Method for controlling wearable device, and electronic device for performing method

Abstract

A method for controlling a wearable device, according to one embodiment, may comprise the operations of: determining, on the basis of first sensor information received from the wearable device, a first type of terrain on which a user is walking; when it is determined that a preset first event associated with walking has occurred, determining a second type of terrain on the basis of a first type set including the first type; when it is determined that a preset second event associated with walking has occurred, determining a third type of terrain on the basis of a second type set including the second type; determining a target operation mode of the wearable device on the basis of the third type; and controlling the wearable device on the basis of the target operation mode.

Description

Method for controlling a wearable device and an electronic device for performing the method

[0001] One embodiment relates to a technology for determining a type of ground and controlling a wearable device based on the determined type of ground.

[0002] Recently, various electronic devices that assist walking have been proposed. These electronic devices can output assistive torque to facilitate the user's walking or output resistance torque for the user's muscle exercise. These electronic devices can sense information about the user's movements through various sensors. Since the user's movements may vary depending on the type of ground, the type of ground can be determined based on information sensed from the user's movements.

[0003] According to one embodiment, an electronic device comprises at least one processor including a processing circuit and a memory including one or more storage media for storing instructions, and when the instructions are executed individually or collectively by the at least one processor, the electronic device may be able to: determine a first type of terrain on which a user wearing the wearable device is walking based on first sensor information received from the wearable device based on a first time.

[0004] According to one embodiment, when the instructions are executed individually or collectively by the at least one processor, the electronic device may: determine a second type of terrain based on a first type set including the first type determined from the first time to the second time when it is determined that a preset first event associated with walking has occurred.

[0005] According to one embodiment, when the instructions are executed individually or collectively by the at least one processor, the electronic device may: determine a third type of terrain based on a second type set including the second type determined from the first time to the third time when it is determined that a preset second event associated with walking has occurred at the third time.

[0006] According to one embodiment, when the instructions are executed individually or collectively by the at least one processor, the electronic device may: determine a target operation mode of the wearable device based on the third type.

[0007] According to one embodiment, when the instructions are executed individually or collectively by the at least one processor, the electronic device can: control the wearable device based on the target operation mode.

[0008] A method for controlling a wearable device, performed by an electronic device according to one embodiment, may include an operation of determining a first type of terrain on which a user wearing the wearable device is walking based on first sensor information received from the wearable device at a first time.

[0009] According to one embodiment, the method may include an operation of determining a second type of terrain based on a first type set including the first type determined from the first time to the second time when it is determined that a preset first event associated with walking has occurred.

[0010] According to one embodiment, the method may include an operation of determining a third type of terrain based on a second type set including the second type determined from the first time to the third time when it is determined that a preset second event associated with walking occurred at the third time.

[0011] According to one embodiment, the method may include an operation of determining a target operation mode of the wearable device based on the third type.

[0012] According to one embodiment, the method may include an operation of controlling the wearable device based on the target operation mode.

[0013] According to one embodiment, a wearable device may include a base body located at the waist of a user when the wearable device is worn on the user's body, a connecting frame and a leg frame for supporting at least a part of the user's body, a thigh fastening part for fixing the leg frame to the user's thigh, an inertial measurement unit (IMU) disposed within the base body, a driving module that generates torque applied to the user's leg—the driving module is located between the connecting frame and the leg frame, and the driving module includes a motor and a motor driver circuit—at least one processor including a processing circuit, and a memory including one or more storage media for storing instructions.

[0014] According to one embodiment, when the instructions are executed individually or collectively by the at least one processor, the wearable device may be configured to: determine a first type of terrain on which the user is walking based on first sensor information measured using one or more sensors of the wearable device based on a first time.

[0015] According to one embodiment, when the instructions are executed individually or collectively by the at least one processor, the wearable device may be configured to: determine a second type of terrain based on a first type set including the first type determined from the first time to the second time when it is determined that a preset first event associated with walking has occurred.

[0016] According to one embodiment, when the instructions are executed individually or collectively by the at least one processor, the wearable device may be configured to: determine a third type of terrain based on a second type set including the second type determined from the first time to the third time when it is determined that a preset second event associated with walking has occurred at the third time.

[0017] According to one embodiment, when the instructions are executed individually or collectively by the at least one processor, the wearable device may be enabled to: determine a target operation mode of the wearable device based on the third type.

[0018] According to one embodiment, when the instructions are executed individually or collectively by the at least one processor, the wearable device may be enabled to: control the driving module based on the target operation mode.

[0019] In relation to the description of the drawings, the same or similar reference numerals may be used for identical or similar components.

[0020] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0021] FIG. 2 is a drawing for explaining an exercise management system including a wearable device and an electronic device according to one embodiment.

[0022] FIG. 3 shows a front schematic diagram of an exercise assistance device according to one embodiment.

[0023] FIG. 4 shows a left side view of an exercise assistance device according to one embodiment.

[0024] FIGS. 5A and FIGS. 5B are drawings illustrating the configuration of a control system of a wearable device according to one embodiment.

[0025] FIG. 6 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0026] FIG. 7 is a drawing illustrating the configuration of an electronic device according to one embodiment.

[0027] FIG. 8 is a flowchart of a method for controlling a wearable device based on a determined type of terrain according to one embodiment.

[0028] FIG. 9 illustrates a method for determining a first type, a second type, and a third type based on the walking of a user in progress, according to one embodiment.

[0029] FIG. 10 illustrates a flowchart of a method for determining a target operation mode of a wearable device based on a third type according to one embodiment.

[0030] FIG. 11 illustrates a flowchart of a method for transmitting mutually associated third type and GPS information to a pre-specified server according to one embodiment.

[0031] FIG. 12 illustrates a flowchart of a method for simulating a virtual walking path according to one embodiment.

[0032] FIG. 13 is a flowchart of a method for outputting a guide message to a user proceeding along an actual walking path according to one embodiment.

[0033] Hereinafter, embodiments of the present disclosure are described in detail with reference to the drawings so that those skilled in the art can easily practice them. However, the present disclosure may be embodied in various different forms and is not limited to the embodiments described herein. In relation to the description of the drawings, the same or similar reference numerals may be used for identical or similar components. Furthermore, in the drawings and related descriptions, descriptions of well-known functions and configurations may be omitted for clarity and brevity.

[0034] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0035] Referring to FIG. 1, in one embodiment, the wearable device (100) may be a device worn on the body of a user (110) to assist the user (110) in walking, exercising, and / or working. In one embodiment, the wearable device (100) may be used to measure the physical abilities of the user (110) (e.g., walking ability, exercise ability, exercise posture). In the embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking aid', or 'exercise aid'. The user (110) may be a person or an animal, but is not limited thereto. A wearable device (100) is worn on the body of a user (110) (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) and can apply an external force of assistance force and / or resistance force to the movement of the user's (110) body. Assistance force is a force applied in the same direction as the movement of the user's (110) body and represents a force that assists the movement of the user's (110) body. Resistance force is a force applied in the opposite direction to the movement of the user's (110) body and represents a force that hinders the movement of the user's (110) body. The term 'resistance force' may also be referred to as 'exercise load'.

[0036] In one embodiment, the wearable device (100) may operate in a walking assistance mode that assists the walking of a user (110). In the walking assistance mode, the wearable device (100) may assist the walking of the user (110) by applying an assisting force generated from the driving module (120) of the wearable device (100) to the body of the user (110). The wearable device (100) may enable independent walking of the user (110) or enable walking for a long time by assisting the force required for the walking of the user (110), thereby expanding the walking ability of the user (110). The wearable device (100) may also help improve the walking of a pedestrian whose walking habits or walking posture are abnormal.

[0037] In one embodiment, the wearable device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110). In the exercise assistance mode, the wearable device (100) may hinder the movement of the user's (110) body or provide resistance to the movement of the user's (110) body by applying resistance force generated from the drive module (120) to the user's (110) body. If the wearable device (100) is a hip-type wearable device worn on the user's (110) waist (or pelvis) and legs (e.g., thighs), the wearable device (100) may provide an exercise load to the movement of the user's (110) legs while worn on the legs, thereby further enhancing the exercise effect on the user's (110) legs. In one embodiment, the wearable device (100) may apply an assistive force to the user's (110) body to assist the user's (110) exercise. For example, when a person with a disability or an elderly person wants to exercise by wearing a wearable device (100), the wearable device (100) may provide assistive force to help with physical movement during the exercise. In one embodiment, the wearable device (100) may provide assistive force and resistance in combination for exercise segments or time segments, such as providing assistive force in some exercise segments and providing resistance force in other exercise segments.

[0038] In one embodiment, the wearable device (100) may operate in a physical ability measurement mode to measure the physical ability of a user (110). The wearable device (100) may measure the user's movement information using sensors (e.g., angle sensor (125), inertial measurement unit (IMU) (135)) provided in the wearable device (100) while the user is walking or exercising, and may evaluate the user's physical ability based on the measured movement information. For example, the user's (110) walking indicators or exercise ability indicators (e.g., muscle strength, endurance, balance, exercise motion) may be estimated through the user's movement information measured by the wearable device (100). The physical ability measurement mode may include an exercise motion measurement mode for measuring the user's exercise motion.

[0039] In various embodiments of the present disclosure, a hip-type wearable device (100) as shown in FIG. 1 is described as an example for convenience of explanation, but is not limited thereto. As described above, the wearable device (100) may be worn on other body parts (e.g., upper arm, forearm, hand, calf, foot) other than the waist and legs (particularly the thigh), and the shape and configuration of the wearable device may vary depending on the body part on which it is worn.

[0040] In one embodiment, the wearable device (100) may include a support frame (e.g., leg frame (50, 55) and connecting frame (20) of FIG. 3) for assisting the body movements of the user (110) when the wearable device (100) is worn on the body of the user (110), a sensor module (e.g., sensor module (520) of FIG. 5a) for acquiring sensor data containing movement information regarding the body movements of the user (110) (e.g., leg movements, upper body movements), a driving module (120) (e.g., driving module (35, 45) of FIG. 3) for generating torque applied to the legs of the user (110), and a control module (130) for controlling the wearable device (100) (e.g., control module (510) of FIG. 5a and FIG. 5b).

[0041] In one embodiment, the wearable device (100) may include an angle sensor (125) for measuring the joint angle of the user and an IMU (135) for measuring changes in acceleration and rotational velocity according to the body movement of the user (110). The angle sensor (125) may measure the rotation angle (or angular velocity) of the leg frame of the wearable device (100) corresponding to the hip joint angle value of the user (110). The rotation angle of the leg frame measured by the angle sensor (125) may be estimated as the hip joint angle value (or leg angle value) of the user (110). The angle sensor (125) may include, for example, an encoder, a resolver, a home sensor, and / or a Hall sensor. In one embodiment, the angle sensor (125) may be located near the left hip joint and near the right hip joint of the user (110), respectively. The IMU (135) may include an acceleration sensor and / or an angular velocity sensor (e.g., a gyroscope) and may measure changes in acceleration and / or angular velocity (or rotational velocity) according to the movement of the user (110). For example, the IMU (135) may measure the upper body movement value of the user (110) corresponding to the movement value of the connection frame (or base body (base body (80) in FIG. 3)) of the wearable device (100). The movement value of the connection frame measured by the IMU (135) may be presumed to be the upper body movement value of the user (110). In this specification, 'IMU' may also be referred to as an 'inertial sensor'.

[0042] In one embodiment, the control module (130) and the IMU (135) may be placed within the base body of the wearable device (100) (e.g., the base body (80) of FIG. 3). The base body may be positioned at the lumbar region (waist area) of the user (110) while the user (110) is wearing the wearable device (100). The base body may be formed or attached to the outside of the connecting frame of the wearable device (100). The base body may be mounted at the lumbar region of the user (110) to provide cushioning to the user's waist and may support the user's waist together with the connecting frame.

[0043] In one embodiment, the wearable device (100) may include a pressure sensor (not shown) for measuring atmospheric pressure or a change in atmospheric pressure.

[0044] FIG. 2 is a drawing for explaining an exercise management system including an exercise assistance device and an electronic device according to one embodiment.

[0045] Referring to FIG. 2, the exercise management system (200) may include a wearable device (100) worn on a user's body, an electronic device (210), another wearable device (220), and a server (230). In one embodiment, at least one of these devices (e.g., another wearable device (220) or the server (230)) may be omitted from the exercise management system (200), or one or more other devices (e.g., a dedicated controller device for the wearable device (100)) may be added.

[0046] In one embodiment, the wearable device (100) can be worn on the user's body in a walking assistance mode to assist the user's movement. For example, the wearable device (100) can be worn on the user's leg to assist the user's walking by generating an assisting force to assist the user's leg movement.

[0047] In one embodiment, the wearable device (100) may apply to the user's body by generating a resistance force to hinder the user's body movement or an assistive force to help the user's body movement in order to enhance the user's exercise effect in an exercise assistance mode. In an exercise assistance mode, the user may select an exercise program (e.g., squat, split lunge, dumbbell squat, lunge and knee up, stretching, etc.) and / or an exercise intensity applied to the wearable device (100) using the wearable device (100) through an electronic device (210). The wearable device (100) may control a driving module (e.g., the driving module (120) of FIG. 1) of the wearable device (100) according to the exercise program selected by the user, and may acquire sensor data including the user's movement information through a sensor module. The wearable device (100) may adjust the strength of the resistance force or assistive force applied to the user according to the exercise intensity selected by the user. For example, the wearable device (100) can control the drive module to generate resistance corresponding to the exercise intensity selected by the user.

[0048] In one embodiment, the wearable device (100) may be used to measure the user's physical ability in conjunction with an electronic device (210). The wearable device (100) may operate in a physical ability measurement mode, which is a mode for measuring the user's physical ability under the control of the electronic device (210), and may transmit sensor data acquired by the user's movement in the physical ability measurement mode to the electronic device (210). The electronic device (210) may estimate the user's physical ability by analyzing the sensor data received from the wearable device (100).

[0049] In one embodiment, the electronic device (210) can communicate with the wearable device (100) and can remotely control the wearable device (100) or provide status information to the user regarding the state of the wearable device (100) (e.g., booting state, charging state, sensing state, error state). The electronic device (210) can receive sensor data acquired by the sensors of the wearable device (100) from the wearable device (100) and can estimate the user's physical ability or exercise results based on the received sensor data. In one embodiment, when the user wears the wearable device (100) and exercises, the wearable device (100) can acquire sensor data including user movement information using sensors and transmit the acquired sensor data to the electronic device (210). The electronic device (210) can extract the user's movement value from the sensor data and evaluate the user's exercise motion based on the extracted movement value. The electronic device (210) can provide the user with exercise motion measurement values ​​and exercise motion evaluation information regarding the user's exercise motion through a graphical user interface.

[0050] In one embodiment, the electronic device (210) may execute a program (e.g., an application) for controlling the wearable device (100), and the user may adjust the operation or setting values ​​of the wearable device (100) through the program (e.g., torque intensity output from a driving module (e.g., driving module (35, 45) of FIG. 3), volume of audio output from a sound output module (e.g., sound output module (550) of FIG. 5a and 5b), brightness of a light unit (e.g., light unit (85) of FIG. 3), etc.). The program executed on the electronic device (210) may provide a graphical user interface (GUI) for interaction with the user. The electronic device (210) may be a device of various forms. For example, the electronic device (210) may include a portable communication device (e.g., a smartphone), a computer device, an access point, a portable multimedia device, or a home appliance (e.g., a television, an audio device, a projector device), but is not limited to the aforementioned devices. does not.

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

[0052] In one embodiment, the wearable device (100) and / or the electronic device (210) may be connected to another wearable device (220). The other wearable device (220) may be, for example, a wireless earphone (222), a smartwatch (224), smart glasses (226), or a smart ring (228), but is not limited to the aforementioned devices. In one embodiment, the smartwatch (224) may measure a biosignal including a user's heart rate information and transmit the measured biosignal to the electronic device (210) and / or the wearable device (100). The electronic device (210) may estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) based on the biosignal received from the smartwatch (224) and may provide the estimated heart rate information to the user. In one embodiment, the smart ring (228) can measure a biosignal including a user's heart rate information and transmit the measured biosignal to an electronic device (210) and / or a wearable device (100). The electronic device (210) can estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) based on the biosignal received from the smart ring (228) and can provide the estimated heart rate information to the user.

[0053] In one embodiment, user exercise result information, physical ability information (e.g., gait evaluation information), and / or exercise motion evaluation information evaluated by the electronic device (210) may be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). Status information of the wearable device (100) may also be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). In one embodiment, the wearable device (100), the electronic device (210), and the other wearable device (220) may be connected to each other via wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0054] In one embodiment, the wearable device (100) may provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100) according to a control signal received from the electronic device (210). For example, the wearable device (100) may provide visual feedback through a light unit (e.g., the light unit (85) of FIG. 3) and may provide auditory feedback through an acoustic output module (e.g., the acoustic output module (550) of FIG. 5a and FIG. 5b). The wearable device (100) may include a haptic module and may provide tactile feedback in the form of vibration to the user's body through the haptic module. The electronic device (210) may also provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100).

[0055] In one embodiment, the electronic device (210) may present a personalized exercise goal to the user in an exercise assistance mode. The personalized exercise goal may include an exercise volume target value for each type of exercise (e.g., strength training, balance training, aerobic training) that the user intends to perform, determined by the electronic device (210) and / or the server (230). When the server (230) determines the exercise volume target value, the server (230) may transmit information regarding the determined exercise volume target value to the electronic device (210). The electronic device (210) may present the exercise volume target values ​​for the types of strength training, aerobic training, and balance training in a personalized manner according to the exercise program (e.g., squat, split lunge, lunge and knee-up) and / or the user's physical characteristics (e.g., age, height, weight, BMI). The electronic device (210) may display a GUI screen on the display indicating the exercise volume target value for each type of exercise.

[0056] In one embodiment, the electronic device (210) and / or server (230) may include a database storing information on a plurality of exercise programs that can be provided to a user through a wearable device (100). To achieve the user's exercise goals, the electronic device (210) and / or server (230) may recommend an exercise program suitable for the user. The exercise goals may include, for example, at least one of improving muscle strength, improving muscular fitness, improving cardiovascular endurance, improving core stability, improving flexibility, or improving symmetry. The electronic device (210) and / or server (230) may store and manage the exercise programs performed by the user and the results of the exercise programs performed.

[0057] In one embodiment, the electronic device (210) can evaluate the user's walking ability in conjunction with the wearable device (100). For example, the electronic device (210) can estimate a gait index, which is an indicator representing the user's walking state, based on sensor data obtained from a sensor module of the wearable device (100) worn by the user. The gait index can serve as a measure to judge the quality of walking performed by the user. The gait index estimated by the electronic device (210) may include, for example, at least one of walking speed, step time, step length, stride length, walking distance, gait symmetry index, gait variability index, or walk ratio. The electronic device (210) can calculate the gait index in real time while the user is walking while wearing the wearable device (100).

[0058] In one embodiment, when a user is walking (or exercising) while wearing a wearable device (100), the wearable device (100) may acquire sensor data containing movement information related to the user's walking using sensors and transmit the acquired sensor data to an electronic device (210). The electronic device (210) may estimate the user's walking evaluation information based on the sensor data and provide the estimated walking evaluation information to the user. The walking evaluation information may include, for example, various walking indicators related to the user's walking (e.g., walking speed, step time, stride length, walking symmetry index, walking variation index, walking ratio) when the user walks while wearing the wearable device (100). The electronic device (210) may provide feedback information to the user to improve the user's walking state based on the walking evaluation information. For example, if the electronic device (210) determines that the user's measured stride length is smaller than a desired stride length, it may suggest that the user walk with a wider stride length.

[0059] In one embodiment, the wearable device (100) and the electronic device (210) can estimate walking indicators, such as walking speed, by using the angle sensor (e.g., angle sensor (125)) and IMU (e.g., IMU (135)) of the wearable device (100) without using a GPS (global positioning system) sensor for tracking the user's location, so walking indicators can be estimated not only outdoors but also indoors. Additionally, the wearable device (100) and the electronic device (210) can estimate walking indicators even when the user walks in a fixed position, such as on a treadmill, and can estimate walking indicators by reflecting the individual characteristics of the user. The electronic device (210) can provide evaluation information regarding the user's walking state to the user using the wearable device (100), thereby increasing the user's interest in walking or exercise.

[0060] FIG. 3 shows a front schematic view of an exercise assist device according to one embodiment, and FIG. 4 shows a left side view of an exercise assist device according to one embodiment.

[0061] Referring to FIGS. 3 and 4, a wearable device (100) according to one embodiment may include a base body (80), a connecting frame (20), a waist frame (60), a waist belt (15), a driving module (35, 45), a leg frame (50, 55), a thigh fastening part (1, 2), and a control button (18, 19). The base body (80) may include a lighting unit (85). In one embodiment, at least one of these components (e.g., the lighting unit (85)) may be omitted from the wearable device (100), or one or more other components (e.g., a barometric pressure sensor and / or a haptic module) may be added.

[0062] In one embodiment, the base body (80) may be positioned on the user's lower back while the user is wearing the wearable device (100). The base body (80) may be mounted on the user's lower back to provide cushioning to the user's waist and to support the user's waist. The base body (80) may be placed over the user's buttocks (hip area) so that the wearable device (100) does not fall downward due to gravity while the user is wearing the wearable device (100). The base body (80) may distribute a portion of the weight of the wearable device (100) to the user's waist while the user is wearing the wearable device (100). The base body (80) may be connected to a connecting frame (20). Connecting frame connecting elements (not shown) that can be connected to the connecting frame (20) may be provided at both ends of the base body (80).

[0063] In one embodiment, a lighting unit (85) may be disposed on the outside of a base body (80). The lighting unit (85) may include a light source (e.g., an LED (light emitting diode)). The lighting unit (85) may emit light under the control of a control module (not shown) (e.g., the control module (510) of FIG. 5a and FIG. 5b). According to an embodiment, the control module may control the lighting unit (85) so that visual feedback corresponding to the state of the wearable device (100) may be provided (or output) to the user through the lighting unit (85).

[0064] In one embodiment, the connecting frame (20) may extend from both ends of the base body (80). A user's body part may be accommodated inside the connecting frame (20). The connecting frame (20) may include at least one rigid body beam. The connecting frame (20) may extend from one end and the other end of the base body (80), respectively. Each beam may have a curved shape having a pre-set curvature to surround the user's body part. A driving module (35, 45) may be connected to the connecting frame (20).

[0065] In one embodiment, a control module, an IMU (not shown) (e.g., the IMU (135) of FIG. 1), a communication module (not shown), and a battery (not shown) may be disposed inside the base body (80). The base body (80) may protect the control module, the IMU, the communication module, and the battery. The control module may generate a control signal to control the operation of the wearable device (100). The control module may include a control circuit comprising a processor and memory for controlling the actuators of the driving modules (35, 45). The control module may further include a power supply module (not shown) for supplying power from the battery to each component of the wearable device (100).

[0066] In one embodiment, the wearable device (100) may include a sensor module (not shown) that acquires sensor data from one or more sensors. The sensor module may acquire sensor data that changes according to the user's movement. In one embodiment, the sensor module may acquire sensor data containing information on the user's movement and / or information on the movement of a component of the wearable device (100). The sensor module may include, for example, an IMU (e.g., IMU (135) of FIG. 1) for measuring the user's upper body movement value or the movement value of the connecting frame (20), and an angle sensor (e.g., angle sensor (125) of FIG. 1) for measuring the user's hip joint angle value or the movement value of the leg frame (50, 55), but is not limited thereto. For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a biosignal sensor, a proximity sensor, and a barometric pressure sensor.

[0067] In one embodiment, the waist frame (60) may be connected to the drive module (35, 45). The waist frame (60) may wrap around at least a portion of the user's waist. The waist frame (60) may include a material that is more rigid than the waist belt (15). The waist frame (60) may support the waist belt (15).

[0068] In one embodiment, the waist belt (15) may be positioned in front of the user's waist. For example, the waist belt (15) may include a Velcro structure. One of the two waist belts may have a hook surface, and the other waist belt may have a loop surface.

[0069] In one embodiment, the driving module (35, 45) may generate an external force (or torque) applied to the user's body based on a control signal generated by the control module. For example, the driving module (35, 45) may generate an assisting force or a resistance force applied to the user's leg. In one embodiment, the driving module (35, 45) may be located at a position corresponding to the user's hip joint. The driving module may include an actuator and a joint member. The actuator may provide power transmitted to the joint member. The actuator may include a motor that generates power (or torque) by receiving power from a battery. When the motor is powered and driven, it may generate a force (assisting force) to assist the user's body movement or a force (resistance force) to hinder body movement. In one embodiment, the control module may adjust the voltage and / or current supplied to the motor to control the strength and direction of the force generated by the motor.

[0070] In one embodiment, the joint member receives power from an actuator and can apply external force to the user's body based on the received power. The joint member may be positioned at a location corresponding to the user's joint. One side of the joint member may be connected to the actuator, and the other side may be connected to the leg frame (50, 55). The joint member may be rotated by the power received from the actuator. An encoder, resolver, groove sensor, and / or Hall sensor may be positioned on one side of the joint member to function as an angle sensor for measuring the rotation angle of the joint member (corresponding to the user's joint angle).

[0071] In one embodiment, the actuator may be positioned on the side of the joint member. The rotation axis of the actuator and the rotation axis of the joint member may be positioned so as to be spaced apart from each other. However, this is not limited thereto, and the actuator and the joint member may share a rotation axis. In one embodiment, the actuator may be positioned spaced apart from the joint member. In this case, the driving module (35, 45) may further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, cable, string, spring, belt, or chain. However, the scope of the embodiment is not limited by the positional relationship between the actuator and the joint member and the power transmission structure described above.

[0072] In one embodiment, the leg frame (50, 55) may be positioned along the user's leg (e.g., thigh) when the wearable device (100) is worn on the user's leg. The leg frame (50, 55) may transmit power (torque) generated, for example, from the drive module (35, 45) to the user's thigh. The power generated from the drive module (35, 45) may act as an external force applied to the user's leg movement. As one end of the leg frame (50, 55) is connected to a joint member and may rotate, and the other end of the leg frame (50, 55) is connected to a thigh fastening part (1, 2), the leg frame (50, 55) may transmit power generated from the drive module (35, 45) to the user's thigh. For example, the leg frame (50, 55) may push or pull the user's thigh. The leg frame (50, 55) may extend along the longitudinal direction of the user's thigh. The leg frame (50, 55) can be folded to wrap around at least a portion of the user's thigh circumference. The upper part of the leg frame (50, 55) can cover the side of the thigh, and the lower part of the leg frame (50, 55) can cover the front of the thigh. The central part of the leg frame (50, 55) can have a twisted shape.

[0073] In one embodiment, the thigh fastening portion (1, 2) is connected to the leg frame (50, 55) and can secure the leg frame (50, 55) to the thigh. In one embodiment, the thigh fastening portion (1) may include a fastening frame (11) and a wearing strap (12).

[0074] In one embodiment, the fastening frame (11) can apply torque generated by the driving module to the user's thigh. The fastening frame (11) is positioned on one side of the user's thigh and can push or pull the user's thigh. The fastening frame (11) may be positioned, for example, on the front of the user's thigh. The fastening frame (11) may be positioned along the circumference of the user's thigh. The fastening frame (11) may extend to both sides centered on the other end of the leg frame and may include a curved surface corresponding to the user's thigh.

[0075] In one embodiment, the wearing strap (12) is connected to the fastening frame (11) and can be placed against the user's thigh. The wearing strap (12) can wrap around the remaining portion that is not covered by the fastening frame (11). The wearing strap (12) may include, for example, an elastic material.

[0076] In one embodiment, control buttons (18, 19) may be formed on driving modules (35, 45). For example, control buttons (18, 19) may be formed on each of a pair of driving modules (35, 45) or on only one of the driving modules (35, 45). Control buttons (18, 19) may be movably connected to the driving modules (35, 45). For example, control buttons (18, 19) may be tilted relative to the driving modules (35, 45) or pressed toward the inside of the driving modules (35, 45) by being pressed by a user. A user can set up an environment necessary for exercise and walking assistance by operating the control buttons (18, 19) while wearing the wearable device (100).

[0077] In one embodiment, the user can select an operating mode of the wearable device (100) by pressing control buttons (18, 19). The operating mode may include, for example, a walking assistance mode, an exercise assistance mode, and a hybrid mode. The walking assistance mode is a mode that provides assistive force to the user's body movements to assist the user's walking. The exercise assistance mode is a mode that provides resistance to the user's body movements to assist the user's exercise. The hybrid mode is a mode that alternately executes the walking assistance mode and the exercise assistance mode for a specific period of time. When the control buttons (18, 19) are pressed, the operating mode may be changed. In one embodiment, different LED colors may be emitted through the wearable device (100) according to each operating mode so that the user can visually confirm the operating mode.

[0078] In one embodiment, the user can adjust the exercise intensity and walking assistance intensity by tilting the control buttons (18, 19). The intensity (or level) can be configured, for example, from level 1, which has the weakest output, to level 5, which has the strongest output. When the control buttons (18, 19) are tilted in one direction, the intensity level increases by one step, and when the control buttons (18, 19) are tilted in the other direction, the intensity level decreases by one step. In walking assistance mode, increasing the intensity increases the assisting force output from the motor, and decreasing the intensity decreases the assisting force. In exercise assistance mode, increasing the intensity increases the resistance force output from the motor, and decreasing the intensity decreases the resistance force. In one embodiment, different notification sounds may be emitted through the wearable device (100) according to each intensity level so that the user can audibly check the intensity.

[0079] FIGS. 5A and FIGS. 5B are drawings illustrating the configuration of a control system of a wearable device according to one embodiment.

[0080] Referring to FIG. 5a, a wearable device (100) can be controlled by a control system (500). The control system (500) may include a control module (510), a communication module (516), a sensor module (520), a driving module (530), an input module (540), and an acoustic output module (550). In one embodiment, at least one of these components (e.g., an acoustic output module (550)) may be omitted from the control system (500), or one or more other components (e.g., a haptic module) may be added.

[0081] The drive module (530) may include a motor (534) capable of generating power (e.g., torque) and a motor driver circuit (532) for driving the motor (534). In the embodiment of FIG. 5a, a drive module (530) including one motor driver circuit (532) and one motor (534) is shown, but this is merely an example. Referring to FIG. 5b, as in the control system (500-1) shown in FIG. 5b, the motor driver circuit (532, 532-1) and the motor (534, 534-1) may each be multiple (e.g., two or more). A driving module (530) including a motor driver circuit (532) and a motor (534) may correspond to a driving module (45) of FIG. 3 placed on the first side of the user, and a driving module (530-1) including a motor driver circuit (532-1) and a motor (534-1) may correspond to a driving module (35) placed on the second side of the user. The description of each of the motor driver circuit (532) and the motor (534) described below may also apply to the motor driver circuit (532-1) and the motor (534-1) shown in FIG. 5b.

[0082] Returning to FIG. 5a, the sensor module (520) may include a sensor circuit comprising at least one sensor. The sensor module (520) may include sensor data comprising user movement information or movement information of the wearable device (100). The sensor module (520) may transmit the acquired sensor data to the control module (510). The sensor module (520) may include an IMU (522) and an angle sensor (e.g., a first angle sensor (524), a second angle sensor (524-1)) as shown in FIG. 5b. The IMU (522) may measure the user's upper body movement values. For example, the IMU (522) may sense acceleration along the X-axis, Y-axis, and Z-axis and angular velocity along the X-axis, Y-axis, and Z-axis according to the user's movement. The IMU (522) may be used to measure, for example, at least one of forward / backward tilting, left / right tilting, or rotation of the user's body. Additionally, the IMU (522) can acquire movement values ​​(e.g., acceleration values ​​and angular velocity values) of the connection frame (e.g., the connection frame (20) of FIG. 3) of the wearable device (100). The movement values ​​of the connection frame can correspond to the upper body movement values ​​of the user.

[0083] The angle sensor can measure hip joint angle values ​​according to the user's leg movements. Sensor data that can be measured by the angle sensor may include, for example, hip joint angle values ​​of the right leg, hip joint angle values ​​of the left leg, and information regarding the direction of movement of the legs. For example, the first angle sensor (524) of FIG. 5b can acquire the hip joint angle value of the user's right leg, and the second angle sensor (524-1) can acquire the hip joint angle value of the user's left leg. Each of the first angle sensor (524) and the second angle sensor (524-1) may include, for example, an encoder, a resolver, a home sensor, and / or a Hall sensor. Additionally, the angle sensor can acquire movement values ​​of the leg frame of the wearable device (100). For example, the first angle sensor (524) can acquire a movement value of the first leg frame (e.g., the leg frame (50) of FIG. 3), and the second angle sensor (524-1) can acquire a movement value of the second leg frame (e.g., the leg frame (55) of FIG. 3). The movement value of the leg frame can correspond to a hip joint angle value.

[0084] In one embodiment, the sensor module (520) may further include at least one of a position sensor for obtaining a position value of a wearable device (100), a proximity sensor for detecting the proximity of an object, a biosignal sensor for detecting a user's biosignal, a temperature sensor for measuring ambient temperature, and a pressure sensor for measuring a change in pressure.

[0085] The input module (540) can receive instructions or data to be used for a component of the wearable device (100) (e.g., processor (512)) from outside the wearable device (100) (e.g., user). The input module (540) may include an input component circuit. The input module (540) may include, for example, a key (e.g., control buttons (18, 19) of FIG. 3) or a touch screen.

[0086] The sound output module (550) can output a sound signal to the outside of the wearable device (100). The sound output module (550) can provide auditory feedback to the user. For example, the sound output module (550) may include a speaker that plays a guide sound signal (e.g., driving start sound, motion error notification sound, exercise start notification sound), music content, or a guide voice to audibly inform the user of specific information (e.g., exercise result information, exercise motion evaluation information).

[0087] In one embodiment, the control system (500) may further include a battery (not shown) for supplying power to each component of the wearable device (100). The wearable device (100) may convert the power of the battery to match the operating voltage of each component of the wearable device (100) and supply it to each component.

[0088] The driving module (530) can generate an external force applied to the user's leg under the control of the control module (510). The driving module (530) can generate torque applied to the user's leg based on a control signal generated by the control module (510). The control module (510) can transmit the control signal to the motor driver circuit (532). The motor driver circuit (532) can control the operation of the motor (534) by generating a current signal (or voltage signal) corresponding to the control signal and supplying it to the motor (534). In some cases, the current signal may not be supplied to the motor (534). When the motor (534) is driven by supplying the current signal to the motor (534), it can generate torque for an assisting force to assist the user's leg movement or a resistive force to hinder leg movement.

[0089] The control module (510) controls the overall operation of the wearable device (100) and can generate control signals to control each component (e.g., communication module (516), driving module (530)). The control module (510) may include a processor (512) and a memory (514).

[0090] The processor (512) may, for example, execute software to control at least one other component (e.g., a hardware or software component) of the wearable device (100) connected to the processor (512) and perform various data processing or operations. The software may include an application for providing a GUI. According to one embodiment, as at least part of the data processing or operations, the processor (512) may store instructions or data received from another component (e.g., a communication module (516)) in memory (514), process the instructions or data stored in memory (514), and store the result data after processing in memory (514). According to one embodiment, the processor (512) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can be operated independently or together with the main processor. The auxiliary processor may be implemented separately from the main processor or as part thereof.

[0091] The memory (514) can store various data used by at least one component (e.g., processor (512)) of the control module (510). The data may include, for example, software, sensor data, and input or output data for related commands. The memory (514) may include volatile memory or non-volatile memory (e.g., RAM, DRAM, SRAM).

[0092] The communication module (516) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the control module (510) and other components of the wearable device (100) or an external electronic device (e.g., the electronic device (210) of FIG. 2 or another wearable device (220)), and the performance of communication through the established communication channel. The communication module (516) may include a communication circuit for performing communication functions. The communication module (516) may receive control signals from, for example, an electronic device (e.g., the electronic device (210)) and transmit sensor data acquired by the sensor module (520) to the electronic device. According to one embodiment, the communication module (516) may include one or more communication processors (not shown) that operate independently of the processor (512) and support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (516) may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a GNSS (global navigation satellite system) communication module) and / or a wired communication module. The corresponding communication module among these may communicate with other components of the wearable device (100) and / or external electronic devices through a short-range communication network such as Bluetooth, WiFi (wireless fidelity), or IrDA (infrared data association), or a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., LAN or WAN).

[0093] In one embodiment, the control system (500, 500-1) may further include a haptic module (not shown). The haptic module may provide tactile feedback to the user under the control of the processor (512). The haptic module may convert an electrical signal into a mechanical stimulus (e.g., vibration or movement) or an electrical stimulus that the user can perceive through touch or kinesthetic sense. The haptic module may include a motor, a piezoelectric element, or an electrical stimulation device. In one embodiment, the haptic module may be located on at least one of the base body (80) and the thigh connecting part (1, 2).

[0094] FIG. 6 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0095] Referring to FIG. 6, the wearable device (100) can communicate with an electronic device (210). For example, the electronic device (210) may be a user terminal of a user using the wearable device (100) or a dedicated controller device for the wearable device (100). According to one embodiment, the wearable device (100) and the electronic device (210) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0096] In one embodiment, the electronic device (210) may execute an application to check the status of the wearable device (100) or to control or operate the wearable device (100). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (100) or determining the operation mode of the wearable device (100) may be displayed on the display (212) of the electronic device (210). The UI may be, for example, a graphical user interface (GUI).

[0097] In one embodiment, a user may input a command to control the operation of the wearable device (100) (e.g., a command to execute a walking assistance mode, an exercise assistance mode, or a physical ability measurement mode) or change the settings of the wearable device (100) through a GUI screen on a display (212) of an electronic device (210). The electronic device (210) may generate a control command (or control signal) corresponding to the operation control command or setting change command entered by the user and transmit the generated control command to the wearable device (100). The wearable device (100) may operate according to the received control command and transmit the control result according to the control command and / or sensor data measured by the sensor module of the wearable device (100) to the electronic device (210). The electronic device (210) may provide result information (e.g., walking ability information, exercise ability information, exercise movement evaluation information) derived by analyzing the control result and / or sensor data to the user through the GUI screen.

[0098] FIG. 7 is a drawing illustrating the configuration of an electronic device according to one embodiment.

[0099] Referring to FIG. 7, the electronic device (210) may include a processor (710), memory (720), communication module (730), display module (740), sound output module (750), and input module (760). In one embodiment, at least one of these components (e.g., sound output module (750)) may be omitted from the electronic device (210), or one or more other components (e.g., sensor module, battery) may be added.

[0100] The processor (710) can control at least one other component (e.g., a hardware or software component) of the electronic device (210) and can perform various data processing or operations. According to one embodiment, as at least part of the data processing or operations, the processor (710) can store commands or data received from another component (e.g., a communication module (730)) in memory (720), process the commands or data stored in memory (720), and store result data in memory (720).

[0101] According to one embodiment, the processor (710) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor that can operate independently or together with it (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor).

[0102] The memory (720) can store various data used by at least one component of the electronic device (210) (e.g., processor (710) or communication module (730)). The data may include, for example, input data or output data for a program (e.g., application) and related instructions. The memory (720) may include at least one instruction executable by the processor (710). The memory (720) may include volatile memory or non-volatile memory.

[0103] The communication module (730) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between an electronic device (210) and another electronic device (e.g., a wearable device (100), another wearable device (220), a server (230)), and the performance of communication through the established communication channel. The communication module (730) may include a communication circuit for performing communication functions. The communication module (730) may include one or more communication processors that operate independently of the processor (710) (e.g., an application processor) and support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (730) may include a wireless communication module (e.g., a Bluetooth communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) or a wired communication module (e.g., a LAN communication module, or a power line communication module) that performs wireless communication. The communication module (730) can, for example, transmit a control command to the wearable device (100) and receive from the wearable device (100) at least one of sensor data containing body movement information of a user wearing the wearable device (100), state data of the wearable device (100), or control result data corresponding to the control command.

[0104] The display module (740) can visually provide information to an external (e.g., user) of the electronic device (210). The display module (740) may include, for example, an LCD or OLED display, a holographic device, or a projector device. The display module (740) may further include a control circuit for controlling the display drive. In one embodiment, the display module (740) may further include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of the force generated by the touch.

[0105] The sound output module (750) can output a sound signal to the outside of the electronic device (210). The sound output module (750) may include a speaker that plays a guide sound signal (e.g., driving start sound, operation error notification sound), music content, or a guide voice based on the state of the wearable device (100). If it is determined that the wearable device (100) is not properly worn on the user's body, for example, the sound output module (750) may output a guide voice to notify the user of the abnormal wear or to induce normal wear. The sound output module (750) may also output a guide voice corresponding to exercise evaluation information or exercise result information that evaluates the user's exercise, for example.

[0106] The input module (760) can receive instructions or data to be used in a component of the electronic device (210) (e.g., processor (710)) from outside the electronic device (210) (e.g., user). The input module (760) may include an input component circuit and may receive user input. The input module (760) may include, for example, a key (e.g., button) or a touch screen.

[0107] FIG. 8 is a flowchart of a method for controlling a wearable device based on a determined type of terrain according to one embodiment.

[0108] In the following embodiments, each operation may be performed sequentially, but is not necessarily performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel.

[0109] Operations 810 to 880 may be performed by an electronic device (e.g., the wearable device (100) of FIG. 1 or the electronic device (210) of FIG. 2). The electronic device may include at least one processor (e.g., the processor (512) of FIG. 5a or the processor (710) of FIG. 7) and a memory for storing instructions (e.g., the memory (514) of FIG. 5a or the memory (720) of FIG. 7). For example, the electronic device may be a user terminal physically separated from the wearable device (e.g., the wearable device (100) of FIG. 1). For example, the electronic device may be a control module included in the wearable device (e.g., the wearable device (100) of FIG. 1) (e.g., the control module (130) of FIG. 1 or the control module (510) of FIG. 5a and FIG. 5b).

[0110] In operation 810, the electronic device may receive sensor information measured using one or more sensors of the wearable device. For example, the wearable device may periodically measure sensor information using one or more sensors. The operating period of each sensor may vary from sensor to sensor. For example, one or more sensors may include an IMU (e.g., the IMU (135) of FIG. 1), a first angle sensor (e.g., the angle sensor (125) of FIG. 1 or the angle sensor (524) of FIG. 5a and 5b), a second angle sensor (e.g., the second angle sensor (524-1) of FIG. 5b), and a barometric pressure sensor. Sensor information includes acceleration sensor information generated by the acceleration sensor of the IMU, and the acceleration sensor information may include acceleration along the X-axis, acceleration along the Y-axis, and acceleration along the Z-axis. Sensor information includes gyro sensor information generated by the gyro sensor of the IMU, and the gyro sensor information may include angles along the X-axis, angles along the Y-axis, and angles along the Z-axis. Sensor information may include left angular velocity information measured by the first angle sensor. Sensor information may include right angular velocity information measured by the second angle sensor. Sensor information may include barometric pressure change amount information measured by the barometric pressure sensor.

[0111] According to one embodiment, the wearable device can periodically measure sensor information using one or more sensors while the power is on. According to one embodiment, the wearable device can periodically measure sensor information using one or more sensors from a time determined to have started walking.

[0112] In operation 820, the electronic device may determine a first type of terrain on which a user wearing a wearable device is walking based on first sensor information received from the wearable device based on a first time. The electronic device may repeatedly determine the first type of terrain on the ground at a preset period (e.g., 200 milliseconds (ms)). For example, if the time when the period arrives is the first time, the latest sensor information based on the first time may be determined as the first sensor information. Since the measurement period may differ for each sensor, the most recently received measurement values ​​for each sensor may be determined as the first sensor information. The first type of terrain may be any one of flat ground, uphill, downhill, uphill stairs, and downhill stairs, and is not limited to the described embodiments.

[0113] According to one embodiment, the first sensor information may include acceleration sensor information and gyroscope sensor information measured by an IMU, left angular velocity information measured by a first angle sensor, right angular velocity information measured by a second angle sensor, and barometric pressure change amount information measured by a barometric pressure sensor of a wearable device.

[0114] According to one embodiment, an electronic device inputs first sensor information into a pre-trained model and can obtain a first type as the output of the pre-trained model. The pre-trained model may be a neural-only based model. For example, the pre-trained model may be a model based on LSTM (long short-term memory). The model may be pre-trained based on sensor information labeled with the actual type of the ground.

[0115] In operation 830, the electronic device may determine whether a preset first event has occurred. For example, the electronic device may determine whether the first event has occurred based on second sensor information. The second sensor information may be the latest sensor information at the time when operation 830 is performed. The first event may be an event related to the degree of progress of walking. For example, the first event may be the occurrence of a heel strike by the user's left leg and / or right leg, and may correspond to a situation or phenomenon that occurs periodically and repeatedly due to walking, not limited to the described embodiments.

[0116] For example, the first event can respond to any heel strike occurrence regardless of whether the heel strike occurs on the user's left leg or right leg. In the above case, the first event can occur every step.

[0117] For example, the first event may only respond to the occurrence of a heel strike by a specific leg of the user (e.g., the first leg or the left leg). In the above case, the first event may occur every step (i.e., every two steps).

[0118] In operation 840, the electronic device may determine a second type of terrain at a second time point based on a first type set including a first type determined from a first time point to a second time point. For example, the first type set may include a plurality of first types determined periodically at different times points. For example, the first type set may include a plurality of first types determined during the time between the time after the time when the previous first event occurred (e.g., the first time point) and the time when the current first event occurs (e.g., the second time point).

[0119] According to one embodiment, the electronic device may determine the dominant type among a plurality of first types of a first type set as the second type. For example, if a plurality of first types of a first type set include flat, flat, flat, and uphill, the second type may be determined as flat.

[0120] According to one embodiment, the electronic device may assign weights according to the determination order to each of a plurality of first types in a first type set and determine a second type based on the weights. For example, if a plurality of first types in a first type set include flat, flat, uphill, and uphill, the second type may be determined as uphill as a larger weight is assigned to the first type determined later.

[0121] In operation 850, the electronic device may determine whether a preset second event has occurred. For example, the electronic device may determine whether the second event has occurred based on third sensor information. The third sensor information may be the latest sensor information at the time when operation 850 is performed. The second event may be an event related to the degree of progress of walking. For example, the second event may be the occurrence of a heel strike by the user's left leg and / or right leg, and may correspond to a situation or phenomenon that occurs periodically and repeatedly due to walking, not limited to the described embodiments. The occurrence frequency of the second event may be less frequent than the occurrence frequency of the first event. For example, the second event may occur once while the first event occurs twice.

[0122] According to one embodiment, the second event may correspond only to the occurrence of a heel strike by a specific leg of the user (e.g., the first leg or the left leg). In the above case, the second event may occur every step (i.e., every two steps). According to an embodiment, the second event may be set to occur every two steps.

[0123] According to one embodiment, an electronic device may determine that a preset second event has occurred when the number of types within a second type set corresponds to a preset number. The second type set may include a plurality of second types determined at different times. The second type set may include a plurality of second types determined during the time between the time after the previous second event occurred and the time when the current second event occurs. For example, if a first event is set to occur every step and a second event is set to occur every two steps (i.e., every step), a preset second event may be determined to have occurred when the number of second types included in the second type set is two.

[0124] In operation 860, the electronic device may determine a third type of terrain at a third time point based on a second type set including a second type. For example, the second type set may include multiple second types determined at different times points. For example, the second type set may include multiple second types determined during the time between the time after the previous second event occurred and the time when the current second event occurred.

[0125] According to one embodiment, the electronic device may determine the dominant type among a plurality of second types of a second type set as the third type. For example, if a plurality of second types of a second type set include flat, flat, flat, and uphill, the third type may be determined as flat.

[0126] According to one embodiment, the electronic device may assign weights according to the determination order to each of a plurality of second types in a second type set and determine a third type based on the weights. For example, if a plurality of second types in a second type set include flat, flat, uphill, and uphill, the third type may be determined as uphill as a larger weight is assigned to the second type determined later.

[0127] According to one embodiment, the electronic device can verify a third type based on information regarding changes in atmospheric pressure. The electronic device can verify a third type based on information regarding changes in atmospheric pressure of sensor information used to determine the third type. For example, if the third type is determined to be uphill but the change in atmospheric pressure according to the information regarding changes in atmospheric pressure does not correspond to an uphill (e.g., corresponds to flat ground or downhill), the third type determined this time may be discarded, and the previously determined third type may be maintained.

[0128] According to one embodiment, the electronic device may output a notification to the user based on the third type determined at this time. For example, a notification may be output to the user only when the third type determined at this time is different from the third type determined previously. When the third type is determined for the first time after the power of the wearable electronic device is turned on, the electronic device may provide guidance on the third type through voice. Subsequently, when the third type is determined again, only a sound effect corresponding to the third type may be output.

[0129] In operation 870, the electronic device may determine a target operation mode of the wearable device based on a third type. For example, the target operation mode may be any one of an assist mode that outputs torque to assist the user's movement (e.g., Boost mode), a resistance mode that outputs torque to hinder the user's movement (e.g., Aqua mode), and a neutral mode that does not output torque (e.g., Freestyle mode), and the target operation mode is not limited to the described embodiments. For example, determining the target operation mode may involve adjusting the level of the operation mode pre-set in the wearable device. The higher the level of the assist mode, the higher the assist force may be output. The higher the level of the resistance mode, the higher the resistance force may be output.

[0130] According to one embodiment, if the determined third type is uphill and the operation mode preset in the wearable device is a resistance mode, the electronic device may determine a target operation mode to lower the level of the resistance mode. For example, the target operation mode may be determined to the lowest level of the resistance mode. A target operation mode corresponding to the third type being uphill may be preset by the user. For example, to assist walking uphill, the target operation mode may be determined to be an assist mode.

[0131] According to one embodiment, if the determined third type is downhill and the operation mode preset in the wearable device is an assistance mode, the electronic device may determine a target operation mode to lower the level of the assistance mode. For example, the target operation mode may be determined to the lowest level of the assistance mode. A target operation mode corresponding to the third type being downhill may be preset by the user. For example, to assist with walking downhill, the target operation mode may be determined to be a resistance mode.

[0132] A method for determining the target operation mode is described in detail below with reference to Fig. 10.

[0133] In operation 880, the electronic device can control the wearable device based on a target operation mode. For example, the electronic device can determine the degree of walking progress of the user based on sensor information and control the wearable device so that an auxiliary torque or resistance torque corresponding to the degree of walking progress is output. The wearable device can output the auxiliary torque or resistance torque through a driving module (e.g., the driving module (120) of FIG. 1, the driving module (35, 45) of FIG. 4, or the driving module (530) of FIG. 5a and 5b).

[0134] Until the third type of ground determined by the user's walking becomes a different type from the current one, the electronic device can control the wearable device based on the target operation mode. When the third type is changed to a different type, the target operation mode is determined again based on the changed third type, and the wearable device can be controlled based on the determined target operation mode.

[0135] FIG. 9 illustrates a method for determining a first type, a second type, and a third type based on the walking of a user in progress, according to one embodiment.

[0136] The terrain on which the user walks may include flat sections (901a) and uphill sections (901b). According to one embodiment, a first type may be repeatedly determined at a preset period (e.g., 200ms) while the user is walking. For example, an electronic device (e.g., the wearable device (100) of FIG. 1 or the electronic device (210) of FIG. 2) may determine the first types (910, 911, 912, 913, 914, 915, 916, 917, 918, 919) based on the latest sensor information (e.g., first sensor information) corresponding to the time (e.g., first time) whenever the preset period arrives. The electronic device may obtain the first type by inputting the first sensor information into a model that has been pre-trained to determine the type of terrain. Each of the first types (910, 911, 912, 913, 914, 915) represents flat terrain, and each of the first types (916, 917, 918, 919) may represent uphill terrain.

[0137] Multiple heel strikes may occur while the user is walking on the terrain. For example, a heel strike of the left leg may occur at time (902a), a heel strike of the right leg may occur at time (902b), a heel strike of the left leg may occur at time (902c), a heel strike of the right leg may occur at time (902d), a heel strike of the left leg may occur at time (902e), and a heel strike of the right leg may occur at time (902f).

[0138] According to one embodiment, the electronic device may determine that a first event has occurred when a heel strike occurs, regardless of whether the heel strike occurs on the user's left leg or right leg. For example, the first event may be determined to have occurred at each of time (902a), time (902b), time (902c), time (902d), time (902e), and time (902f).

[0139] The electronic device may determine a second type of terrain (920) based on a first type set including a first type (910) and a first type (911) determined from time (902a) to time (902b) when the previous first event occurred at time (902b) (e.g., a second time). The second type (920) may represent flat terrain. The electronic device may determine a second type of terrain (921) based on a first type set including a first type (912) and a first type (913) determined from time (902c) to time (902b) when the previous first event occurred at time (902c). The second type (921) may represent flat terrain. The electronic device may determine a second type of terrain (922) based on a first type set including a first type (914) and a first type (915) determined from time (902d) to time (902c) where the previous first event occurred. The second type (922) may represent flat terrain. The electronic device may determine a second type of terrain (923) based on a first type set including a first type (916) and a first type (917) determined from time (902e) to time (902d) where the previous first event occurred. The second type (923) may represent uphill terrain. The electronic device can determine a second type of terrain (924) based on a first type set including a first type (918) and a first type (919) determined from time (902f) to time (902e) at which a previous first event occurred. The second type (924) may represent an uphill slope.

[0140] According to one embodiment, the electronic device may determine that a second event has occurred when a heel strike occurs on the user's right leg. For example, the second event may be determined to have occurred at each of time (902a), time (902c), and time (902e).

[0141] The electronic device may determine a third type of terrain (930) based on a second type set comprising a second type (920) and a second type (921) determined from time (902a) to time (902c) where the previous second event occurred at time (902c) (e.g., the third time). The third type (930) may represent flat terrain. The electronic device may determine a third type of terrain (931) based on a second type set comprising a second type (922) and a second type (923) determined from time (902e) to time (902c) where the previous second event occurred at time (902e). The third type (931) may represent uphill terrain.

[0142] According to one embodiment, the electronic device can verify a third type (930, 931) based on atmospheric pressure change information. The electronic device can verify a third type (930 or 931) based on atmospheric pressure change information of sensor information used to determine the third type (930, 931). For example, if the third type (931) is determined to be uphill, but the atmospheric pressure change according to the atmospheric pressure change information used to determine the first types (914 to 917) does not correspond to uphill, the third type (931) may be discarded, and the previously determined third type (930) may be maintained.

[0143] FIG. 10 illustrates a flowchart of a method for determining a target operation mode of a wearable device based on a third type according to one embodiment.

[0144] In the following embodiments, each operation may be performed sequentially, but is not necessarily performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel.

[0145] According to one embodiment, operations 1010 to 1050 of FIG. 10 may be performed by an electronic device (e.g., the wearable device (100) of FIG. 1 or the electronic device (210) of FIG. 2). For example, operation 870 described above with reference to FIG. 8 may include operations 1010 to 1050.

[0146] In operation 1010, the electronic device can determine whether the third type is flat. If the third type is flat, operation 1020 is performed, and if the third type is uphill or downhill, operation 1030 may be performed.

[0147] In operation 1020, the electronic device may determine the target operation mode as the initial level of the operation mode preset in the wearable device. For example, if the third types are continuously determined as flat, the preset operation mode may be maintained as the target operation mode. For example, the preset operation mode may be an assist mode or a resistance mode set by the user. The term 'initial level' may be the level of the operation mode that was set for the most recent flat. For example, if the third types are determined in the order of the first flat, the first uphill, and the second flat, and the resistance mode level 3 was set on the first flat and changed to the resistance mode level 1 on the first uphill, the target operation mode on the second flat may be determined as the resistance mode level 3 (i.e., the initial level).

[0148] In operation 1030, the electronic device can determine whether the third type is uphill (or downhill). If the third type is uphill, operation 1040 is performed, and if the third type is downhill, operation 1050 may be performed.

[0149] In operation 1040, if the determined third type is uphill and the operation mode preset in the wearable device is resistance mode, the electronic device may determine a target operation mode to lower the level of the resistance mode. For example, the target operation mode may be determined to the lowest level of the resistance mode (e.g., level 1). A target operation mode corresponding to the third type being uphill may be preset by the user. For example, to assist walking uphill, the target operation mode may be determined to be assistance mode. If the next third type is flat, the target operation mode may be set to the initial level of the preset operation mode.

[0150] In operation 1050, if the determined third type is downhill and the operation mode preset in the wearable device is an assistance mode, the electronic device may determine a target operation mode to lower the level of the assistance mode. For example, the target operation mode may be determined to the lowest level of the assistance mode (e.g., level 1). A target operation mode corresponding to the third type being downhill may be preset by the user. For example, to assist with walking downhill, the target operation mode may be determined to be a resistance mode. If the next third type is flat, the target operation mode may be set to the initial level of the preset operation mode.

[0151] FIG. 11 illustrates a flowchart of a method for transmitting mutually associated third type and GPS information to a pre-specified server according to one embodiment.

[0152] In the following embodiments, each operation may be performed sequentially, but is not necessarily performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel.

[0153] According to one embodiment, the following operations 1110 to 1130 may be performed by an electronic device (e.g., the wearable device (100) of FIG. 1 or the electronic device (210) of FIG. 2). The operations 1110 to 1130 may be performed after the operation 860 described above with reference to FIG. 8 has been performed.

[0154] In operation 1110, the electronic device can acquire GPS information corresponding to the time at which the third type is determined. For example, the GPS can be acquired by a wearable device (100) or the electronic device (210) of FIG. 2. The electronic device can acquire GPS information periodically, and the latest GPS sensor information can be determined based on the time at which the third type is determined.

[0155] In operation 1120, the electronic device can associate the third type with GPS information. As the third type is associated with the GPS information, which is two-dimensional data, the area corresponding to the GPS information can be detailed not only by location information but also by topographic information.

[0156] In operation 1130, the electronic device can transmit the associated third type and GPS information to a pre-designated server (e.g., server (230) of FIG. 2).

[0157] FIG. 12 illustrates a flowchart of a method for simulating a virtual walking path according to one embodiment.

[0158] In the following embodiments, each operation may be performed sequentially, but is not necessarily performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel.

[0159] Operations 1210 to 1270 may be performed by an electronic device (e.g., the wearable device (100) of FIG. 1 or the electronic device (210) of FIG. 2). The electronic device may include at least one processor (e.g., the processor (512) of FIG. 5a or the processor (710) of FIG. 7) and a memory for storing instructions (e.g., the memory (514) of FIG. 5a or the memory (720) of FIG. 7). For example, the electronic device may be a user terminal physically separated from the wearable device (e.g., the wearable device (100) of FIG. 1). For example, the electronic device may be a control module included in the wearable device (e.g., the wearable device (100) of FIG. 1) (e.g., the control module (130) of FIG. 1 or the control module (510) of FIG. 5a and FIG. 5b).

[0160] In operation 1210, the electronic device may receive a selection of virtual walking paths. For example, the user may select a virtual walking path that they wish to train (or experience) from among one or more virtual walking paths stored in the electronic device or a pre-designated server (e.g., the server (230) of FIG. 2). For example, one or more virtual walking paths may be famous trekking courses or hiking courses.

[0161] In operation 1220, the electronic device can acquire terrain information for a virtual walking path. For example, the virtual walking path may include GPS information and terrain information stored for an actual walking path. For example, the terrain information for the virtual walking path may be slope information from the starting position to the ending position of the virtual walking path. For example, the slope information may be information based on a third type determined through operation 860 described above with reference to FIG. 8.

[0162] In operation 1230, the electronic device can determine a virtual current position on a virtual walking path based on the distance the user walks or travels. For example, a user wearing a wearable device (e.g., the wearable device (100) of FIG. 1) may walk on flat ground or on a treadmill. The electronic device can calculate the distance the user walks or travels using sensor information from the wearable device while the virtual walking path is being simulated. For example, if the user walks 100 meters, the virtual current position can be determined as a location 100 meters along the path from the starting position of the virtual walking path.

[0163] According to one embodiment, an electronic device may provide a scene of a virtual walking path as augmented reality (AR) or virtual reality through an image output device capable of providing an image of augmented reality (AR) or virtual reality (VR) to a user. For example, the electronic device may generate a scene of a virtual walking path corresponding to a virtual current location as an augmented reality image or a virtual reality image, and output the generated augmented reality image or virtual reality image through an image output device.

[0164] In operation 1240, the electronic device can determine the operation mode of the wearable device based on a virtual current location. The electronic device can determine the operation mode of the wearable device based on terrain information associated with the virtual current location.

[0165] For example, if the terrain information associated with the virtual current location indicates an uphill slope, the operation mode may be set to resistance mode so that a user actually on flat ground can virtually experience an uphill climb. The level of the resistance mode may be determined based on the gradient of the uphill slope. The higher the gradient of the uphill slope, the higher the level of the resistance mode may be.

[0166] For example, if the terrain information associated with the virtual current location is downhill, the operation mode may be determined as an assist mode so that a user actually on flat ground can virtually experience a downhill slope. The level of the assist mode may be determined based on the gradient of the downhill. The higher the gradient of the downhill, the higher the level of the resistance mode may be.

[0167] For example, if the terrain information associated with the virtual current location is flat, the operation mode may be determined as neutral mode because the user is actually on flat ground.

[0168] In operation 1250, the electronic device may acquire user walking information while a virtual walking path is simulated. For example, user walking information may be acquired through the electronic device, a wearable device and / or another wearable device connected to the electronic device (e.g., another wearable device (220) of FIG. 2). For example, user walking information may include at least one of heart rate, cadence value, and stride length, but is not limited to the described embodiments.

[0169] In operation 1260, the electronic device can store user walking information in association with the progress of a virtual walking path. For example, the electronic device can store user walking information obtained from a virtual current location in association with the virtual current location.

[0170] In operation 1270, the electronic device can transmit user walking information associated with the progress of a virtual walking path to a pre-specified server.

[0171] FIG. 13 is a flowchart of a method for outputting a guide message to a user proceeding along an actual walking path according to one embodiment.

[0172] In the following embodiments, each operation may be performed sequentially, but is not necessarily performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel.

[0173] Operations 1310 to 1370 may be performed by an electronic device (e.g., the electronic device (210) of FIG. 2 or another wearable device (220)). The electronic device may include at least one processor (e.g., the processor (710) of FIG. 7) and a memory for storing instructions (e.g., the memory (720) of FIG. 7).

[0174] According to one embodiment, a user of an electronic device can walk a real walking path corresponding to a virtual walking path without wearing a wearable device (e.g., the wearable device (100) of FIG. 1). If the user has a history of generating user walking information for the virtual walking path, the electronic device can output an appropriate guide message to the user based on the user walking information.

[0175] In operation 1310, the electronic device may receive a selection of a virtual walking path. For example, the selected virtual walking path may be a virtual walking path for which the user has a history of generating user walking information for the virtual walking path.

[0176] In operation 1320, the electronic device can acquire GPS information. For example, the electronic device can periodically acquire GPS information while the user is walking.

[0177] In operation 1330, the electronic device can determine the progress of a virtual walking path based on GPS information.

[0178] In operation 1340, the electronic device may determine target user walking information associated with the progress of a virtual walking path. For example, the target user walking information may include at least one of a heart rate, a cadence value, and a stride length, and is not limited to the described embodiments.

[0179] In operation 1350, the electronic device can obtain current user walking information. For example, current user walking information may be obtained through the electronic device or another wearable device connected to the electronic device (e.g., another wearable device (220) of FIG. 2). For example, current user walking information may include at least one of heart rate, cadence value, and stride length, and is not limited to the described embodiments.

[0180] In operation 1360, the electronic device can determine a guide message based on target user walking information and current user walking information. For example, the guide message may be a coaching message. For example, if the current heart rate of the current user walking information is lower than the target heart rate of the target user walking information, a guide message may be determined to increase the heart rate. For example, a guide message may be determined to increase the walking speed of the user.

[0181] In operation 1370, the electronic device may output a guide message. For example, the guide message may be output via voice or screen.

[0182] According to one embodiment, an electronic device (100; 210) comprises at least one processor (512; 710) including a processing circuit, and a memory (514; 720) including one or more storage media for storing instructions, and when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) causes: to determine a first type of terrain in which a user (110) wearing the wearable device (100) is walking based on first sensor information received from the wearable device (100) based on a first time point, and if it is determined that a preset first event associated with walking has occurred, to determine a second type of terrain based on a first type set including the first type determined from the first time point to the second time point at a second time point, and if it is determined that a preset second event associated with walking has occurred at a third time point, based on a second type set including the second type determined from the first time point to the third time point A third type of terrain can be determined, a target operation mode of the wearable device (100) can be determined based on the third type, and the wearable device (100) can be controlled based on the target operation mode.

[0183] According to one embodiment, the first sensor information may include acceleration sensor information and gyroscope sensor information measured by an IMU (135) of a wearable device (100), left angular velocity information measured by a first angle sensor of the wearable device (100), right angular velocity information measured by a second angle sensor of the wearable device (100), and atmospheric pressure change amount information measured by an atmospheric pressure sensor of the wearable device (100).

[0184] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to input first sensor information into a pre-trained model and obtain a first type as the output of the pre-trained model.

[0185] According to one embodiment, each of the types within the first set of types can be generated at preset cycles.

[0186] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be made to determine whether a preset first event associated with walking has occurred based on second sensor information received from a wearable device (100).

[0187] According to one embodiment, the preset first event may be the occurrence of a heel strike by the first leg of the user (110) or the occurrence of a heel strike by the second leg.

[0188] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be made to determine whether a preset second event associated with walking has occurred.

[0189] According to one embodiment, a preset second event may be the occurrence of a heel strike by the first leg of the user (110).

[0190] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to determine that a preset second event has occurred if the number of types in a second type set corresponds to a preset number.

[0191] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to determine a target operating mode to lower the level of the resistance mode when the third type is uphill and the operating mode set in the wearable device (100) is a resistance mode.

[0192] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to determine a target operation mode to lower the level of the auxiliary mode when the third type is downhill and the operation mode set in the wearable device (100) is an auxiliary mode.

[0193] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to: acquire GPS information corresponding to a third time, associate the third type and GPS information with each other, and transmit the associated third type and GPS information to a preset server.

[0194] According to one embodiment, the electronic device (100; 210) may be included in the wearable device (100).

[0195] According to one embodiment, a method for controlling a wearable device (100), performed by an electronic device (100; 210), comprises: an operation (820) of determining a first type of terrain on which a user (110) wearing the wearable device (100) is walking based on first sensor information received from the wearable device (100) based on a first time; an operation (840) of determining a second type of terrain based on a first type set including a first type determined from a first time to a second time when it is determined that a preset first event associated with walking has occurred at a second time; an operation (860) of determining a third type of terrain based on a second type set including a second type determined from a first time to a third time when it is determined that a preset second event associated with walking has occurred at a third time; an operation (870) of determining a target operation mode of the wearable device (100) based on the third type; and controlling the wearable device (100) based on the target operation mode. It may include operation (880).

[0196] According to one embodiment, a computer program may be stored in a computer-readable recording medium to execute a method of controlling the wearable device (100) in combination with hardware.

[0197] According to one embodiment, the wearable device (100) comprises a base body (80) located at the waist of the user (110) when the wearable device (100) is worn on the body of the user (110), a connecting frame (20) and a leg frame (50, 55) for supporting at least a part of the body of the user (110), a thigh fastening part (1, 2) for fixing the leg frame (50, 55) to the thigh of the user (110), an IMU (135) disposed within the base body (80), and a driving module (35; 45; 120; 530; 530-1) for generating torque applied to the leg of the user (110) - the driving module (35; 45; 120; 530; 530-1) is located between the connecting frame (20) and the leg frame (50, 55), and the driving module (35; 45; 120; 530; 530-1) includes a motor (534; 534-1) and a motor driver circuit (532; 532-1) -, at least one processor (512) including a processing circuit, and a memory (514) including one or more storage media for storing instructions, and when instructions are executed individually or collectively by at least one processor (512), the wearable device (100) causes: to determine a first type of terrain on which a user (110) is walking based on first sensor information measured using one or more sensors of the wearable device (100) based on a first time point, and if it is determined that a preset first event associated with walking has occurred, to determine a second type of terrain based on a first type set including the first type determined from the first time point to the second time point at a second time point, and if it is determined that a preset second event associated with walking has occurred at a third time point, to determine a second type of terrain based on a second type set including the second type determined from the first time point to the third time point A third type is determined, and based on the third type, a target operation mode of the wearable device (100) is determined, and based on the target operation mode, a driving module (35; 45; 120; 530;It can be made to control 530-1).;

[0198] According to one embodiment, the first sensor information may include acceleration sensor information and gyroscope sensor information measured by the IMU (135) of the wearable device (100), left angular velocity information measured by the first angle sensor (524) of the wearable device (100), right angular velocity information measured by the second angle sensor (524-1) of the wearable device (100), and atmospheric pressure change amount information measured by the atmospheric pressure sensor of the wearable device (100).

[0199] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512), the wearable device (100) may be made to determine whether a preset first event associated with walking has occurred based on second sensor information measured using one or more sensors.

[0200] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512), the wearable device (100) may be made to determine that a preset second event associated with walking has occurred in the event of a heel strike by the second leg of the user (110).

[0201] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512), the wearable device (100) may be configured to: acquire GPS information corresponding to a third time, associate the third type and GPS information with each other, and transmit the associated third type and GPS information to a preset server (230).

[0202] The embodiments described above may be implemented as hardware components, software components, and / or combinations of hardware 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 and responding to instructions. The processing unit may execute an operating system (OS) and software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit may be described as being used as a single unit, but those skilled in the art will understand that the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. In addition, other processing configurations, such as parallel processors, are also possible.

[0203] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or command the processing unit independently or collectively. Software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave in order to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed over networked computer systems and may be stored or executed in a distributed manner. Software and data may be stored on computer-readable recording media.

[0204] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either alone or in combination, and the program instructions recorded on the medium may be those specifically designed and configured for the embodiment or those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0205] The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

[0206] Although the embodiments described above have been explained with reference to limited drawings, those skilled in the art can apply various technical modifications and variations based thereon. For example, appropriate results can be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents.

[0207] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

1. In an electronic device (100; 210), At least one processor (512; 710) including a processing circuit; and It includes a memory (514; 720) comprising one or more storage media for storing instructions, and When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: Based on first sensor information received from the wearable device (100) at a first time, a first type of terrain is determined in which a user (110) wearing the wearable device (100) is walking, and If it is determined that a preset first event associated with the above walking has occurred, a second type of terrain is determined at a second time based on a first type set including the first type determined from the first time to the second time, and If it is determined that a preset second event associated with the walking occurred at the third time point, the third type of the terrain is determined based on a second type set including the second type determined from the first time point to the third time point, and Based on the above third type, a target operation mode of the wearable device (100) is determined, and Control the wearable device (100) based on the above target operation mode making, Electronic device (100; 210).

2. In Paragraph 1, The above first sensor information is, Accelerometer sensor information and gyroscope sensor information measured by the IMU (135) of the wearable device (100), Left angular velocity information measured by the first angle sensor of the above-mentioned wearable device (100), Right angular velocity information measured by the second angle sensor of the wearable device (100), and Information on the amount of change in atmospheric pressure measured by the atmospheric pressure sensor of the wearable device (100) including, Electronic device (100; 210).

3. In Paragraph 1 or 2, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: Input the above first sensor information into a pre-trained model, and obtain the above first type as the output of the pre-trained model. making, Electronic device (100; 210).

4. In any one of paragraphs 1 through 3, Each of the types within the above first type set is generated at preset intervals. Electronic device (100; 210).

5. In any one of paragraphs 1 through 4, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: Determining whether the preset first event associated with walking has occurred based on the second sensor information received from the wearable device (100). making, Electronic device (100; 210).

6. In any one of paragraphs 1 through 5, The above-mentioned preset first event is the occurrence of a heel strike by the first leg of the user (110) or the occurrence of a heel strike by the second leg, Electronic device (100; 210).

7. In any one of paragraphs 1 through 6, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: Determining whether the aforementioned preset second event associated with the above walking has occurred making, Electronic device (100; 210).

8. In any one of paragraphs 1 through 7, The above-mentioned preset second event is the occurrence of a heel strike by the first leg of the user (110), Electronic device (100; 210).

9. In any one of paragraphs 1 through 8, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: If the number of types within the above second type set corresponds to a preset number, it is determined that the preset second event has occurred. making, Electronic device (100; 210).

10. In any one of paragraphs 1 through 9, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: If the above third type is uphill and the operation mode set in the wearable device (100) is a resistance mode, the target operation mode is determined to lower the level of the resistance mode. making, Electronic device (100; 210).

11. In any one of paragraphs 1 through 10, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: If the above third type is downhill and the operation mode set in the wearable device (100) is an auxiliary mode, the target operation mode is determined to lower the level of the auxiliary mode. making, Electronic device (100; 210).

12. In any one of paragraphs 1 through 11, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: Obtain GPS information corresponding to the above third time, and The above third type and the above GPS information are associated with each other, Transmit the aforementioned third type and the GPS information associated with each other to a preset server making, Electronic device (100; 210).

13. In any one of paragraphs 1 through 12, The electronic device (100; 210) is included in the wearable device (100). Electronic device (100; 210).

14. A method for controlling a wearable device (100), performed by an electronic device (100; 210), wherein An operation (820) for determining a first type of terrain on which a user (110) wearing the wearable device (100) is walking, based on first sensor information received from the wearable device (100) at a first time; If it is determined that a preset first event associated with the above walking has occurred, an operation (840) to determine a second type of terrain based on a first type set including the first type determined from the first time to the second time at the second time; If it is determined that a preset second event associated with the walking occurred at the third time point, an operation (860) to determine the third type of the terrain based on a second type set including the second type determined from the first time point to the third time point; An operation (870) for determining a target operation mode of the wearable device (100) based on the above third type; and Operation (880) for controlling the wearable device (100) based on the above target operation mode including, method.

15. A computer-readable recording medium storing a program for executing the method according to paragraph 14.

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