle sensor.

[0155] FIG. 12 is a flowchart for more specifically explaining the zero point setting method based on the walking pattern of FIG. 11 according to one embodiment.

[0156] Referring to FIG. 12, in operation (1210), a processor of the wearable device (100) (e.g., processor (512) of FIG. 5) may determine whether an angular velocity of a torque transmission frame (first torque transmission frame (55) or second torque transmission frame (50)) of the wearable device (100) is less than or equal to a first threshold value. If the angular velocity of the torque transmission frame is less than or equal to the first threshold value, this may correspond to a case where the torque transmission frame is lifted due to a movement of the user's leg.

[0157] After determining that the angular velocity of the torque transfer frame is less than or equal to a first threshold value (if 'Yes' in operation (1210)), the processor may determine in operation (1220) whether the angular velocity of the torque transfer frame is greater than or equal to a second threshold value. If the angular velocity of the torque transfer frame is greater than or equal to the second threshold value, the processor may respond to a case where the torque transfer frame, which was lifted due to the user's leg movement, is lowered.

[0158] After determining that the angular velocity of the torque transfer frame is greater than or equal to the second threshold value (if 'Yes' in operation (1220)), in operation (1230) the processor can determine whether the angular velocity of another torque transfer frame when the angular velocity of the torque transfer frame is minimum within one cycle is less than or equal to a third threshold value. By comparing the angular velocity of another torque transfer frame when the angular velocity of the torque transfer frame is minimum within one cycle with the third threshold value, it can be distinguished whether the user is walking normally or is walking in place. If the angular velocity of another torque transfer frame when the angular velocity of the torque transfer frame is minimum within one cycle is greater than the third threshold value (if 'No' in operation (1220)), it can be determined that the user is walking in place.

[0159] When the angular velocity of another torque transfer frame is less than or equal to the third threshold value when the angular velocity of the torque transfer frame is the minimum within one cycle (when 'Yes' in operation (1230)), in operation (1240), the processor may determine that the user is in a walking state. When the torque transfer frame moving in the forward direction changes according to the user's walking phase, the process of operation (1210) to operation (1240) may be performed again based on the torque transfer frame moving in the forward direction. The process of operation (1210)-operation (1240) is a process of determining whether the user is in a walking state and may correspond to operation (1110) of FIG. 11.

[0160] In operation (1250), the processor may store the angle of the torque transmission frame at a point in time when the angular velocity of the torque transmission frame satisfies a set condition. The angular velocity of the torque transmission frame may be determined to satisfy the condition when the angular velocity of the torque transmission frame is the minimum within one cycle.

[0161] In operation (1260), the processor may determine whether the number of angles of the stored torque transfer frames is greater than or equal to a fourth threshold value at each point in time when the above condition is satisfied. To distinguish whether walking is performed in a periodic step pattern, it may be determined whether the number of angles of the stored torque transfer frames is greater than or equal to the fourth threshold value.

[0162] In response to a determination that the number of angles of the stored torque transfer frames is greater than or equal to a fourth threshold value (e.g., 'Yes' in operation (1260)), in operation (1270), the processor may determine whether a deviation between the angles of the stored torque transfer frames is less than or equal to a fifth threshold value. In order to distinguish whether walking is performed in a consistent gait pattern, it may be determined whether the angles of the collected torque transfer frames have similar values ​​by determining whether the deviation between the angles of the stored torque transfer frames is less than or equal to the fifth threshold value.

[0163] In response to a determination that the deviation between the angles of the stored torque transfer frames is less than or equal to a fifth threshold value (e.g., 'Yes' in operation (1270)), in operation (1280) the processor can determine a zero offset value based on an average value of the angles of the stored torque transfer frames. The processor can determine a final zero angle by adding an experimentally determined constant (or offset) to the average value of the angles of the stored torque transfer frames.

[0164] Action (1250) - Action (1280) is a process of determining a zero offset value based on a walking pattern after the user is determined to be in a walking state, and may correspond to Action (1130) - Action (1140) of FIG. 11.

[0165]

[0166] FIG. 13 is a diagram for explaining determining a zero offset value based on a walking pattern according to various embodiments.

[0167] Referring to FIG. 13, changes in the angular velocity (1310) of the first torque transmission frame (e.g., the first torque transmission frame (55) of FIG. 5), the angular velocity (1315) of the second torque transmission frame (e.g., the second torque transmission frame (50) of FIG. 5), the angle (1320) of the first torque transmission frame, and the angle (1325) of the second torque transmission frame of the wearable device (100) over time are illustrated. The flexion section may be a section in which the user moves the leg in a forward direction (walking direction), and the extension section may be a section in which the user moves the leg in a backward direction (in a direction opposite to the walking direction).

[0168] When the processor of the wearable device (100) (e.g., the processor (512) of FIG. 5) determines that the user is in a walking state, the processor may collect the angle of another torque transfer frame whenever the angular velocity of the torque transfer frame is at a minimum within one cycle. For example, the processor may collect the angle of the first torque transfer frame and the angle of the second torque transfer frame at time points (e.g., t1, t2, t3, t4, tn) where the angular velocity (1310) of the first torque transfer frame or the angular velocity (1315) of the second torque transfer frame is at a minimum within one cycle. The processor may determine the final zero angle (1330) by adding an experimentally determined constant to the average value (zero candidate position) of the collected angles of the first torque transfer frame and the angles of the second torque transfer frame. The constant (or offset) may be a value determined based on the statistical error between a reference value determined through an absolute encoder that can know a separate zero angle, for example, or a zero angle determined by the user while standing, and a candidate zero position value obtained during the experiment.

[0169]

[0170] Figure 14 is a flowchart illustrating a high-speed zero-point setting method using a position detection sensor according to various embodiments. In one embodiment, at least one of the operations in Figure 14 may be performed simultaneously or in parallel with other operations, and the order of the operations may be changed. Furthermore, at least one of the operations may be omitted, and other operations may be additionally performed.

[0171] In a fast zero-setting method using a position detection sensor of a wearable device (100) (e.g., the position detection sensor (570) of FIG. 5), zero-setting can be performed immediately based on angles initially collected when collecting angles of a torque transmission frame at a falling edge for estimating a zero-offset value. Through this, user convenience can be maximized or improved. The precision of zero-setting can be gradually increased based on angle information of the torque transmission frame collected thereafter. An update of the zero-offset value is attempted each time angle information of the torque transmission frame is collected, thereby making it possible to secure precision for zero-setting in a short period of time.

[0172] Referring to FIG. 14, in operation (1410), a processor (e.g., processor (512) of FIG. 5) of a wearable device (100) can determine whether a change in a sensor value of a position detection sensor has been detected. For example, the processor can detect whether a falling edge has occurred in a status value output by the position detection sensor. The processor can detect whether a falling edge has occurred in a status value output by a position detection sensor disposed on the first driving module (e.g., the first driving module (45) of FIG. 3) of the wearable device (100) and / or a position detection sensor disposed on the second driving module (e.g., the second driving module (35) of FIG. 3). Here, each driving module may include a motor and / or a circuit.

[0173] If a change in the sensor value of the position detection sensor is detected (if 'Yes' in operation (1410)), the processor may attempt to estimate a unidirectional-based zero offset value in operation (1420). If only a falling edge in either a first direction (e.g., walking direction, forward direction) or a second direction (e.g., opposite direction of walking direction, backward direction) is detected in the status value of the position detection sensor, the processor may attempt to estimate the unidirectional-based zero offset value. In the estimation of the unidirectional-based zero offset value, whether it is the first direction or the second direction may be distinguished based on a change trend of an angle of the torque transfer frame, and the zero offset value may be estimated based on the distinguished direction. The processor may determine a torque offset value based on angles of the torque transfer frame collected at the time of the falling edge in the detected first direction or the second direction.

[0174] In addition, if a change in the sensor value of the position detection sensor is detected (if 'Yes' in operation (1410)), in operation (1430), the processor may attempt to estimate a bidirectional-based zero offset value. If both a falling edge for a first direction and a falling edge for a second direction are detected in the status value of the position detection sensor, the processor may determine the torque offset value based on the angle of the torque transfer frame collected at the falling edge in the first direction and the angle of the torque transfer frame collected at the falling edge in the second direction. The processor may set an average value of the angle of the torque transfer frame collected at the falling edge in the first direction and the angle of the torque transfer frame collected at the falling edge in the second direction as a determination reference value. If the angle of the torque transfer frame is greater than the determination reference value, the processor may determine that a falling edge has occurred in the second direction (e.g., opposite to the walking direction, backward), and if the angle of the torque transfer frame is less than the determination reference value, the processor may determine that a falling edge has occurred in the first direction (e.g., walking direction, forward). The processor can estimate the zero offset value based on the decision criterion value.

[0175] At operation (1440), the processor may determine whether the estimation of the bidirectional-based zero offset value is completed. If the estimation of the bidirectional-based zero offset value is not completed (if operation (1440) is 'No'), at operation (1450), the processor may perform zero setting with the unidirectional-based zero offset value. If the estimation of the bidirectional-based zero offset value is completed (if operation (1440) is 'Yes'), at operation (1460), the processor may perform zero setting with the bidirectional-based zero offset value. If zero setting was previously performed with the unidirectional-based zero offset value, the processor may update the existing unidirectional-based zero offset value with the bidirectional-based zero offset value.

[0176] In the fast zero-setting method described above, zero-setting is performed immediately using the angle data initially collected after the user starts walking, without waiting for sufficient angle data to be collected, and can be updated to a more precise zero-setting later. Fast zero-setting is performed using the unidirectional-based zero-offset value, and once the bidirectional-based zero-offset value is determined, zero-setting can be performed based on the bidirectional-based zero-offset value. Since the bidirectional-based zero-offset value is more precise than the unidirectional-based zero-offset value, the bidirectional-based zero-offset value is given precedence over the unidirectional-based zero-offset value. The method for determining the unidirectional-based zero-offset value is described in more detail below with reference to FIG. 15, and the method for determining the bidirectional-based zero-offset value is described in more detail below with reference to FIG. 17.

[0177] An embodiment of a zero point setting method based on a position detection sensor is as follows.

[0178] A user can wear a wearable device (100) and start walking. When the user wears the wearable device (100) and moves, a change in a state value output from a position detection sensor of the wearable device (100) may occur. If a torque transfer frame crosses the boundary between a detection area and an undetected area of ​​the position detection sensor even once, the estimation of a unidirectional-based zero offset value is completed, and an initial zero point setting can be completed immediately based on the unidirectional-based zero offset value. Thereafter, each time the torque transfer frame continues to cross the boundary between the detection area and the undetected area, the angle of the torque transfer frame is collected, and a bidirectional-based zero offset value can be estimated based on the collected angle of the torque transfer frame. A more precise zero point setting process can be performed based on the estimated bidirectional-based zero offset value. The bidirectional-based zero offset value can be continuously updated each time the torque transfer frame continues to cross the boundary between the detection area and the undetected area.

[0179]

[0180] Figure 15 is a flowchart illustrating a method for performing zero-point setting using a unidirectional zero-point offset value according to various embodiments. In one embodiment, at least one of the operations in Figure 15 may be performed concurrently or in parallel with other operations, and the order of the operations may be changed. Furthermore, at least one of the operations may be omitted, and other operations may be additionally performed.

[0181] Referring to FIG. 15, in operation (1510), a processor of a wearable device (100) (e.g., processor (512) of FIG. 5) may collect angles of torque transfer frames (e.g., first torque transfer frame (55) and second torque transfer frame (50) of FIG. 3) of the wearable device (100) and store them in queue data. For example, the processor may periodically (e.g., every 10 ms) collect angles of torque transfer frames and sequentially store the collected angles of torque transfer frames in queue data. If the number of angles of torque transfer frames to be stored in the queue data is greater than or equal to the number of angles in which the queue data can be stored, the processor may delete the angle at the front of the queue data (corresponding to the angle stored first in the queue data) and store the most recently collected angle at the end of the queue data.

[0182] In operation (1520), the processor may calculate a change value (or amount of change) of the angle values ​​stored in the queue data and replace the change value. For example, after calculating the change value of the angle values ​​stored in the queue data, if the change value is greater than 0, the change value may be replaced with a value of '1', and if the change value is less than 0, the change value may be replaced with a value of '-1'. Thereafter, the processor may add all replaced values.

[0183] In operation (1530), the processor may determine whether the absolute value of the sum of all substituted values ​​is equal to a threshold value. Here, the threshold value may be the number of angles that can be stored in the queue data.

[0184] If the absolute value of the sum of all substituted values ​​is equal to the threshold value (if 'Yes' in operation (1530)), then in operation (1540) the processor can determine whether the last value of the queue data is greater than the first value of the queue data.

[0185] If the last value of the queue data is not greater than the first value of the queue data ('No' in operation (1540)), in operation (1550), the processor may determine that the falling edge appearing in the status value of the position detection sensor (e.g., the position detection sensor (570) of FIG. 5) of the wearable device (100) is a forward falling edge. The forward falling edge refers to a falling edge appearing in the status value of the position detection sensor when the torque transmission frame passes the boundary of the non-detected area in the detection area of ​​the position detection sensor due to leg movement in the walking direction.

[0186] In operation (1560), the processor may determine a zero offset value based on a maximum angle value stored in the queue data. Here, the queue data may store angles of torque transmission frames collected at a point in time when a falling edge appears in a status value of a position detection sensor. If the processor determines that a change in the status value of the position detection sensor is due to a forward movement of the torque transmission frame, the processor may select a maximum value among the angles of the torque transmission frame at the point in time of the falling edge collected in the queue data as a target angle, and determine a result of adding a reference angle (e.g., 12 degrees) corresponding to the forward direction to the selected target angle as a zero offset value.

[0187] If the last value of the queue data is greater than the first value of the queue data (if 'Yes' in operation (1540)), in operation (1570), the processor may determine that the falling edge appearing in the status value of the position detection sensor of the wearable device (100) is a backward falling edge. The backward falling edge refers to a falling edge appearing in the status value of the position detection sensor when the torque transmission frame passes the boundary of the non-detected area in the detection area of ​​the position detection sensor due to leg movement in the opposite direction of the walking direction.

[0188] In operation (1580), the processor may determine a zero offset value based on a minimum angle value stored in the queue data. Here, the queue data may store angles of torque transmission frames collected at a point in time when a falling edge appears in a status value of a position detection sensor. If the processor determines that a change in the status value of the position detection sensor is due to a backward movement of the torque transmission frame, the processor may select a minimum value among the angles of the torque transmission frame at the point in time of the falling edge collected in the queue data as a target angle, and determine a result of subtracting a reference angle (e.g., 12 degrees) corresponding to a forward direction from the selected target angle as a zero offset value.

[0189]

[0190] FIG. 16 is a diagram for explaining determining the direction of a falling edge based on queue data according to various embodiments.

[0191] Referring to FIG. 16, the queue data (1610) may store the angle of the torque transmission frame of the collected wearable device (100). There is a limit to the number of elements (e.g., angles of the torque transmission frame) that may be stored in the queue data (1610), and the angles of the torque transmission frame may be sequentially stored in the queue data (1610) according to a FIFO format. It is assumed that the angle (1622) is stored at the very front (1612) of the queue data (1610), and the angle (1624) is stored at the very back (1614) of the queue data (1610). The angles of the torque transmission frames collected between the very front (1611) and the very back (1614) are stored.

[0192] When a falling edge is detected only in either the forward or backward direction, the direction in which the falling edge occurred can be estimated based on changes in the angles stored in the cue data (1610). The processor of the wearable device (100) (e.g., the processor (512) of FIG. 5) compares the angle of the torque transfer frame from a predetermined time ago (e.g., the angle (1622)) with the angle of the most recently collected torque transfer frame (e.g., the angle (1624)), and the direction in which the falling edge occurred and the direction of the torque transfer frame (corresponding to the rotational direction of the motor) can be estimated based on the result of the comparison. For example, if the angle of the torque transfer frame from a predetermined time ago (e.g., the angle (1622)) is smaller than the angle of the most recently collected torque transfer frame (e.g., the angle (1624)), the angle of the torque transfer frame is on an increasing trend over time, and thus the direction in which the falling edge occurred and the direction of the torque transfer frame can be identified as being backward. In contrast, if the angle of the torque transfer frame from a certain time ago is greater than the angle of the most recently collected torque transfer frame, the angle of the torque transfer frame is in a decreasing trend over time, so the direction in which the falling edge occurred and the direction of the torque transfer frame can be identified as being forward. By estimating the direction in which the falling edge occurred based on the change in the angles stored in the queue data (1610), the direction in which the falling edge occurred can be estimated more accurately.

[0193]

[0194] Figure 17 is a flowchart illustrating a method for performing zero-point setting using a bidirectional zero-point offset value according to various embodiments. In one embodiment, at least one of the operations in Figure 17 may be performed concurrently or in parallel with other operations, and the order of the operations may be changed. Furthermore, at least one of the operations may be omitted, and other operations may be additionally performed.

[0195] Referring to FIG. 17, in operation (1710), a processor of a wearable device (100) (e.g., processor (512) of FIG. 5) may determine whether there is one or more elements of the first queue data. The first queue data may store an angle of a torque transmission frame when a falling edge appears (at the falling edge time) in a status value of a position detection sensor of the wearable device (100) (e.g., position detection sensor (570) of FIG. 5).

[0196] If it is determined that there is at least one element of the first queue data (if 'Yes' in operation (1710)), in operation (1720), the processor can determine whether a difference between an average value of the angles of the torque transfer frames stored in the first queue data and the current angle of the torque transfer frame is greater than or equal to a threshold value (e.g., 12 degrees). The current angle of the torque transfer frame can correspond to the angle of the torque transfer frame collected at the most recent falling edge indicated in the status value of the position detection sensor.

[0197] If it is determined that the difference between the average value of the angle of the torque transfer frame stored in the first queue data and the current angle of the torque transfer frame is greater than or equal to a threshold value (if 'Yes' in operation (1720)), the processor may store the current angle of the torque transfer frame in second queue data different from the first queue data in operation (1730).

[0198] If it is determined that there is not more than one element of the first queue data (if 'No' in operation (1710)) or if it is determined that the difference between the average value of the angle of the torque transfer frame stored in the first queue data and the current angle of the torque transfer frame is not greater than a threshold value (if 'No' in operation (1720)), the processor can store the current angle of the torque transfer frame in the first queue data in operation (1740).

[0199] The processor may collect the angle of the torque transmission frame at each falling edge of the position detection sensor and store the collected angle in the first queue data or the second queue data according to the process of the above operation (1710) - operation (1740). The angles of the torque transmission frame stored in the first queue data and the angles of the torque transmission frame stored in the second queue data may correspond to angles collected in different directions (e.g., forward and backward).

[0200] In operation (1750), the processor may determine a decision criterion value based on angles of torque transfer frames stored in the first queue data and the second queue data. In one embodiment, when falling edges of the position detection sensor are detected in both directions (e.g., forward and backward) and angles of torque transfer frames at the time of the bidirectional falling edges are collected, the processor may use an average value of the angles of the collected torque transfer frames as the decision criterion value. For example, the processor may add a first average value of the angles of the torque transfer frames included in the first queue data and a second average value of the angles of the torque transfer frames included in the second queue data, and determine a value obtained by dividing the added value by 2 as the decision criterion value.

[0201] In operation (1760), the processor can determine whether the angle of the torque transmission frame is greater than a decision criterion value. The processor can use the decision criterion value to determine the direction of the falling edge appearing in the status value of the position detection sensor.

[0202] If the angle of the torque transfer frame is determined to be greater than the decision criterion value (if 'Yes' in operation (1760)), then in operation (1770) the processor may determine that the falling edge that appears when collecting the angle of the torque transfer frame is a backward falling edge.

[0203] If it is determined that the angle of the torque transfer frame is not greater than the decision criterion value ('No' in operation (1760)), then in operation (1780) the processor may determine that the falling edge that appears when collecting the angle of the torque transfer frame is a forward falling edge.

[0204] In operation (1790), the processor may determine a zero offset value. In one embodiment, the processor may identify a cue data having a larger value between a first average value of angles of torque transfer frames stored in the first cue data and a second average value of angles of torque transfer frames stored in the second cue data as storing angles of torque transfer frames collected at a time of a falling edge in the rear direction. A cue data having a smaller value between the first average value and the second average value may be identified as storing angles of torque transfer frames collected at a time of a falling edge in the forward direction. In one embodiment, a maximum value of angles of torque transfer frames collected at a time of a falling edge in the forward direction and a minimum value of angles of torque transfer frames collected at a time of a falling edge in the rear direction may be selected, and an average value of the selected maximum value and minimum value may be determined as a zero offset value.

[0205]

[0206] FIG. 18 is a diagram for explaining determining a zero offset value based on a decision criterion value according to various embodiments.

[0207] Referring to FIG. 18, a graph (1810) is illustrated showing a change in an angle of one torque transmission frame over time as measured by an angle sensor of a wearable device (100) (e.g., the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5). The angle of the torque transmission frame changes within a finite range while the user is walking, and the direction (rotation direction) of the torque transmission frame can be identified by analyzing the trend of the angle (e.g., whether it continues to increase or decrease within a cycle). A section where the angle increases can correspond to a section where the torque transmission frame moves backward, and a section where the angle decreases can correspond to a section where the torque transmission frame moves forward.

[0208] In the graph (1810), angles (1820, 1830) at specific points in time represent angles of the torque transmission frame measured at each point in time when a falling edge appears in the status value of the position detection sensor (e.g., the position detection sensor (570) of FIG. 5). Angles (1820) correspond to angles of the torque transmission frame when a falling edge is detected in the status value of the position detection sensor in a backward moving section of the torque transmission frame. Angles (1830) correspond to angles of the torque transmission frame when a falling edge is detected in the status value of the position detection sensor in a forward moving section of the torque transmission frame. In one embodiment, a processor of the wearable device (100) (e.g., processor (512) of FIG. 5) may determine an average value between angles (1820) of torque transfer frames collected at the falling edge in the forward direction and angles (1830) of torque transfer frames collected at the falling edge in the backward direction as a determination criterion value (1840). After the determination criterion value (1840) is determined, whether the direction is forward or backward may be identified using the determination criterion value (1840). If the angle of the torque transfer frame is greater than the determination criterion value (1840), it may be identified as forward, and if the angle of the torque transfer frame is less than the determination criterion value (1840), it may be identified as backward. In one embodiment, the determination criterion value (1840) may be used as a zero position.

[0209]

[0210] Figure 19 is a flowchart illustrating a high-accuracy zero-point setting method using a position detection sensor according to various embodiments. In one embodiment, at least one of the operations in Figure 19 may be performed simultaneously or in parallel with other operations, and the order of the operations may be changed. Furthermore, at least one of the operations may be omitted, and other operations may be additionally performed.

[0211] Referring to FIG. 19, in operation (1910), a processor (e.g., processor (512) of FIG. 5) of a wearable device (100) may determine whether zero point setting for an angle sensor (e.g., first angle sensor (524) and second angle sensor (524-1) of FIG. 5) of the wearable device (100) has been completed. For example, the processor may determine whether zero point setting has been completed according to the zero point setting method described above in FIG. 15 or FIG. 17.

[0212] If it is determined that the zero point setting is completed (if 'Yes' in operation (1910)), the processor may determine whether a zero point reset is required in operation (1920). The wearable device (100) may determine whether a zero point reset is required based on a change in the state of the wearable device (100). The change in the state of the wearable device (100) may include, for example, a change in at least one of a connection state between the wearable device (100) and a peripheral device, a power state of the wearable device (100), an operation state of the wearable device (100), and a state of a drive module of the wearable device (100). In addition, the wearable device (100) may determine whether a zero point reset is required based on whether an error situation occurs in the wearable device (100). Even if the zero point setting has already been completed, the wearable device (100) may perform a zero point setting process if it is determined that a zero point reset is necessary based on a change in the status of the wearable device (100). If it is determined that a zero point reset is not necessary ('no' in operation (1920)), the current zero point setting state may be maintained without a separate zero point setting process.

[0213] If the zero point setting is not completed (if 'No' in operation (1910)) or if it is determined that a zero point reset is required (if 'Yes' in operation (1920)), in operation (1930), the processor may collect the angle of the torque transmission frame when a falling edge appears (the falling edge time) in the status value of the position detection sensor (e.g., the position detection sensor (570) of FIG. 5). For example, the processor may collect the angle of the torque transmission frame when the angular velocity of the torque transmission frame When the angular velocity of the torque transmission frame is within 10 to 60 degrees / second and the direction of the angular velocity of the torque transmission frame is the same as the direction of the angle of the torque transmission frame, the angle of the torque transmission frame at the falling edge point can be collected.

[0214] In operation (1940), the processor may determine whether the collection of angles of the torque transmission frame is complete. The processor may continue to collect angles of the torque transmission frame until the collection of a large number of angles of the torque transmission frame is complete to increase the accuracy of the zero point setting.

[0215] If it is determined that the collection of the angle of the torque transmission frame is completed (if 'Yes' in operation (1940)), in operation (1950), the processor can determine a zero offset value for zero point setting. When the user wears the wearable device (100) and walks, a relative angle difference between a forward angle change value of the torque transmission frame and a backward angle change value of the torque transmission frame based on a reference position of a position detection sensor is automatically calculated, and a zero position for zero point setting can be determined based on the calculated relative angle difference.

[0216] In operation (1960), the processor may perform zero setting of an angle sensor (e.g., the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5) using the determined zero offset value. The processor may adjust an output angle of the angle sensor by applying the determined zero offset value in the zero setting process to an angle measured and output by the angle sensor.

[0217] Each embodiment herein may be used in combination with other embodiments described in this disclosure.

[0218] “Based on” as used herein includes at least based on ~.

[0219] The various embodiments of the present disclosure and the terminology used therein are not intended to limit the technical features described in the present disclosure to specific embodiments, but should be understood to include various modifications, equivalents, or substitutes of the embodiments. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of the items, unless the context clearly indicates otherwise. In the present disclosure, each of the phrases "A or B," "at least one of A and B," "at least one of A or B," "A, B, or C," "at least one of A, B, and C," and "at least one of A, B, or C" can include any one of the items listed together in the corresponding phrase among the phrases, or all possible combinations thereof. Terms such as "first," "second," or "first" or "second" may be used merely to distinguish one component from another, and do not limit the components in any other respect (e.g., importance or order). When a component (e.g., a first component) is referred to as "coupled" or "connected" to another (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through at least a third component(s).

[0220] The term "module" used in various embodiments of the present disclosure may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A module may be an integrally formed component, or a minimum unit or part of such a component that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC). Accordingly, each "module" in this specification may include a circuit.

[0221] 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 permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, or computer storage medium or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may be distributed across networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium. Various embodiments of the present disclosure may be implemented as software comprising one or more instructions stored on a storage medium that can be read by a machine. For example, a processor of the device may recall at least one of the one or more instructions stored from the storage medium and execute it. This enables the device to operate to perform at least one function in accordance with the recalled at least one instruction. The one or more instructions may include code generated by a compiler or code executable by an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' only means that the storage medium is a tangible device and does not contain signals (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily in the storage medium.

[0222] According to one embodiment, the method according to the embodiments may be provided as a computer program product. The computer program product may be traded between sellers and buyers as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or may be provided through an application store (e.g., Play Store). TM ) or directly between two user devices (e.g., smart phones), online distribution (e.g., downloading or uploading). In the case of online distribution, at least a portion of the computer program product may be at least temporarily stored or temporarily created in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

[0223] According to various embodiments, each component (e.g., a module or a program) of the above-described components may include one or more entities, and some of the entities may be separated and placed in other components. According to various embodiments, one or more components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Alternatively or additionally, a plurality of components (e.g., a module or a program) may be integrated into a single component. In such a case, the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by the corresponding component among the plurality of components prior to the integration. According to various embodiments, the operations performed by a module, program, or other component may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.

[0224] While this disclosure has been illustrated and described with reference to various embodiments, it is to be understood that the various embodiments are illustrative and not limiting. It will be further understood by those skilled in the art 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. Furthermore, it will be understood that any embodiment(s) described herein may be used in conjunction with any other embodiment(s) described herein.

Claims

1. In a wearable device (100) having a zero point setting function, A drive module (530; 530-1) comprising a motor and / or circuit and generating a torque applied to the user's body; A torque transmission frame (50; 55) for transmitting the generated torque to the user's legs; A thigh fastening part (1; 2) connected to the torque transmission frame (50; 55) and for fixing the torque transmission frame (50; 55) to the user's leg; An angle sensor (524; 524-1) for measuring the angle of the torque transmission frame (50; 55); and comprising one or more processors (512) including a processing circuit and performing zero setting of the angle sensor (524; 524-1) based on the angle of the measured torque transmission frame (50; 55); The above one or more processors (512) Based on the angle of the torque transmission frame (50; 55) measured by the angle sensor, it is determined whether the user is in a walking state, In response to the determination that the user is in a walking state, the angle of the torque transmission frame (50; 55) is collected at the point in time when the angular velocity of the torque transmission frame (50; 55) satisfies a set condition, Determine the zero offset value for the zero point setting based on the angles of the torque transmission frame (50; 55) collected at each point satisfying the above conditions, Performing zero point setting of the angle sensor (524; 524-1) using the above-determined zero point offset value, Wearable devices.

2. In paragraph 1, The above torque transmission frame (50; 55) is It includes a first torque transmission frame (55) and a second torque transmission frame (50) for transmitting torque to different legs of the user, The above one or more processors (512) Determining whether the user is in a walking state based on the angular velocity of the first torque transmission frame (55) and the angular velocity of the second torque transmission frame (50). Wearable devices.

3. In paragraph 2, The above one or more processors (512) Determine whether the angular velocity of the first torque transmission frame (55) is less than or equal to the first threshold value, After the angular velocity of the first torque transmission frame (55) is determined to be less than or equal to the first threshold value, it is determined whether the angular velocity of the first torque transmission frame (55) is greater than or equal to the second threshold value, After it is determined that the angular velocity of the first torque transmission frame (55) is greater than or equal to the second threshold value, if the angular velocity of the second torque transmission frame (50) when the angular velocity of the first torque transmission frame (55) is the minimum within one cycle is less than or equal to the third threshold value, it is determined that the user is in a walking state. Wearable devices.

4. In any one of paragraphs 1 to 3, The above one or more processors (512) When the angular velocity of the torque transmission frame (50; 55) is at a minimum or low value within one cycle, the angular velocity of the torque transmission frame (50; 55) is determined to satisfy the above condition. Wearable devices.

5. In any one of paragraphs 1 to 4, The above one or more processors (512) At each point where the above conditions are satisfied, it is determined whether the number of angles of the collected torque transmission frame (50; 55) is greater than or equal to the fourth threshold value, In response to a determination that the number of angles of the collected torque transmission frame (50; 55) is greater than or equal to the fourth threshold value, it is determined whether a deviation between the angles of the collected torque transmission frame (50; 55) is less than or equal to the fifth threshold value, In response to a determination that the deviation is less than or equal to the fifth threshold value, determining the zero offset value based on the angles of the collected torque transmission frame (50; 55). Wearable devices.

6. In paragraph 5, The above one or more processors (512) The zero offset value is determined based on the average value of the angles of the above-mentioned collected torque transmission frames (50; 55). Wearable devices.

7. In any one of paragraphs 1 to 6, The above one or more processors (512) Automatically performing the zero point setting based on the angle of the torque transmission frame (50; 55) collected during the execution of the exercise program of the wearable device (100) without performing user guidance for the zero point setting. Wearable devices.

8. In a wearable device (100) having a zero point setting function, A drive module (530; 530-1) comprising a motor and / or circuit and generating a torque applied to the user's body; A torque transmission frame (50; 55) for transmitting the generated torque to the user's legs; A thigh fastening part (1; 2) connected to the torque transmission frame (50; 55) and for fixing the torque transmission frame (50; 55) to the user's leg; An angle sensor (524; 524-1) for measuring the angle of the torque transmission frame (50; 55); A position detection sensor (570) that outputs a status value based on the position of the torque transmission frame (55; 50); and comprising a processing circuit and at least one processor (512) for performing zero setting of the angle sensor (524; 524-1) based on the angle of the measured torque transmission frame (50; 55); The above one or more processors (512) Collect the angles of the above torque transmission frame (50; 55), Based on the change in the angles of the collected torque transmission frame (50; 55), it is determined whether the change in the status value of the position detection sensor (570) is a change due to movement of the torque transmission frame (50; 55) in the first direction or a change due to movement in a second direction different from the first direction. Based on the above determination of the change in the status value of the position detection sensor (570), a target angle is selected from among the angles of the collected torque transmission frame (50; 55), Determine the zero offset value for the zero point setting based on the above-mentioned selected target angle, Performing zero point setting of the angle sensor (524; 524-1) using the above-determined zero point offset value, Wearable devices.

9. In paragraph 8, The above one or more processors (512) The angle of the above torque transmission frame (50; 55) is sequentially stored in queue data, Based on the change in the angles stored in the above queue data, it is determined whether the change in the status value of the position detection sensor (570) is a change due to movement in the first direction or a change due to movement in the second direction. Wearable devices.

10. In paragraph 8 or 9, The above position detection sensor (570) When the above torque transmission frame (50; 55) is located in the detection area, the first state value is output, When the torque transmission frame (50; 55) is located in a non-detected area, a second state value different from the first state value is output, The above one or more processors (512) Collecting the angle of the torque transmission frame (50; 55) at the point in time when the output value of the position detection sensor (570) is detected to change from the first state value to the second state value. Wearable devices.

11. In any one of paragraphs 8 to 10, The above one or more processors (512) In response to determining that the change in the status value of the position detection sensor (570) is a change due to movement in the first direction, the maximum value among the angles of the collected torque transmission frames (50; 55) is selected as the target angle, The result value of applying the reference angle corresponding to the first direction to the target angle is determined as the zero offset value. Wearable devices.

12. In any one of paragraphs 8 to 11, The above one or more processors (512) In response to determining that the change in the status value of the position detection sensor (570) is a change due to movement in the second direction, the minimum value among the angles of the collected torque transmission frames (50; 55) is selected as the target angle, At least, determining the result value obtained by applying the reference angle corresponding to the second direction to the target angle as the zero offset value, Wearable devices.

13. In paragraph 8, The above one or more processors (512) Controlling the angle of the torque transmission frame (50; 55) to be stored in the cue data corresponding to the first direction or the cue data corresponding to the second direction, Determine a decision criterion value based on the queue data corresponding to the first direction and the queue data corresponding to the second direction, Based on the above decision criterion value, it is determined whether the change in the status value of the position detection sensor (570) is a change due to movement in the first direction or a change due to movement in the second direction, Among the angles included in the cue data corresponding to the first direction, the maximum value is selected as the first target angle, The minimum value among the angles included in the cue data corresponding to the second direction is selected as the second target angle, Determining the zero offset value based on the first target angle and the second target angle, Wearable devices.

14. In any one of paragraphs 8 to 13, The above one or more processors (512) Automatically performing the zero point setting based on the angle of the torque transmission frame (50; 55) collected during the execution of the exercise program of the wearable device (100) without performing user guidance for the zero point setting. Wearable devices.

15. A method for operating a wearable device (100) comprising a driving module (530; 530-1) for generating a torque applied to a user's body, a torque transmission frame (50; 55) for transmitting the generated torque to the user's leg, and an angle sensor (524; 524-1) for measuring an angle of the torque transmission frame (50; 55). An operation for determining whether movement of the above torque transmission frame (50; 55) is detected; When the movement of the torque transmission frame (50; 55) is detected and a position detection sensor (570) that outputs a status value according to the position of the torque transmission frame (55; 50) exists, an operation of performing zero point setting of the angle sensor (524; 524-1) using at least the position detection sensor (570); and An operation of performing zero point setting of the angle sensor (524; 524-1) by using the angle of the torque transmission frame (50; 55) measured through at least the angle sensor (524; 524-1) when the movement of the torque transmission frame (50; 55) is detected and the position detection sensor (570) does not exist. A method of operation including:

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