Wearable device for determining walking state of user and operating method thereof

Abstract

A wearable device is disclosed. This wearable device may: obtain, using an IMU sensor, an acceleration value in a forward direction of a user while walking; obtain an angular acceleration value of a hip joint of the user on the basis of a sensing value of an angle sensor; determine a walking state of the user as a first walking state on the basis of the angular acceleration value; determine a walking state of the user as a second walking state on the basis of the acceleration value; and output torque to the user in at least one of the first walking state and the second walking state.

Description

Wearable device for determining user's walking status and method for operating the same

[0001] The embodiment relates to a wearable device for determining a user's walking state and an operating method thereof.

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

[0003] According to one embodiment, a wearable device may include a driving module that outputs torque, an inertial measurement unit (IMU) sensor, an angle sensor, and a processor. The processor may obtain an acceleration value in a forward direction of a walking user using the IMU sensor. The processor may obtain an angular acceleration value of a hip joint of the user based on a sensing value of the angle sensor. The processor may determine a walking state of the user as a first walking state based on the angular acceleration value. The processor may determine a walking state of the user as a second walking state based on the acceleration value. The processor may control the driving module to output a torque to the user in at least one of the first walking state or the second walking state.

[0004] According to one embodiment, a wearable device may include a driving module that outputs a torque, an IMU sensor, an angle sensor, and a processor. The processor may obtain an acceleration value of the user in a forward direction using the IMU sensor. The processor may obtain an angular acceleration value of the user's hip joint based on a sensing value of the angle sensor. The processor may calculate at least one of a time during which each of the user's two legs is in a first and a second walking state based on the acceleration value and the angular acceleration value. The processor may determine a gait symmetry index for the user's walking motion based on at least one of a time during which each of the user's two legs is in the first and second walking states. The processor may control the driving module to output a torque to the user in at least one of the first walking state or the second walking state. The gait symmetry index may indicate a degree of symmetry between walking by the user's left leg and walking by the user's right leg.

[0005] According to one embodiment, a method of operating a wearable device may include an operation of obtaining an acceleration value in a forward direction of a walking user using an IMU sensor, an operation of obtaining an angular acceleration value of a hip joint of the user based on a sensing value of an angle sensor, an operation of determining a walking state of the user as a first walking state based on the angular acceleration value, and an operation of determining a walking state of the user as a second walking state based on the acceleration value.

[0006] According to one embodiment, the wearable device can accurately detect or distinguish between a first gait state (e.g., swing phase) and a second gait state (e.g., stance phase) of each leg during a gait cycle of the user (or during a stride of each leg (or foot) of the user).

[0007] According to one embodiment, the wearable device can accurately detect or distinguish the user's gait state when the user performs gait exercise (e.g., forward walking exercise, walking exercise for rehabilitation, etc.).

[0008] In one embodiment, the wearable device can accurately detect or distinguish the user's gait state when the user's gait is abnormal (e.g., the user drags his or her feet).

[0009] In one embodiment, the wearable device can accurately determine a user's gait symmetry index.

[0010] FIG. 1A is a diagram illustrating an overview of a wearable device worn on a user's body according to one embodiment.

[0011] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0012] FIG. 2A illustrates a rear schematic diagram of a wearable device according to one embodiment.

[0013] FIG. 2b illustrates a left side view of a wearable device according to one embodiment.

[0014] FIGS. 3A and 3B are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0015] FIG. 4 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0016] FIG. 5 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0017] FIG. 6 is a drawing illustrating an example of a user's walking state according to one embodiment.

[0018] FIG. 7 is a block diagram illustrating an example of a configuration of a wearable device according to one embodiment.

[0019] FIG. 8 and FIG. 9 are drawings illustrating examples of standardization processing of a wearable device according to one embodiment.

[0020] FIG. 10 is a drawing illustrating an example of an operation of a wearable device according to one embodiment of the present invention to determine a user's walking state.

[0021] FIG. 11 is a diagram illustrating an example of an operation of a wearable device according to one embodiment of the present invention to determine a gait index for a user's walking motion and an example of an operation of transmitting the gait index to an electronic device.

[0022] FIG. 12 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0023] 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.

[0024] Although terms such as "first" or "second" may be used to describe various components, these terms should be interpreted solely to distinguish one component from another. For example, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

[0025] When it is said that a component is "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but there may also be other components in between.

[0026] 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.

[0027] 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.

[0028] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0029]

[0030] FIG. 1A is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0031] Referring to FIG. 1A, a wearable device (120) may be a device worn on a user's body to assist the user's walking, exercise, and / or work. In embodiments, the term "wearable device" may be replaced with a wearable robot, a walking assistance device, an exercise assistance device, etc. The user may be a human or an animal, but is not limited thereto. The wearable device (120) may be worn on the user's body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to provide an external force (e.g., assistance force and / or resistance force) to the user's body movement. Assistance force refers to a force applied in the same direction as the user's body movement direction, and resistance force refers to a force applied in the opposite direction to the user's body movement direction. The term "resistance force" may also be referred to as "exercise load."

[0032] When the wearable device (120) performs a walking assistance function to assist the user's walking, the wearable device (120) can assist the user's walking by providing assistance to some or all of the user's legs by providing assistance to the user's body. The wearable device (120) can assist the user's walking force, thereby enabling independent walking or long-term walking, thereby expanding the user's walking ability. The wearable device (120) can also help improve the walking of a pedestrian with abnormal walking habits or walking posture.

[0033] When the wearable device (120) performs an exercise function to enhance the user's exercise effect, the wearable device (120) may impede the user's body movement or provide resistance to the user's body movement by providing resistance to the user's body. When the wearable device (120) is, for example, a hip-type wearable device, the wearable device (120) may provide exercise load to the user's body movement while being worn on the leg, thereby further enhancing the user's exercise effect. The user may perform a walking motion while wearing the wearable device (120) for exercise, and in this case, the wearable device (120) may provide resistance to the leg movement during the user's walking motion.

[0034] In various embodiments of the present disclosure, for convenience of explanation, a hip-type wearable device (120) worn on the waist and legs is described as an example. However, as described above, the wearable device (120) may be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly, thighs), and the shape and configuration of the wearable device (120) may vary depending on the body part on which it is worn.

[0035]

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0050]

[0051] FIG. 2a illustrates a rear schematic diagram of a wearable device according to one embodiment. FIG. 2b illustrates a left side view of the wearable device according to one embodiment.

[0052] The wearable device (200) illustrated in FIGS. 2A and 2B may be an example of a wearable device (120).

[0053] Referring to FIG. 2a, a wearable device (200) according to one embodiment may include a waist support module (10), a waist frame (20), a driving module (30), a thigh fastening part (40a, 40b), a main belt (50), and a thigh frame (70a, 70b).

[0054] According to one embodiment, the waist support module (10) may be positioned on the user's lumbar region (waist area) while the user wears the wearable device (200). The waist support module (10) may be mounted on the user's lumbar region to provide a cushioning feeling to the user's waist and support the user's waist. The waist support module (10) may be hung over the user's buttocks (hip area) to prevent the wearable device (200) from falling downward due to gravity while the user wears the wearable device (200). The waist support module (10) may distribute a portion of the weight of the wearable device (200) to the user's waist while the user wears the wearable device (200). The waist support module (10) may be connected to a waist frame (20). Connecting elements (not shown) that may be connected to the waist frame (20) may be formed at both ends of the waist support module (10).

[0055] According to one embodiment, the lumbar support module (10) may include a lighting unit (60). The lighting unit (60) may include a plurality of light sources (e.g., light emitting diodes (LEDs)). The lighting unit (60) may emit light under the control of a processor (e.g., the processor (310) of FIGS. 3A and 3B to be described later). According to an embodiment, the processor may control the lighting unit (60) so that visual feedback corresponding to the status of the wearable device (200) (e.g., booting status, sensing status, etc.) may be provided (or output) to the user through the lighting unit (60).

[0056] According to one embodiment, a waist frame (20) may extend from both ends of a waist support module (10). A user's lower back may be accommodated on the inside of the waist frame (20). The waist frame (20) may include at least one rigid body beam. Each beam may have a curved shape having a predetermined curvature so as to surround the user's lower back. A main belt (50) may be connected to an end of the waist frame (20). A drive module (30) may be mounted on the waist frame (20). The waist frame (20) may include a connector (not shown) for mounting the drive module (30).

[0057] According to one embodiment, the drive module (30) may include a first drive module (30a) positioned on the left side of the user while the user is wearing the wearable device (200) and a second drive module (30b) positioned on the right side of the user while the user is wearing the wearable device (200).

[0058] According to one embodiment, the first driving module (30a) may include a first angle sensor (e.g., a first encoder or a first hall sensor) for measuring an angle of a first joint of the user (e.g., a left hip joint angle). The second driving module (30b) may include a second angle sensor (e.g., a second encoder or a second hall sensor) for measuring an angle of a second joint of the user (e.g., a right hip joint angle).

[0059] According to one embodiment, the first driving module (30a) and the second driving module (30b) can generate torque. The first driving module (30a) can be connected to the first thigh frame (70a), and the second driving module (30b) can be connected to the second thigh frame (70b). The first driving module (30a) can provide the generated torque to the user's left leg through the first thigh frame (70a). The first thigh frame (70a) can provide an external force to the user's left leg by rotating through the torque generated by the first driving module (30a). The second driving module (30b) can provide the generated torque to the user's right leg through the second thigh frame (70b). The second thigh frame (70b) can provide an external force to the user's right leg by rotating through the torque generated by the second driving module (30b).

[0060] According to one embodiment, the thigh frame (70a, 70b) may support the user's leg (e.g., thigh) when the wearable device (200) is worn on the user's leg. The thigh frame (70a, 70b) may include a first thigh frame (70a) for supporting the user's left leg and a second thigh frame (70b) for supporting the user's right leg.

[0061] According to one embodiment, the thigh frame (70a, 70b) can transmit torque generated by, for example, a driving module (30a, 30b) to the user's thigh. One end of the thigh frame (70a, 70b) is connected to the driving module (30a, 30b) and can rotate, and the other end of the thigh frame (70a, 70b) is connected to a thigh fastening portion (40a, 40b), so that the thigh frame (70a, 70b) can support the user's thigh while transmitting torque generated by the driving module (30a, 30b) to the user's thigh. For example, the thigh frame (70a, 70b) can push or pull the user's thigh. The thigh frame (70a, 70b) can extend along the longitudinal direction of the user's thigh. The thigh frame (70a, 70b) can be bent to wrap at least a portion of the user's thigh circumference.

[0062] According to one embodiment, the thigh fastening portions (40a, 40b) are connected to the thigh frame (70a, 70b) and can secure the thigh frame (70a, 70b) to the thigh. The thigh fastening portions (40a, 40b) may include a first thigh fastening portion (40a) for securing the first thigh frame (70a) to the user's left thigh and a second thigh fastening portion (40b) for securing the second thigh frame (70b) to the user's right thigh.

[0063] According to one embodiment, the first thigh fastening part (40a) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (40b) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover may be disposed on one side of the user's thigh. The first cover and the second cover may be disposed, for example, on the front side of the user's thigh. The first cover and the second cover may be disposed along the circumferential direction of the user's thigh. The first cover and the second cover may extend in both directions with the other end of the thigh frame (70a, 70b) as the center, and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be connected to the fastening frame, and the other end may be connected to the strap.

[0064] According to one embodiment, the first fastening frame and the second fastening frame may be arranged to, for example, surround at least a portion of the user's thigh, thereby preventing the user's thigh from being dislodged from the thigh frame (70a, 70b). The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

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

[0066] According to one embodiment, the main belt (50) may be connected to the waist frame (20). The main belt (50) may include a first main belt (50a) that can wrap around the left abdomen of the user while the user wears the wearable device (200) and a second main belt (50b) that can wrap around the right abdomen of the user while the user wears the wearable device (200). The first main belt (50a) may be formed in a shape having a longer length than the second main belt (50b), but is not limited thereto, and the first main belt (50a) may be formed in a shape having the same length as or a shorter length than the second main belt (50b). The first main belt (50a) and the second main belt (50b) may be connected to opposite ends of the waist frame (20), respectively. The main belt (50) may be bent in a direction that wraps around the user's abdomen when the user's body is inserted in the direction in which the wearable device (200) is accommodated. The first main belt (50a) and the second main belt (50b) may be interconnected while the user is wearing the wearable device (200). The main belt (50) may distribute a portion of the weight of the wearable device (200) to the user's abdomen while the user is wearing the wearable device (200).

[0067] Referring to FIG. 2b, the lumbar support module (10) may be mounted on the back of the user's lower back and may support a portion of the weight of the wearable device (200) by being hung on the user's buttocks. The first drive module (30a) may be positioned on the user's left lower back. The lumbar frame (20) may extend from an end of the lumbar support module (10) and may be inclined in a direction toward the first drive module (30a). The first main belt (50a) mounted on the lumbar frame (20) may be in a state of wrapping around the user's left abdomen.

[0068]

[0069] FIGS. 3A and 3B are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0070] According to one embodiment, the wearable device (300) of FIG. 3A may include a processor (310), angle sensors (320, 320-1), a battery (330), a PMIC (Power Management Integrated Circuit) (340), a memory (350), an IMU (360), motor driver circuits (370, 370-1), motors (or actuators) (380, 380-1), and a communication module (390).

[0071] Although FIG. 3A illustrates a plurality of angle sensors (320, 320-1), a plurality of motor driver circuits (370, 370-1), and a plurality of motors (380, 380-1), this is merely exemplary, and the wearable device (300-1) illustrated in FIG. 3B may include one angle sensor (320), one motor driver circuit (370), and one motor (380). In addition, depending on the implementation, the wearable device (300, 300-1) may include a plurality of processors. The number of motor driver circuits, the number of motors, or the number of processors may vary depending on the body part on which the wearable device (300, 300-1) is worn.

[0072] The wearable device (300) of FIG. 3a and the wearable device (300-1) of FIG. 3b may correspond to examples of the wearable device (120) and the wearable device (200).

[0073] According to one embodiment, the angle sensor (320), the motor driver circuit (370), and the motor (380) may be included in the first drive module (30a) of FIG. 2a, and the angle sensor (320-1), the motor driver circuit (370-1), and the motor (380-1) may be included in the second drive module (30b) of FIG. 2a.

[0074] According to one embodiment, each of the angle sensor (320) and the angle sensor (320-1) may correspond to a Hall sensor, but is not limited thereto.

[0075] According to one embodiment, the angle sensor (320) can measure or sense the angle of the first thigh frame (70a) (or the angle of the user's first joint (e.g., the left hip joint, etc.)). The angle sensor (320) can transmit the measurement result (e.g., the angle value of the angle of the first thigh frame (70a)) to the processor (310).

[0076] According to one embodiment, the angle sensor (320-1) can measure or sense the angle of the second thigh frame (70b) (or the angle of the user's second joint (e.g., the right hip joint)). The angle sensor (320) can transmit the measurement result (e.g., the angle value of the angle of the second thigh frame (70b)) to the processor (310).

[0077] According to one embodiment, depending on the position of the angle sensor (320) and the angle sensor (320-1), the angle sensor (320) and the angle sensor (320-1)) can additionally measure the user's knee angle and ankle angle.

[0078] According to one embodiment, the wearable device (300, 300-1) may include a potentiometer. The potentiometer may sense an R-axis joint angle, an L-axis joint angle, an R-axis joint angular velocity, and an L-axis joint angular velocity according to a user's walking motion. The R / L axes may be reference axes for the user's right / left legs. For example, the R / L axes may be set to be perpendicular to the ground, and may be set such that the front side of a person's torso has a negative value and the back side of the torso has a positive value.

[0079] According to one embodiment, the PMIC (340) can charge the battery (330) using power supplied from an external power source. For example, the external power source and the wearable device (300, 300-1) can be connected via a cable (e.g., a USB cable, etc.). The PMIC (340) can receive power from the external power source via the cable and charge the battery (330) using the received power. According to an embodiment, the PMIC (340) can charge the battery (330) via a wireless charging method.

[0080] According to one embodiment, the PMIC (340) can transfer power stored in the battery (330) to components (e.g., processor (310), memory (350), IMU (360), communication module (390), etc.) within the wearable device (300, 300-1). The PMIC (340) can, for example, adjust the power stored in the battery (330) to a voltage or current level suitable for the components within the wearable device (300). The PMIC (340) can include, for example, a converter (e.g., a direct current (DC)-DC converter) or a regulator (e.g., a low drop out (LDO) regulator or a switching regulator) capable of performing the above-described adjustment.

[0081] According to one embodiment, the PMIC (340) can determine state information (e.g., state of charge, state of health, overvoltage, undervoltage, overcurrent, overcharge, overdischarge, overheat, short circuit, or swelling) of the battery (330) and transmit the state information of the battery (330) to the processor (310). The processor (310) can provide the state information of the battery (330) to the user. For example, the processor (310) can output the state information of the battery (330) through at least one of an audio output module (e.g., a speaker), a vibration output module (e.g., a vibration motor or a haptic motor), or a display module (e.g., a display or a lighting unit (60)). For example, the processor (310) can transmit status information of the battery (330) to the electronic device (110) through the communication module (390), and the electronic device (110) can display the status information of the battery (330) on a display.

[0082] According to one embodiment, the IMU (360) can obtain movement information of the wearable device (300, 300-1) (or the user). For example, the IMU (360) can obtain rotation angle values ​​(e.g., an angle value of an X rotation angle, an angle value of a Y rotation angle, and an angle value of a Z rotation angle) of the lumbar support module (10) (or the user). The X rotation angle may represent, for example, an angle at which the lumbar support module (10) rotates around the X axis, the Y rotation angle may represent, for example, an angle at which the lumbar support module (10) rotates around the Y axis, and the Z rotation angle may represent, for example, an angle at which the lumbar support module (10) rotates around the Z axis. The IMU (360) can transmit the obtained movement information (e.g., rotation angle values) to the processor (310). Depending on the implementation, the IMU (360) may, for example, acquire three-axis (e.g., X-axis, Y-axis, Z-axis) acceleration values ​​and angular acceleration values ​​of the lumbar support module (10) (or the user), and transmit the acquired acceleration values ​​and angular acceleration values ​​to the processor (310). The processor (310) may determine rotation angle values ​​of the lumbar support module (10) (or the user) based on at least some of the acquired acceleration values ​​and angular acceleration values.

[0083] According to one embodiment, the processor (310) can control the wearable device (300, 300-1) as a whole.

[0084] According to one embodiment, the processor (310) may be operatively connected to at least one or all of the angle sensors (320, 320-1), the memory (350), or the IMU (360).

[0085] According to one embodiment, the processor (310) may control components (e.g., motor driver circuits (370, 370-1), etc.) within the wearable device (300, 300-1) by executing software (or programs, instructions) stored in the memory (350), for example, and may perform various data processing or calculations. As at least a part of the data processing or calculations, the processor (310) may store data received from other components (e.g., IMU (360), angle sensors (320, 320-1), etc.) in the memory (350), and process instructions or data stored in the memory (350).

[0086] According to one embodiment, each of the motor driver circuits (370, 370-1) can control each of the motors (380, 380-1) under the control of the processor (310), and by such control, each of the motors (380, 380-1) can generate torque.

[0087] According to one embodiment, the communication module (390) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the wearable device (300, 300-1) and an external electronic device, and the performance of communication through the established communication channel. The communication module may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Any of these communication modules may communicate with an external electronic device via a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0088] According to one embodiment, the wearable device (300, 300-1) may include a display module. The display module may include, for example, a display and / or a lighting unit (e.g., the lighting unit (60) of FIG. 2A). The processor (310) may control the display module so that the display module can provide visual feedback to the user.

[0089] According to one embodiment, the wearable device (300, 300-1) may include an audio output module. The audio output module may include, for example, one or more speakers. The processor (310) may control the audio output module so that the audio output module can provide auditory feedback to the user.

[0090] According to one embodiment, the wearable device (300, 300-1) may include a vibration output module. The vibration output module may include, for example, one or more vibration motors or one or more haptic motors. The processor (310) may control the vibration output module so that the vibration output module can provide tactile feedback (or haptic feedback) to the user.

[0091] According to one embodiment, at least one of a processor (310), a battery (330), a PMIC (340), a memory (350), an IMU (360), a communication module (390), a display module, an audio output module, or a vibration output module, or a combination thereof, may be located inside the lumbar support module (10) of FIGS. 2a and 2b.

[0092]

[0093] FIG. 4 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0094] Referring to FIG. 4, a wearable device (120) can communicate with an electronic device (410) (e.g., a smartphone, a smartwatch, etc.). For example, the electronic device (410) may be a user terminal of a user using the wearable device (120) or a dedicated controller device for the wearable device (120). According to one embodiment, the wearable device (100) and the electronic device (410) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0095] According to one embodiment, the electronic device (410) may execute an application for checking the status of the wearable device (120) or controlling or operating the wearable device (120). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (120) or determining the operation mode of the wearable device (120) may be displayed on the display (412) of the electronic device (410). The UI may be, for example, a graphical user interface (GUI).

[0096] According to one embodiment, a user may input a command to control the operation of the wearable device (120) (e.g., a command to instruct to operate in an assist mode that generates assistive force or a command to instruct to operate in a resistance mode that generates resistive force) or change the settings of the wearable device (120) through a GUI screen on the display (212) of the electronic device (410). The electronic device (410) may generate a control command (or a control signal) corresponding to the operation control command or setting change command input by the user, and transmit the generated control command to the wearable device (120). The wearable device (120) may operate according to the received control command, and may transmit a control result according to the control command and / or sensor data measured by a sensor of the wearable device (120) (e.g., an angle sensor (320, 320-1) and / or an IMU (360)) to the electronic device (410). The electronic device (410) can provide the user with result information (e.g., walking ability information, exercise ability information, exercise movement evaluation information) derived by analyzing the control result and / or sensor data through a GUI screen.

[0097]

[0098] FIG. 5 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0099] Referring to FIG. 5, a first position (501) at a first time point when the user's right foot touches the ground, a second position (503) at a second time point when the user's left foot touches the ground after the first time point, a third position (505) at a third time point when the user's right foot touches the ground again after the second time point, and a fourth position (507) at a fourth time point when the user's left foot touches the ground again after the third time point are shown.

[0100] In the example illustrated in FIG. 5, the length from the second position (503) where the user's left foot touches the ground to the third position (505) where the user's right foot touches the ground may correspond to the user's right step length, and the difference between the third point in time and the second point in time may correspond to the user's right step time. The length from the third position (505) where the user's right foot touches the ground to the fourth position (507) where the user's left foot touches the ground may correspond to the user's left step length, and the difference between the fourth point in time and the third point in time may correspond to the left step time.

[0101] In the example illustrated in Fig. 5, the sum of the right step length and the left step length may be the stride length. The stride time may represent the time taken for one foot to touch the ground and then touch the ground again. For example, the difference between the second time the left foot touches the ground and the fourth time the left foot touches the ground again (or the difference between the first time the right foot touches the ground and the third time the right foot touches the ground again) may correspond to the stride time. The difference between the second time the left foot touches the ground and the fourth time the left foot touches the ground again may represent the stride time of the left leg (or the left stride time). The difference between the first time the right foot touches the ground and the third time the right foot touches the ground again may represent the stride time of the right leg (or the right stride time).

[0102] In the example illustrated in FIG. 5, if the user's hip joint rotates forward from the gravity direction line (510) (or if the user's leg is in front of the gravity direction line (510), the user's hip joint angle may have a negative number value. If the user's hip joint rotates backward from the gravity direction line (510) (or if the user's leg is behind the gravity direction line (510), the user's hip joint angle may have a positive number value. For example, in the example illustrated in FIG. 5, the user's right hip joint may be rotated forward from the gravity direction line (510), so the right hip joint angle (q r ) can have a negative value, and the user's left hip joint may be rotated backward from the line (510) in the direction of gravity, so the left hip joint angle (q l ) can have positive values.

[0103] In the example illustrated in FIG. 5, the forward direction of the walking user may correspond to the X-axis direction (e.g., +X-axis direction).

[0104]

[0105] FIG. 6 is a drawing illustrating an example of a user's walking state according to one embodiment.

[0106] In the example illustrated in FIG. 6, the user's right foot may touch the ground at time t1. In other words, a heel strike (or heel contact) of the user's right foot may occur at time t1. At the time when the heel strike of the right foot occurs (e.g., time t1), the walking state of the right leg may correspond to the stance phase (610). At the time when the heel strike of the right foot occurs (e.g., time t1), the stance phase (610) of the right leg may begin.

[0107] Between time points (t1) and (t2), the user's left leg may be in stance phase (630).

[0108] At time point (t2), the user's left foot may lift off the ground. In other words, the user's left foot may toe off at time point (t2). At the time point at which the left foot toe-off occurs (e.g., time point (t2)), the swing phase (640) of the left leg may begin. At the time point at which the left foot toe-off occurs (e.g., time point (t2)), the walking state of the left leg may change from the stance phase (630) to the swing phase (640).

[0109] At time point (t3), the user's left foot may touch the ground. In other words, a heel strike (or heel contact) of the user's left foot may occur at time point (t3). At the time point (e.g., time point (t3)) when the heel strike of the left foot occurs, the stance phase (630) of the left leg may begin. At the time point (e.g., time point (t3)) when the heel strike of the left foot occurs, the walking state of the left leg may change from the swing phase (640) to the stance phase (630).

[0110] At time t4, the user's right foot may lift off the ground. In other words, a toe-off of the user's right foot may occur at time t4. At the time when the toe-off of the right foot occurs (e.g., time t4), the swing phase (620) of the right leg may begin. At the time when the toe-off of the right foot occurs (e.g., time t4), the gait state of the right leg may change from the stance phase (610) to the swing phase (620). At time t5, a heel strike (or heel contact) of the user's right foot may occur. At the time when the heel strike of the right foot occurs (e.g., time t5), the gait state of the right leg may change from the swing phase (620) to the stance phase (610).

[0111] In one embodiment, the user's gait cycle may correspond to, for example, the difference between time points t1 and t5.

[0112] As will be described later, a wearable device (120) according to one embodiment can accurately determine or distinguish the stance phase (610) and swing phase (620) of the right leg in one gait cycle, and can accurately determine or distinguish the stance phase (630) and swing phase (640) of the left leg in one gait cycle.

[0113]

[0114] FIG. 7 is a block diagram illustrating an example of a configuration of a wearable device according to one embodiment.

[0115] Referring to FIG. 7, a wearable device (700) (e.g., wearable device (120), wearable device (200), wearable device (300), wearable device (300-1)) according to one embodiment may include at least one processor (710) (e.g., processor (310)), an angle sensor (720), a driving module (730) (e.g., driving module (30)), and an IMU sensor (740) (e.g., IMU (360)).

[0116] According to one embodiment, the angle sensor (720) can sense (or measure) a user's joint angle (e.g., hip joint angle) and / or joint angular velocity (e.g., hip joint angular velocity) and transmit the sensed value (or measured value) (e.g., hip joint angle value and / or angular velocity value) to the processor (710).

[0117] For example, the angle sensor (720) may include the angle sensor (320) and / or the angle sensor (320-1) of FIG. 3A. The angle sensor (320) may sense an angle of a first joint of the user (e.g., a left hip joint angle) to obtain a first joint angle value (e.g., a left hip joint angle value) and transmit the first joint angle value to the processor (710). The angle sensor (320-1) may sense an angle of a second joint of the user (e.g., a right hip joint angle) to obtain a second joint angle value (e.g., a right hip joint angle value) and transmit the second joint angle value to the processor (710). According to an embodiment, the angle sensor (320) may sense an angular velocity of a first joint of the user (e.g., a left hip joint angle) to obtain an angular velocity value of the first joint (e.g., an angular velocity value of the left hip joint) and transmit the angular velocity value of the first joint to the processor (710). The angle sensor (320-1) can sense the angular velocity of the user's second joint (e.g., the right hip joint angle) to obtain the angular velocity value of the second joint (e.g., the angular velocity value of the right hip joint) and transmit the angular velocity value of the second joint to the processor (710).

[0118] According to one embodiment, the drive module (730) may include one or more motors (e.g., motor (380) and / or motor (380-1)) and one or more motor driver circuits (e.g., motor driver circuit (370) and / or motor driver circuit (370-1)). The drive module (540) may include a first drive module (30a) and / or a second drive module (30b).

[0119] According to one embodiment, the IMU sensor (740) can obtain an acceleration value of a user (or a wearable device (700)). For example, the IMU sensor (740) can sense or obtain at least one of an acceleration value in the X-axis direction, an acceleration value in the Y-axis direction, or an acceleration value in the Z-axis direction of the user (or the wearable device (700)).

[0120] According to one embodiment, the processor (710) may include processing circuitry.

[0121] According to one embodiment, the processor (710) can obtain an angular acceleration value of the user's hip joint based on the sensing value of the angle sensor (720) (e.g., an angle value and / or an angular velocity value of the hip joint).

[0122] According to one embodiment, the processor (710) can obtain an acceleration value in the forward direction (e.g., X-axis direction) of the user using the IMU sensor (740).

[0123] According to one embodiment, the processor (710) may perform standardization processing on at least one of the user's forward acceleration value, the user's hip joint angle value, or the user's hip joint angular acceleration value. The standardization processing will be described later with reference to FIG. 8.

[0124] In one embodiment, the processor (710) may determine the user's gait cycle. The user's gait cycle may correspond to the difference between the time when one of the user's legs assumes a specific posture and the time when the other leg assumes the specific posture again, or the time it takes for one of the user's legs to assume the specific posture again after the other leg has assumed the specific posture. For example, the user's gait cycle may correspond to the difference between the time when a heel strike (or toe off) of one foot occurs and the time when a heel strike (or toe off) of one foot occurs again.

[0125] According to one embodiment, the processor (710) may determine the user's walking state as a first walking state (e.g., swing phase) based on the angular acceleration value (or normalized angular acceleration value) of the user's hip joint. The first walking state may, for example, indicate a state in which the user's feet are lifted off the ground.

[0126] For example, the processor (710) can identify (or obtain) a point in time (or time value) (e.g., t_left #1) corresponding to a minimum angular acceleration value of the user's left hip joint in one gait cycle (e.g., the nth gait cycle) of the user. The processor (710) can detect or determine that a first gait state (e.g., the swing phase (640) of the left leg of FIG. 6) of the user's left leg has started at the point in time (e.g., t_left #1) in one gait cycle of the user. The processor (710) can determine that a toe-off of the user's left foot has occurred at the point in time (or time value) (e.g., t_left #1) corresponding to a minimum angular acceleration value of the user's left hip joint in one gait cycle of the user. The processor (710) can determine the gait state of the user's left leg in one gait cycle (e.g., the nth gait cycle) as the first gait state based on the occurrence of toe-off of the left foot in one gait cycle (e.g., the nth gait cycle).

[0127] For example, the processor (710) may identify or obtain a point in time (or time value) (e.g., t_right #1) corresponding to a minimum angular acceleration value of the user's right hip joint in one gait cycle (e.g., the nth gait cycle). The processor (710) may detect or determine that a first gait state (e.g., the swing phase (620) of the right leg of FIG. 6) of the user's right leg has started at the point in time (e.g., t_right #1) in one gait cycle. The processor (710) may determine that a toe-off of the user's right foot has occurred at the point in time (or time value) (e.g., t_right #1) corresponding to a minimum angular acceleration value of the user's right hip joint in one gait cycle. The processor (710) may determine a gait state of the user's right leg in one gait cycle (e.g., the nth gait cycle) as a first gait state based on the occurrence of toe-off of the right foot in one gait cycle (e.g., the nth gait cycle).

[0128] According to one embodiment, the processor (710) may determine the user's walking state as a second walking state (e.g., stance phase) based on the user's forward acceleration value (or the standardized forward acceleration value). By using the forward acceleration value (or the standardized forward acceleration value), the processor (710) may accurately determine the user's walking state when the user performs a walking exercise (e.g., forward walking exercise, walking exercise for rehabilitation) or an abnormal walking exercise (e.g., dragging gait). Without being limited thereto, the processor (710) may determine the user's walking state as the second walking state based on the gravitational acceleration value (e.g., Z-axis acceleration value) of the IMU sensor (740). The second walking state may indicate, for example, a state in which the user's feet touch the ground.

[0129] For example, the processor (710) can identify (or check) one or more acceleration values ​​corresponding to the minimum extreme points among the acceleration values ​​in the forward direction of the user in one gait cycle (e.g., the nth gait cycle). The minimum extreme point may indicate, for example, a point where the slope of a tangent line of a given curve changes from a negative number to a positive number. The acceleration values ​​corresponding to the minimum extreme points in one gait cycle may be, for example, two or more. The processor (710) can identify or obtain a time point (or time value) corresponding to one or more of the identified acceleration values.

[0130] The processor (710) may detect or determine that a second gait state of the user's right leg (e.g., stance phase (630) of the left leg in FIG. 6) has started in one gait cycle of the user if the user's left hip joint angle value (or the magnitude of the left hip joint angle) is greater than the user's right hip joint angle value (or the magnitude of the right hip joint angle) at a time corresponding to the identified acceleration value. The processor (710) may determine the gait state of the user's right leg in one gait cycle as the second gait state if the user's left hip joint angle value is greater than the user's right hip joint angle value at a time corresponding to the identified acceleration value. The processor (710) may detect the occurrence of a heel strike of the user's right foot if the user's left hip joint angle value is greater than the user's right hip joint angle value at a time corresponding to the identified acceleration value, and may determine the gait state of the user's right leg as the second gait state based on the occurrence of the heel strike of the right foot.

[0131] The processor (710) may detect or determine that a second gait state of the user's left leg (e.g., the stance phase (610) of the right leg in FIG. 6) has started in one gait cycle of the user if the user's right hip joint angle value is greater than the user's left hip joint angle value at a time corresponding to the identified acceleration value. The processor (710) may determine the gait state of the user's left leg in one gait cycle as the second gait state if the user's right hip joint angle value is greater than the user's left hip joint angle value at a time corresponding to the identified acceleration value. The processor (710) may detect the occurrence of a heel strike of the user's left foot if the user's right hip joint angle value is greater than the user's left hip joint angle value at a time corresponding to the identified acceleration value, and determine the gait state of the user's left leg as the second gait state based on the occurrence of the heel strike of the left foot.

[0132] For example, the processor (710) can identify or check acceleration values ​​(e.g., acc_X1, acc_X2) corresponding to minimum extremums in one gait cycle of the user. The processor (710) can identify a point in time (or time value) (e.g., t_X1) corresponding to the identified acceleration value (e.g., acc_X1). The processor (710) can determine that the left hip joint angle value is greater than the right hip joint angle value at the identified point in time (e.g., t_X1). In this case, the processor (710) can detect or determine that the second gait state of the user's right leg has started at the identified point in time (e.g., t_X1). The processor (710) can identify a point in time (or time value) (e.g., t_X2) corresponding to the identified acceleration value (e.g., acc_X2). The processor (710) may determine that the right hip joint angle value is greater than the left hip joint angle value at the identified time point (e.g., t_X2). In this case, the processor (710) may detect or determine that the second walking state of the user's left leg has begun at the identified time point (e.g., t_X2).

[0133] According to one embodiment, the processor (710) may calculate a time for which each of the user's two legs is in a first gait state and / or a second gait state in one gait cycle of the user (e.g., an nth gait cycle). The processor (710) may calculate a time for which one of the user's legs is in the first gait state in one gait cycle of the user (e.g., an nth gait cycle). The processor (710) may calculate a time for which one of the user's legs is in the second gait state by subtracting a time for which one of the user's legs is in the first gait state from a time corresponding to one gait cycle of the user. Depending on the implementation, the processor (710) may calculate a time for which one of the user's legs is in the second gait state in one gait cycle of the user (e.g., an nth gait cycle). The processor (710) may calculate a time for which one of the user's legs is in the first gait state by subtracting a time for which one of the user's legs is in the second gait state from a time corresponding to one gait cycle of the user.

[0134] According to one embodiment, the processor (710) may determine a gait symmetry index (GSI) for the user's gait motion based on at least one of the time each of the user's two legs is in the first gait state or the time each of the user's two legs is in the second gait state. The gait symmetry index may indicate, for example, the degree of symmetry between gait performed by the user's left leg and gait performed by the user's right leg.

[0135] For example, the processor (710) may calculate a first ratio value between one of the times the left leg is in each of the first and second gait states and a time corresponding to one gait cycle of the user. The processor (710) may calculate a second ratio value between one of the times the user's right leg is in each of the first and second gait states and a time corresponding to one gait cycle of the user. The processor (710) may determine a gait symmetry index of the user using the first ratio value and the second ratio value.

[0136] According to one embodiment, the processor (710) may control the drive module (730) to output torque (e.g., resistance torque or assist torque) to the user in at least one of the first walking state or the second walking state.

[0137]

[0138] FIG. 8 and FIG. 9 are drawings illustrating examples of standardization processing of a wearable device according to one embodiment.

[0139] FIG. 8 illustrates a graph (810) for a user's forward acceleration (hereinafter referred to as "forward acceleration"), a graph (820) for an average (e.g., a moving average) of the forward acceleration, and a graph (830) for "average of forward acceleration ±2×std". Here, std may represent a moving standard deviation of the forward acceleration.

[0140] According to one embodiment, a wearable device (700) (e.g., an IMU sensor (740)) can acquire a user's forward acceleration. For example, the IMU sensor (740) can acquire consecutive forward acceleration values. The IMU sensor (740) can continuously acquire forward acceleration values.

[0141] According to one embodiment, the wearable device (700) (e.g., the processor (710)) may perform normalization processing on the user's forward acceleration (e.g., forward acceleration values). Normalization processing may include, for example, processing a given input (e.g., forward acceleration) such that the given input (e.g., forward acceleration) has the properties of a standard normal distribution (e.g., mean=0 and standard deviation=1).

[0142] For example, the processor (710) can calculate a moving average of the user's forward acceleration (e.g., forward acceleration values) through [Mathematical Formula 1] below.

[0143] [Mathematical Formula 1]

[0144]

[0145] In the above [Equation 1], can represent the moving average of the user's forward acceleration at time t, can represent the moving average of the user's forward acceleration at time t-1. In the above [Mathematical Formula 1], n can represent any integer. For example, n can be 200, but is not limited thereto. In the above [Mathematical Formula 1], can represent a vector containing forward acceleration values. For example, can represent a vector containing n+1 forward acceleration values.

[0146] The processor (710) can calculate the standard deviation of the user's forward acceleration using [Mathematical Formula 2] below.

[0147] [Equation 2]

[0148]

[0149]

[0150] In the above [Equation 2] can represent the moving variance of the user's forward acceleration at time t, can represent the displacement distribution of the user's forward acceleration at time t-1, can represent the standard deviation of the user's forward acceleration at time t.

[0151] The processor (710) can calculate the standardized forward acceleration using [Mathematical Formula 3] below.

[0152] [Equation 3]

[0153]

[0154] In the above mathematical equation 3, can represent the normalized forward acceleration at time t.

[0155] A graph (910) of the forward acceleration standardized in FIG. 9 is shown.

[0156] As will be described later, the wearable device (700) (e.g., processor (710)) can determine whether the user's walking state is in the second walking state based on the standardized forward acceleration.

[0157] According to one embodiment, the wearable device (700) (e.g., the processor (710)) may obtain the angular acceleration of the user's hip joint (e.g., the left hip joint and / or the right hip joint) based on the sensing data of the angle sensor (720) (e.g., the angle sensor (320) and / or the angle sensor (320-1) of FIG. 3A). For example, the processor (710) may obtain the hip joint angular velocity (e.g., the left hip joint angular velocity and / or the right hip joint angular velocity) using the angle sensor (720) and may perform filtering (e.g., low-pass filtering) on ​​the hip joint angular velocity. The processor (710) may obtain the hip joint angular acceleration (e.g., the left hip joint angular acceleration and / or the right hip joint angular acceleration) through the filtered hip joint angular velocity. The processor (710) may obtain the hip joint angular acceleration through the following [Mathematical Formula 4].

[0158] [Equation 4]

[0159]

[0160] In the above [Equation 4] can represent the hip joint angular acceleration at time t, can represent the filtered hip joint angular velocity at time t, can represent the filtered hip joint angular velocity at time t-1. The left hip joint angular acceleration at time t can be, for example, the difference between the (filtered) left hip joint angular velocity at time t and the (filtered) left hip joint angular velocity at time t-1. The right hip joint angular acceleration at time t can be, for example, the difference between the (filtered) right hip joint angular velocity at time t and the (filtered) right hip joint angular velocity at time t-1.

[0161] Depending on the implementation, the processor (710) may obtain a hip joint angle (e.g., a left hip joint angle and / or a right hip joint angle) using the angle sensor (720) and perform filtering (e.g., low-pass filtering) on ​​the hip joint angle. The processor (710) may obtain a hip joint angular velocity (e.g., a left hip joint angular velocity and / or a right hip joint angular velocity) through the filtered hip joint angle (e.g., a filtered left hip joint angle and / or a filtered right hip joint angle), and may obtain a hip joint angular acceleration (e.g., a left hip joint angular acceleration and / or a right hip joint angular acceleration) through the hip joint angular velocity.

[0162] According to one embodiment, the wearable device (700) (e.g., processor (710)) may perform a standardization process based on [Mathematical Formula 1] to [Mathematical Formula 3] described above on at least one of the user's both hip joint angles, both hip joint angular velocities, or both hip joint angular accelerations.

[0163] The threshold used when determining whether a specific event (e.g., an event in which a person runs while wearing a wearable device (700), an event in which a person walks while wearing a wearable device (700), etc.) has occurred may vary depending on the person wearing the wearable device (700). For example, the gait characteristics and / or walking speed of user A may differ from the gait characteristics and / or walking speed of user B, and the threshold used when determining whether a specific event of user A has occurred may differ from the threshold used when determining whether a specific event of user B has occurred. The wearable device (700) according to one embodiment may perform the above-described standardization process and determine whether a specific event has occurred by comparing the result data of the standardization process with the threshold. Accordingly, the wearable device (700) may be able to use the same threshold without changing the threshold to suit each user even when multiple users use the wearable device (700).

[0164] An example embodiment in which the wearable device (700) performs standardization processing on forward acceleration, both hip joint angles, both hip joint angular velocities, and both hip joint angular accelerations has been described above. However, without limitation, the wearable device (700) may not perform standardization processing on forward acceleration, both hip joint angles, both hip joint angular velocities, and both hip joint angular accelerations.

[0165]

[0166] FIG. 10 is a drawing illustrating an example of an operation of a wearable device according to one embodiment of the present invention to determine a user's walking state.

[0167] FIG. 10 shows a graph (1010) for the user's forward acceleration (or normalized forward acceleration), a graph (1020) for the user's right hip joint angular acceleration (or normalized right hip joint angular acceleration), and a graph (1030) for the walking state of the right leg.

[0168] According to one embodiment, the wearable device (700) (e.g., processor (710)) can determine the gait state of the user in one gait cycle (e.g., nth gait cycle) as a second gait state through [Mathematical Formula 5] below.

[0169] [Equation 5]

[0170]

[0171] In the above [Equation 5], can represent forward acceleration (or normalized forward acceleration), can indicate the walking status of the user's left leg, can represent the walking state of the user's right leg. In the above [Mathematical Formula 5], can represent the user's left hip angle (or normalized left hip angle), can represent the user's right hip angle (or a normalized left hip angle).

[0172] In the above [Equation 5] can indicate that the walking state of the user's left leg is the second walking state, may indicate that the walking state of the user's right leg is the second walking state.

[0173] For example, in the example illustrated in FIG. 10, the processor (710) can identify or check the forward acceleration value (e.g., the acceleration value at the time point (ta) of FIG. 10) corresponding to the minimum extreme point in one gait cycle (e.g., the nth gait cycle) of the user. The processor (710) can compare the right hip joint angle value (or the magnitude of the normalized right hip joint angle) at the time point (ta) with the left hip joint angle value (or the magnitude of the normalized left hip joint angle) at the time point (ta). The processor (710) can determine that the right hip joint angle value (or the magnitude of the normalized right hip joint angle) at the time point (ta) is greater than the left hip joint angle value (or the magnitude of the normalized left hip joint angle) at the time point (ta). In this case, although not illustrated in FIG. 10, the processor (710) can determine the gait state of the user's left leg as a second gait state (e.g., ) The processor (710) may detect or determine that the walking state of the user's left leg has changed from the first walking state to the second walking state (or that the second walking state of the user's left leg has started) when the user's right hip joint angle value is greater than the left hip joint angle value at a point corresponding to a specific forward acceleration value (e.g., a forward acceleration value corresponding to a minimum extreme point) in one gait cycle of the user.

[0174] According to one embodiment, the wearable device (700) (e.g., the processor (710)) may determine the user's walking state as the first walking state when the user's hip joint angular acceleration (or normalized hip joint angular acceleration) is minimum in one gait cycle of the user. The processor (710) may determine the walking state of the user's left leg (when the user's left hip joint angular acceleration (or normalized left hip joint angular acceleration) is minimum in one gait cycle of the user. ) can be determined as the first walking state (e.g. ) The processor (710) determines the gait state of the user's right leg when the user's right hip joint angular acceleration (or normalized right hip joint angular acceleration) is minimum in one gait cycle of the user. ) can be determined as the first walking state (e.g. ).

[0175] For example, in the example illustrated in FIG. 10, the processor (710) may check or determine that the magnitude of the user's right hip joint angular acceleration (or the normalized right hip joint angular acceleration) is minimum during one gait cycle (e.g., the nth gait cycle) of the user at a time point (tb). The processor (710) may determine that the walking state of the user's right leg is in the first walking state at a time point (e.g., time point (tb) of FIG. 10) when the magnitude of the user's right hip joint angular acceleration (or the normalized right hip joint angular acceleration) is minimum during one gait cycle of the user. The processor (710) may detect or determine that the walking state of the user's right leg is changed from the second walking state to the first walking state (or that the user's first walking state is started) at a time point (e.g., time point (tb) of FIG. 10) when the magnitude of the user's right hip joint angular acceleration (or the normalized right hip joint angular acceleration) is minimum during one gait cycle of the user. The processor (710) The value can be changed from 0 to 1.

[0176] According to one embodiment, the processor (710) may check or monitor the forward acceleration (or normalized forward acceleration) of the user when the walking state of the user's right leg is in the first walking state during one gait cycle of the user. As in the example illustrated in FIG. 10, the processor (710) may check the forward acceleration value corresponding to the minimum extreme point (e.g., the acceleration value at time point (tc) of FIG. 10) during one gait cycle of the user (e.g., the nth gait cycle). The processor (710) may compare the right hip joint angle value (or the normalized magnitude of the right hip joint angle) at time point (tc) with the left hip joint angle value (or the normalized magnitude of the left hip joint angle) at time point (tc). The processor (710) may determine that the left hip joint angle value (or the normalized magnitude of the left hip joint angle) at time point (tc) is greater than the right hip joint angle value (or the normalized magnitude of the right hip joint angle) at time point (tc). In this case, the processor (710) can determine the walking state of the user's right leg as the second walking state (e.g., ) The processor (710) may detect or determine that the walking state of the user's right leg has changed from the first walking state to the second walking state (or that the second walking state of the user's right leg has started) when the user's left hip joint angle value (or the magnitude of the normalized left hip joint angle) is greater than the right hip joint angle value (or the magnitude of the normalized right hip joint angle) at a point corresponding to a specific forward acceleration value (e.g., the forward acceleration value corresponding to the minimum extreme point) in one gait cycle of the user.

[0177]

[0178] FIG. 11 is a diagram illustrating an example of an operation of a wearable device according to one embodiment of the present invention to determine a gait index for a user's walking motion and an example of an operation of transmitting the gait index to an electronic device.

[0179] Referring to FIG. 11, a wearable device (700) can communicate with an electronic device (1100) (e.g., electronic device (110), electronic device (410)) (e.g., a smartphone, a watch-type electronic device, etc.).

[0180] According to one embodiment, the wearable device (700) (e.g., processor (710)) may determine a gait index (e.g., step time, step length, step time, stride length, gait symmetry index, etc.) for the user's walking motion based on at least one of the user's hip joint angular acceleration or the user's forward acceleration. The description of the step time (e.g., right step time and / or left step time) may be applied to the description of the step time through FIG. 5.

[0181] According to one embodiment, the wearable device (700) (e.g., processor (710)) can check the point in time when the right foot touches the ground (or the point in time when the heel strike of the right foot occurs) (e.g., t_contact_1) (e.g., point in time (tc) of FIG. 10) in one gait cycle (e.g., nth gait cycle) of the user. The wearable device (700) (e.g., processor (710)) can check the values ​​of both hip joint angles at the point in time (e.g., t_contact_1). can obtain the values ​​of both hip joint angles. The wearable device (700) (e.g., processor (710)) and the user's leg length ( ) can be used to calculate the step length of the user's right foot (or right leg). For example, the processor (710) The step length of the right foot can be calculated accordingly.

[0182] According to one embodiment, the wearable device (700) (e.g., processor (710)) can check the point in time when the left foot touches the ground (or the point in time when the heel strike of the left foot occurs) (e.g., t_contact_2) (e.g., point in time (ta) of FIG. 10) in one gait cycle of the user. The wearable device (700) (e.g., processor (710)) can check the values ​​of both hip joint angles at the point in time (e.g., t_contact_2). can obtain the values ​​of both hip joint angles. The wearable device (700) (e.g., processor (710)) and the user's leg length ( ) can be used to calculate the step length of the user's left foot (or left leg). For example, the processor (710) You can calculate the step length of your left foot based on this.

[0183] According to one embodiment, the wearable device (700) (e.g., processor (710)) can calculate the user's stride length in one gait cycle by adding the step length of the right foot and the step length of the left foot.

[0184] According to one embodiment, the wearable device (700) (e.g., processor (710)) determines the time during which the user's right leg is in the first gait state in one gait cycle of the user. (Example: As described through Fig. 10 The time when the value of is 1) and / or the time when the user's right leg is in the second walking state (Example: As described through Fig. 10 The wearable device (700) (e.g., processor (710)) can calculate the time during which the user's left leg is in the first walking state in one gait cycle of the user. (Example: As described through Fig. 10 The time when the value of is 1) and / or the time when the user's left leg is in the second walking state (e.g. through Fig. 10) The time when the value of is 0 can be calculated.

[0185] According to one embodiment, the wearable device (700) (e.g., processor (710)) can calculate the ratio of each of the two legs in the second gait state in one gait cycle through [Mathematical Equation 6] below.

[0186] [Equation 6]

[0187]

[0188] For example, the processor (710) may determine the time when the user's right leg is in the second gait state in one gait cycle of the user. and the sum of the times the user's right leg is in the first and second gait states, respectively, during one gait cycle of the user. The ratio value between The processor (710) can calculate the time that the user's left leg is in the second walking state in one gait cycle of the user. and the sum of the times the user's left leg is in the first and second gait states, respectively, during one gait cycle of the user. The ratio between You can calculate the value.

[0189] According to the embodiment, the denominator of the above mathematical expression 6 may correspond to the time (T) of one gait cycle of the user. The processor (710) may determine the time when the user's right leg is in the second gait state in one gait cycle of the user. and the ratio value between the time (T) of one gait cycle of the user The processor (710) can calculate the time that the user's left leg is in the second walking state in one gait cycle of the user. and the ratio value between the time (T) of one gait cycle of the user can be calculated.

[0190] According to one embodiment, the wearable device (700) (e.g., processor (710)) calculates the calculated ratio values ​​(e.g., and ) can be used to calculate the user's gait symmetry index. For example, the processor (710) can calculate the user's gait symmetry index (GSI) using the following [Mathematical Formula 7].

[0191] [Equation 7]

[0192]

[0193] According to an embodiment, the processor (710) may calculate the ratio of each of the user's two legs in the first walking state in one gait cycle of the user through [Mathematical Equation 8] below instead of [Mathematical Equation 6] above.

[0194] [Equation 8]

[0195]

[0196] For example, the processor (710) may determine the time when the user's right leg is in the first gait state in one gait cycle of the user. and the sum of the times the user's right leg is in the first and second gait states, respectively, during one gait cycle of the user. The ratio value between The processor (710) can calculate the time that the user's left leg is in the first walking state in one gait cycle of the user. and the sum of the times the user's left leg is in the first and second gait states, respectively, during one gait cycle of the user. The ratio value between can be calculated. The processor (710) calculates the calculated ratio values Using this, the user's gait symmetry index can be calculated according to [Mathematical Formula 9] below.

[0197] [Equation 9]

[0198]

[0199] According to one embodiment, the wearable device (700) may transmit a gait index (e.g., at least one of a step time for each of both feet, a step length for each of both feet, a stride length, or a gait symmetry index) for the user's walking motion to the electronic device (1100).

[0200] According to one embodiment, the electronic device (1100) can display a gait index received from the wearable device (700) on a display.

[0201]

[0202] FIG. 12 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0203] Referring to FIG. 12, in operation 1210, the wearable device (700) can obtain an acceleration value in the forward direction of a user (e.g., a walking user) using an IMU sensor (740).

[0204] In operation 1220, the wearable device (700) can obtain an angular acceleration value of the user's hip joint based on the sensing value (or sensing data) of the angle sensor (720).

[0205] In operation 1230, the wearable device (700) can determine the user's walking state as a first walking state based on the angular acceleration value of the hip joint.

[0206] According to one embodiment, in operation 1230, the wearable device (700) may determine a point in time corresponding to a minimum angular acceleration value of the user's left hip joint in one gait cycle of the user. The wearable device (700) may determine that the first gait state of the user's left leg has started at the point in time corresponding to the minimum angular acceleration value of the user's left hip joint. The wearable device (700) may determine that the user's left leg is in the first gait state at the point in time corresponding to the minimum angular acceleration value of the user's left hip joint.

[0207] According to one embodiment, in operation 1230, the wearable device (700) may determine a point in time corresponding to a minimum angular acceleration value of the user's right hip joint in one gait cycle of the user. The wearable device (700) may determine that the first gait state of the user's right leg has started at the point in time corresponding to the minimum angular acceleration value of the user's right hip joint. The wearable device (700) may determine that the user's right leg is in the first gait state at the point in time corresponding to the minimum angular acceleration value of the user's right hip joint.

[0208] In operation 1240, the wearable device (700) can determine the user's walking state as a second walking state based on the acceleration value in the user's forward direction.

[0209] According to one embodiment, in operation 1240, the wearable device (700) may identify (or check) an acceleration value corresponding to a minimum extreme point among acceleration values ​​in the forward direction of the user in one gait cycle of the user (e.g., an acceleration value at time (ta) and / or an acceleration value at time (tc) of FIG. 10). If an angle value of the user's left hip joint at the time corresponding to the identified acceleration value is greater than an angle value of the user's right hip joint at the time corresponding to the identified acceleration value, the wearable device (700) may determine that the second gait state of the user's left leg has started (or that the user's left leg is in the second gait state) at the time corresponding to the identified acceleration value (e.g., time (ta) of FIG. 10). The wearable device (700) can determine that the second walking state of the user's right leg has started (or that the user's right leg is in the second walking state) at the time corresponding to the detected acceleration value (e.g., time point (tc) of FIG. 10) when the angle value of the user's right hip joint at the time corresponding to the detected acceleration value is greater than the angle value of the user's left hip joint.

[0210] According to one embodiment, the wearable device (700) can determine or obtain a gait index for the user's walking motion. For example, the wearable device (700) can calculate at least one of the time for which each of the user's two legs is in a first walking state or a second walking state in one gait cycle of the user based on an acceleration value in the forward direction of the user and an angular acceleration value of the user's hip joint. The wearable device (700) can determine a gait symmetry index for the user's walking motion based on at least one of the time for which each of the user's two legs is in the first walking state or the second walking state.

[0211] The embodiments described through FIGS. 1A to 11 can be applied to the operating method of the wearable device (700) of FIG. 12.

[0212]

[0213] According to one embodiment, a wearable device (120, 200, 300, 300-1, 700) may include a driving module (730) for outputting torque, an IMU sensor (740), an angle sensor (720), and at least one processor (710) including a processing circuit. The at least one processor may obtain an acceleration value in a forward direction of a walking user using the IMU sensor, obtain an angular acceleration value of a hip joint of the user based on a sensing value of the angle sensor, determine a walking state of the user as a first walking state based on the angular acceleration value, determine a walking state of the user as a second walking state based on the acceleration value, and control the driving module to output a torque to the user in at least one of the first walking state and the second walking state.

[0214] According to one embodiment, the first walking state may represent a state in which the user's feet are off the ground, and the second walking state may represent a state in which the user's feet are in contact with the ground.

[0215] According to one embodiment, the at least one processor can determine the gait state as the first gait state through a minimum angular acceleration value of the hip joint in one gait cycle of the user.

[0216] According to one embodiment, the at least one processor may determine a time point corresponding to a minimum angular acceleration value of the left hip joint of the user in one gait cycle of the user, and determine that the first gait state of the left leg of the user has started at the time point corresponding to the minimum angular acceleration value of the left hip joint, and determine a time point corresponding to a minimum angular acceleration value of the right hip joint of the user in one gait cycle, and determine that the first gait state of the right leg of the user has started at the time point corresponding to the minimum angular acceleration value of the right hip joint.

[0217] According to one embodiment, the at least one processor may determine an acceleration value corresponding to a minimum extreme point among acceleration values ​​in the forward direction in one gait cycle of the user, and if an angle value of the left hip joint of the user at a time corresponding to the determined acceleration value is greater than an angle value of the right hip joint of the user, the second gait state of the right leg of the user may be determined to have started at a time corresponding to the determined acceleration value, and if an angle value of the right hip joint of the user at a time corresponding to the determined acceleration value is greater than an angle value of the left hip joint of the user, the second gait state of the left leg of the user may be determined to have started at a time corresponding to the determined acceleration value.

[0218] According to one embodiment, the at least one processor may calculate at least one of a time for which each of the user's two legs is in the first walking state or the second walking state in one gait cycle of the user based on the acceleration value and the angular acceleration value.

[0219] In one embodiment, the at least one processor may determine a gait symmetry index for the user's walking motion based on at least one of a time during which each of the two legs is in the first walking state or the second walking state. The gait symmetry index may indicate a degree of symmetry between walking with the user's left leg and walking with the user's right leg.

[0220] In one embodiment, the at least one processor may calculate a first ratio value between one of the times during which the left leg is in each of the first and second gait states and a time value corresponding to one gait cycle of the user, calculate a second ratio value between one of the times during which the right leg is in each of the first and second gait states and the time value, and determine the gait symmetry index using the first ratio value and the second ratio value.

[0221] According to one embodiment, the at least one processor may determine a first time point in a gait cycle of the user when the user's left foot touches the ground, obtain first hip joint angle values ​​of the user at the determined first time point, and calculate a step length of the left foot using the obtained first hip joint angle values ​​and the leg length of the user, determine a second time point in a gait cycle when the user's right foot touches the ground, obtain second hip joint angle values ​​of the user at the determined second time point, and calculate a step length of the right foot using the obtained second hip joint angle values ​​and the leg length.

[0222] In one embodiment, the at least one processor may calculate a stride length of the user by adding a step length of the left foot and a step length of the right foot.

[0223] According to one embodiment, the at least one processor can perform standardization processing on each of the acceleration value and the angular acceleration value.

[0224] According to one embodiment, a wearable device (120, 200, 300, 300-1, 700) may include a driving module (730) for outputting a torque, an IMU sensor (740), an angle sensor (720), and at least one processor including a processing circuit. The at least one processor may obtain an acceleration value in a forward direction of the user using the IMU sensor, obtain an angular acceleration value of a hip joint of the user based on a sensing value of the angle sensor, calculate at least one of a time during which each of the user's two legs is in each of a first and a second walking state based on the acceleration value and the angular acceleration value, determine a gait symmetry index for a walking motion of the user based on at least one of a time during which each of the user's two legs is in each of the first and second walking states, and control the driving module to output a torque to the user in at least one of the first walking state or the second walking state.

[0225] The above gait symmetry index may indicate the degree of symmetry between gait performed by the user's left leg and gait performed by the user's right leg.

[0226] According to one embodiment, the first walking state may represent a state in which the user's feet are off the ground, and the second walking state may represent a state in which the user's feet are in contact with the ground.

[0227] In one embodiment, the at least one processor may calculate a first ratio value between one of the times during which the user's left leg is in each of the first and second gait states and a time value corresponding to one gait cycle of the user, calculate a second ratio value between one of the times during which the user's right leg is in each of the first and second gait states and the time value, and determine the gait symmetry index using the first ratio value and the second ratio value.

[0228] According to one embodiment, the at least one processor may determine a time point corresponding to a minimum angular acceleration value of the left hip joint of the user in one gait cycle of the user, and determine that the first gait state of the left leg of the user has started at the time point corresponding to the minimum angular acceleration value of the left hip joint, and determine a time point corresponding to a minimum angular acceleration value of the right hip joint of the user in one gait cycle, and determine that the first gait state of the right leg of the user has started at the time point corresponding to the minimum angular acceleration value of the right hip joint.

[0229] According to one embodiment, the at least one processor may determine an acceleration value corresponding to a minimum extreme point among acceleration values ​​in the forward direction in one gait cycle of the user, and if an angle value of the left hip joint of the user at a time corresponding to the determined acceleration value is greater than an angle value of the right hip joint of the user, the second gait state of the right leg of the user may be determined to have started at a time corresponding to the determined acceleration value, and if an angle value of the right hip joint of the user at a time corresponding to the determined acceleration value is greater than an angle value of the left hip joint of the user, the second gait state of the left leg of the user may be determined to have started at a time corresponding to the determined acceleration value.

[0230] According to one embodiment, an operating method of a wearable device (120, 200, 300, 300-1, 700) may include an operation of obtaining an acceleration value in a forward direction of a walking user using an IMU sensor, an operation of obtaining an angular acceleration value of a hip joint of the user based on a sensing value of an angle sensor, an operation of determining a walking state of the user as a first walking state based on the angular acceleration value, and an operation of determining a walking state of the user as a second walking state based on the acceleration value.

[0231] According to one embodiment, the operation of determining the gait state as the first gait state may include an operation of identifying a time point corresponding to a minimum angular acceleration value of the user's left hip joint in one gait cycle of the user, and determining that the first gait state of the user's left leg has started at the time point corresponding to the minimum angular acceleration value of the left hip joint; and an operation of identifying a time point corresponding to a minimum angular acceleration value of the user's right hip joint in one gait cycle, and determining that the first gait state of the user's right leg has started at the time point corresponding to the minimum angular acceleration value of the right hip joint.

[0232] According to one embodiment, the operation of determining the walking state as the second walking state may include an operation of determining an acceleration value corresponding to a minimum extreme point among acceleration values ​​in the forward direction in one walking cycle of the user, an operation of determining that the second walking state of the user's right leg has started at a time corresponding to the determined acceleration value if the angle value of the user's left hip joint at a time corresponding to the determined acceleration value is greater than the angle value of the user's right hip joint at a time corresponding to the determined acceleration value, and an operation of determining that the second walking state of the user's left leg has started at a time corresponding to the determined acceleration value if the angle value of the user's right hip joint at a time corresponding to the determined acceleration value is greater than the angle value of the user's left hip joint at a time corresponding to the determined acceleration value.

[0233] According to one embodiment, the operating method of the wearable device may further include: calculating at least one of a time for which each of the user's two legs is in the first walking state or the second walking state in one gait cycle of the user based on the acceleration value and the angular acceleration value; and determining a gait symmetry index for the user's walking motion based on at least one of a time for which each of the user's two legs is in the first walking state or the second walking state.

[0234] The above gait symmetry index may indicate the degree of symmetry between gait performed by the user's left leg and gait performed by the user's right leg.

[0235]

[0236] The embodiments described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and software applications running on the operating system. Furthermore, the processing device may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0237] Software may include a computer program, code, instructions, or a combination of one or more of these, and may configure a processing device to perform a desired operation or, independently or collectively, command the processing device. The software and / or data may be stored on any type of machine, component, physical device, virtual equipment, computer storage medium, or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium.

[0238] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may store program commands, data files, data structures, etc., alone or in combination, and the program commands recorded on the medium may be those specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0239] The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

[0240] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the described embodiments. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0241] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

1. In wearable devices (120, 200, 300, 300-1, 700), A drive module (730) that outputs torque; IMU (inertial measurement unit) sensor (740); angle sensor (720); and At least one processor (710) including a processing circuit Including, At least one processor, Using the IMU sensor, an acceleration value in the forward direction of a walking user is obtained, an angular acceleration value of the hip joint of the user is obtained based on a sensing value of the angle sensor, a walking state of the user is determined as a first walking state based on the angular acceleration value, a walking state of the user is determined as a second walking state based on the acceleration value, and the driving module is controlled to output a torque to the user in at least one of the first walking state or the second walking state. Wearable devices.

2. In paragraph 1, The first walking state indicates a state in which the user's feet are off the ground, and the second walking state indicates a state in which the user's feet are in contact with the ground. Wearable devices.

3. In one of paragraphs 1 and 2, At least one processor, The gait state is determined as the first gait state through the minimum angular acceleration value of the hip joint in one gait cycle of the user. Wearable devices.

4. In one of the clauses 1 to 3, At least one processor, Identifying a point in time corresponding to a minimum angular acceleration value of the left hip joint of the user in one gait cycle of the user, and determining that the first gait state of the left leg of the user has started at the point in time corresponding to the minimum angular acceleration value of the left hip joint, identifying a point in time corresponding to a minimum angular acceleration value of the right hip joint of the user in one gait cycle, and determining that the first gait state of the right leg of the user has started at the point in time corresponding to the minimum angular acceleration value of the right hip joint, Wearable devices.

5. In one of paragraphs 1 to 4, At least one processor, In one gait cycle of the user, an acceleration value corresponding to a minimum extreme point among acceleration values ​​in the forward direction is determined, and if the angle value of the user's left hip joint at a time corresponding to the determined acceleration value is greater than the angle value of the user's right hip joint, the second gait state of the user's right leg is determined to have started at a time corresponding to the determined acceleration value, and if the angle value of the user's right hip joint at a time corresponding to the determined acceleration value is greater than the angle value of the user's left hip joint, the second gait state of the user's left leg is determined to have started at a time corresponding to the determined acceleration value. Wearable devices.

6. In any of paragraphs 1 to 5, At least one processor, Calculating at least one of the time during which each of the user's two legs is in the first walking state or the second walking state in one gait cycle of the user based on the acceleration value and the angular acceleration value. Wearable devices.

7. In paragraph 6, At least one processor, Determine a gait symmetry index for the user's gait motion based on at least one of the time during which each of the two legs is in the first gait state or the time during which the two legs are in the second gait state; The above gait symmetry index represents the degree of symmetry between gait performed by the user's left leg and gait performed by the user's right leg. Wearable devices.

8. In paragraph 7, At least one processor, Calculating a first ratio value between one of the times when the left leg is in each of the first and second gait states and a time value corresponding to one gait cycle of the user, calculating a second ratio value between one of the times when the right leg is in each of the first and second gait states and the time value, and determining the gait symmetry index using the first ratio value and the second ratio value. Wearable devices.

9. In any of paragraphs 1 to 8, At least one processor, In one gait cycle of the user, the first point in time when the user's left foot touches the ground is identified, and the first hip joint angle values ​​of the user at the identified first point in time are obtained, and the step length of the left foot is calculated using the first hip joint angle values ​​obtained and the leg length of the user. In the above gait cycle, the second point in time when the user's right foot touches the ground is identified, the second hip joint angle values ​​of the user at the identified second point in time are obtained, and the step length of the right foot is calculated using the second hip joint angle values ​​obtained and the leg length. Wearable devices.

10. In paragraph 9, At least one processor, Calculating the user's stride length by adding the step length of the left foot and the step length of the right foot. Wearable devices.

11. In one of the clauses 1 to 10, At least one processor, Performing standardization processing on each of the above acceleration values ​​and each of the above angular acceleration values, Wearable devices.

12. In the operating method of a wearable device (120, 200, 300, 300-1, 700), An action of obtaining an acceleration value in the forward direction of a walking user using an IMU (inertial measurement unit) sensor; An action of obtaining an angular acceleration value of the user's hip joint based on the sensing value of the angle sensor; An operation of determining the user's walking state as a first walking state based on the above angular acceleration value; and An action of determining the user's walking state as a second walking state based on the acceleration value. including, How to operate a wearable device.

13. In paragraph 12, The operation of determining the above walking state as the first walking state is: An action of identifying a point in time corresponding to a minimum angular acceleration value of the user's left hip joint in one gait cycle of the user, and determining that the first gait state of the user's left leg has started at the point in time corresponding to the minimum angular acceleration value of the left hip joint; and An action of identifying a point in time corresponding to the minimum angular acceleration value of the user's right hip joint in the above gait cycle, and determining that the first gait state of the user's right leg has started at the point in time corresponding to the minimum angular acceleration value of the right hip joint; including, How to operate a wearable device.

14. In one of the 12th to 13th paragraphs, The operation of determining the above walking state as the second walking state is: An action of determining an acceleration value corresponding to the minimum extreme point among the acceleration values ​​in the forward direction during one gait cycle of the user; An action of determining that the second walking state of the user's right leg has started at a time corresponding to the identified acceleration value if the angle value of the user's left hip joint at a time corresponding to the identified acceleration value is greater than the angle value of the user's right hip joint; and An action of determining that the second walking state of the user's left leg has started at a time corresponding to the identified acceleration value if the angle value of the user's right hip joint at a time corresponding to the identified acceleration value is greater than the angle value of the user's left hip joint at a time corresponding to the identified acceleration value. including, How to operate a wearable device.

15. In one of paragraphs 12 to 14, An operation of calculating at least one of the time for which each of the user's two legs is in the first walking state or the second walking state in one gait cycle of the user based on the acceleration value and the angular acceleration value; and An action of determining a gait symmetry index for the user's walking motion based on at least one of the time each of the two legs is in the first walking state or the time each of the two legs is in the second walking state. Including more, The above gait symmetry index represents the degree of symmetry between gait performed by the user's left leg and gait performed by the user's right leg. How to operate a wearable device.

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