Electronic device and wearable device having wearing state detection function, and operating methods thereof

Abstract

Disclosed are an electronic device and a wearable device having a wearing state detection function, and operating methods thereof. The operating method of the wearable device may comprise the steps of: acquiring sensor data from a sensor; determining, on the basis of the sensor data, an angular velocity of a user's first leg and an angular velocity of the user's second leg; determining whether a first condition based on the angular velocity of the first leg and the angular velocity of the second leg is satisfied; determining, on the basis of the sensor data, an angle of the user's first leg and an angle of the user's second leg; determining whether a second condition based on the angle of the first leg and the angle of the second leg is satisfied; when the first condition and the second condition are determined to be satisfied, generating a trigger signal for guiding an electronic device to change the state of an exercise program; and transmitting the generated trigger signal to the electronic device.

Description

Wearable device and electronic device equipped with a wearing state detection function, and a method of operating the same

[0001] The present disclosure relates to a wearable device and an electronic device equipped with a wearing state detection function, and a method of operating the same.

[0002] Generally, a walking assistance device is a device or apparatus that assists patients unable to walk on their own due to various diseases or accidents in performing walking exercises for rehabilitation, and / or assists a person in exercising. Recently, with the deepening of the aging society, interest in walking assistance devices has been rising as the number of people who have difficulty walking normally due to leg joint problems or complain of discomfort while walking increases. Walking assistance devices are worn on the user's body to assist with necessary muscle strength and / or to assist with exercise and / or walking by guiding the user's gait to enable walking in a normal walking pattern. Such walking assistance devices can also perform the function of assisting the user with various leg exercises (e.g., power walking, jogging, climbing stairs, lunges, stretching).

[0003] The information described above may be provided as related art for the purpose of aiding understanding of the present disclosure. None of the foregoing is to be claimed as prior art related to the present disclosure, nor is it to be used to determine prior art.

[0004] The means for resolving this problem is provided to introduce, in a simplified form, some of the concepts described in detail in the detailed description below. The means for resolving this problem is not intended to identify the primary or essential features of the claimed configuration, nor is it intended to assist in determining the scope of the claimed configuration.

[0005] A method of operation of a wearable device according to one embodiment may include: acquiring sensor data from a sensor; determining an angular velocity for a user's first leg and an angular velocity for a user's second leg based on the sensor data; determining whether a first condition based on the angular velocity for the first leg and the angular velocity for the second leg is satisfied; determining an angle for a user's first leg and an angle for a user's second leg based on the sensor data; determining whether a second condition based on the angle for the first leg and the angle for the second leg is satisfied; generating a trigger signal to induce an electronic device to change the state of an exercise program when it is determined that the first condition and the second condition are satisfied; and transmitting the generated trigger signal to the electronic device.

[0006] A wearable device according to one embodiment may include one or more sensors that acquire sensor data including movement information of the wearable device caused by the movement of a user wearing the wearable device, a communication circuit for communicating with an electronic device, one or more memories that store instructions, and one or more processors. When the instructions are executed individually or collectively by one or more processors, the wearable device may determine the angular velocity of the user's first leg and the angular velocity of the user's second leg based on the sensor data, determine whether a first condition based on the angular velocity of the first leg and the angular velocity of the second leg is satisfied, determine the angle of the user's first leg and the angle of the user's second leg based on the sensor data, determine whether a second condition based on the angle of the first leg and the angle of the second leg is satisfied, and if it is determined that the first condition and the second condition are satisfied, the electronic device may generate a trigger signal to induce a change in the state of an exercise program and transmit the generated trigger signal to the electronic device.

[0007] These and / or other aspects, features, and advantages will become apparent and more easily understood from the following description of exemplary embodiments together with the accompanying drawings.

[0008] FIG. 1 is a drawing for illustrating an overview of a wearable device worn on a user's body according to various embodiments.

[0009] FIG. 2 is a drawing for explaining an exercise assistance system according to various embodiments.

[0010] FIG. 3 shows a schematic rear view of a wearable device according to various embodiments.

[0011] FIG. 4 shows a left side view of a wearable device worn on a user's body according to various embodiments.

[0012] FIG. 5 is a diagram illustrating the configurations of the electronic system of a wearable device according to various embodiments.

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

[0014] FIG. 7 is a drawing illustrating the configurations of an electronic device according to various embodiments.

[0015] FIG. 8 is a flowchart for explaining the operations of a method of operating a wearable device according to various embodiments.

[0016] FIGS. 9a and 9b are drawings for explaining whether a condition based on the angular velocity of a user's leg according to various embodiments is satisfied.

[0017] FIG. 10 is a drawing for explaining whether a condition based on the angle of a user's leg according to various embodiments is satisfied.

[0018] FIGS. 11 and FIGS. 12 are drawings for illustrating examples in which the state of an exercise program running in an electronic device is changed by a trigger signal according to various embodiments.

[0019] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are given the same reference numeral regardless of the drawing number, and redundant descriptions thereof will be omitted.

[0020]

[0021] FIG. 1 is a drawing for illustrating an overview of a wearable device worn on a user's body according to various embodiments.

[0022] 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. The wearable device (100) may also be used to measure the physical abilities of the user (110) (e.g., walking ability, exercise ability, exercise posture). In certain embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking aid', or 'exercise aid'. The user (110) may be a person who wears the wearable device (100) and performs walking, exercising, or working.

[0023] In certain embodiments, for convenience of explanation, a hip-type wearable device (100) as illustrated in FIG. 1 is described as an example, but the scope of the embodiment is not limited thereto. As described above, the wearable device (100) may also be worn on other body parts other than the waist and thighs (e.g., upper arm, forearm, hand, calf, or foot). Depending on the body part on which it is worn, the shape and configuration of the wearable device (100) may vary.

[0024] A wearable device (100) is worn on the body of a user (110) (e.g., lower body (legs, ankles, knees, etc.) and / or upper body (torso, arms, wrists, etc.)) 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 acting 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 acting 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'.

[0025] 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 a driving module (including a motor) of the wearable device (100) to the body of the user (110). The wearable device (100) may expand the walking ability of the user (110) by enabling independent walking or long-term walking by assisting the force required for the user's (110) walking. The wearable device (100) may also help improve the walking of a user whose walking habits or walking posture are abnormal.

[0026] In one embodiment, the wearable device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110) or to provide the user (110) with various exercise experiences. The exercise assistance mode may include a resistance mode and an assistance mode. The resistance mode of the exercise assistance mode represents a mode that hinders the user's (110) body movement or provides resistance to the user's (110) body movement by applying resistance force generated from a driving module 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 further enhance the exercise effect on the user's (110) legs by providing an exercise load to the user's (110) leg movements while worn on the legs in resistance mode. The assistance mode of the exercise assistance mode represents a mode that applies an assisting force to the user's (110) body to assist the user's (110) body movement. In the assist mode, an assist force, which is a force in the same direction as the body movement, is provided to the user (110). For example, when a disabled person or an elderly person wears the wearable device (100) and exercises, the wearable device (100) can provide an assist force to assist the body movement. In the assist mode, the wearable device (100) can provide a force in the same direction as the user's (110) leg movement, and the user (110) can perform the exercise with less force through the force provided by the wearable device (100). In an exercise program performed using the wearable device (100), the resistance mode and the assist mode may be operated in combination. For example, the wearable device (100) may provide the assist force and the resistance force in combination for exercise segments or time segments, such as providing the assist force in some exercise segments and the resistance force in other exercise segments.

[0027] In the exercise assistance mode, various exercise programs may be operated according to the exercise purpose and / or the physical ability of the user (110). The exercise program is exercise content performed by the user (110) using the wearable device (100), and may include, for example, aerobic exercise, strength training, posture balancing exercise, or any combination thereof. The types of exercise programs are not limited to these and may vary. Depending on the exercise program performed by the wearable device (100), the resistance mode and the assistance mode may be operated in an appropriate alternating manner, and during the user's (110) exercise performance, a target exercise speed suitable for the user's (110) physical condition (e.g., heart rate) may be guided to the user.

[0028] 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 movement information of the user (110) using a sensor (e.g., angle sensor, inertial measurement unit; IMU) provided in the wearable device (100) while the user (110) is walking and / or exercising, and may evaluate the physical ability of the user (110) based on the measured movement information. Through the movement information of the user (110) measured by the wearable device (100), walking indicators of the user (110) (e.g., number of steps, total walking distance, stride length) and / or exercise ability indicators (e.g., muscle strength, exercise endurance, posture balance) may be measured.

[0029] The wearable device (100) may include a support frame (e.g., waist support frame (20) of FIG. 3) for supporting the body of the user (110) when the wearable device (100) is worn on the body of the user (110), a drive module (e.g., first drive module (45), second drive module (35) of FIG. 3) for generating torque applied to the legs of the user (110), a torque transmission frame (e.g., first torque transmission frame (55) and second torque transmission frame (50) of FIG. 3) for transmitting the torque generated by the drive module to the legs of the user (110), a sensor circuit including one or more sensors for acquiring sensor data containing movement information regarding the body movements (e.g., leg movements, pelvic movements) of the user (110), a control circuit (e.g., control circuit (510) of FIG. 5) for controlling the operation of the wearable device (100), and a battery for supplying power to each component of the wearable device (100).

[0030] In one embodiment, the sensor circuit of the wearable device (100) may include an angle sensor (e.g., the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5) and an inertial sensor (e.g., the inertial sensor (522) of FIG. 5). The angle sensor may measure the rotation angle of the torque transmission frame of the wearable device (100) corresponding to the hip joint angle of the user (110). The angle sensor may include, for example, an encoder and / or a Hall sensor. In one embodiment, the angle sensor may be placed near where a motor included in the drive module is directly or indirectly connected to the torque transmission frame. The inertial sensor may include an accelerometer, a gyroscope, and a magnetometer, and may measure changes in acceleration and / or angular velocity according to the movement of the user (110). The inertial sensor can measure, for example, the movement of the waist support frame or base body of the wearable device (100) (e.g., the base body (80) of FIG. 3). The movement of the waist support frame or base body measured by the inertial sensor may correspond to the movement of the user's (110) pelvis (or upper body movement).

[0031] In one embodiment, an inertial sensor, a control circuit, peripheral circuits (e.g., an acoustic output circuit, a communication circuit, a haptic circuit), and a battery may be placed within the base body of the wearable device (100). The base body may be located at the waist area of ​​the user (110) while the user (110) is wearing the wearable device (100). The base body may be formed or attached to the outside of the waist support frame of the wearable device (100). The base body may support the lumbar region of the user (110).

[0032]

[0033] FIG. 2 is a drawing for explaining an exercise assistance system according to various embodiments.

[0034] Referring to FIG. 2, the exercise assistance system (200) may include a wearable device (100), an electronic device (210), another wearable device (220), and a server (230). In the exercise assistance system (200), at least one of the remaining devices other than the wearable device (100) (e.g., electronic device (210), another wearable device (220), or server (230)) may be omitted, or one or more other devices (e.g., a dedicated controller device for the wearable device (100)) may be added.

[0035] 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.

[0036] 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 and / or an assisting force to assist 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 to be performed using the wearable device (100) via an electronic device (210) (e.g., aerobic exercise such as power walking and outdoor walking, strength exercise such as squats, split lunges, dumbbell squats and lunges and knee ups, stretching, posture balancing exercises, or any combination thereof) and / or an exercise intensity applied to the exercise program. The wearable device (100) may control the driving module of the wearable device (100) according to the exercise program and / or exercise intensity selected by the user. For example, the wearable device (100) may adjust the strength of the resistance force and / or assisting force generated through the driving module according to the exercise intensity selected by the user. The wearable device (100) can control the drive module to generate resistance corresponding to the exercise intensity selected by the user. As the exercise intensity increases, the magnitude of the resistance applied to the user can also increase.

[0037] In one embodiment, the wearable device (100) may be used to measure a user's physical ability (e.g., walking 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 a user's physical ability under the control of the electronic device (210), and may transmit sensor data including movement information of the wearable device (100) according to the user's physical movement in the physical ability measurement mode to the electronic device (210). The electronic device (210) may analyze the sensor data received from the wearable device (100) to evaluate the user's physical ability and provide the evaluation results to the user. Based on the evaluation results of the physical ability, the electronic device (210) may recommend an exercise program to the user or provide guidance voice during exercise. For example, if the walking speed is evaluated poorly in the evaluation of walking ability, the electronic device (210) may recommend an exercise program (e.g., power walking program) to improve the user's walking speed or output a guide voice to induce improvement in walking speed during the user's walking.

[0038] The wearable device (100) can transmit sensor data measured through an angle sensor and / or inertial sensor and device information of the wearable device (100) (e.g., charging status information, operation mode information, setting information) to an electronic device (210) and / or a server (230), and can receive a control signal from the electronic device (210) and / or the server (230) to control the operation of the wearable device (100).

[0039] The electronic device (210) can communicate with the wearable device (100) via wireless communication (e.g., Bluetooth communication) or wired communication, and can remotely control the wearable device (100) or provide status information to the user regarding the status of the wearable device (100) (e.g., booting status, charging status, exercise program operation status, error status). The electronic device (210) can recommend an exercise program using the wearable device (100) to the user and can analyze the exercise performed by the user. The electronic device (210) can receive sensor data acquired by the sensors (e.g., angle sensor, inertial sensor) of the wearable device (100) from the wearable device (100), and can measure the user's current exercise status, exercise results, exercise posture and / or physical ability based on the received sensor data. The electronic device (210) can provide the user with the user's measured current exercise status, exercise results, exercise posture and / or physical ability through a graphical user interface (GUI).

[0040] In one embodiment, a user may run a program (e.g., an application) on an electronic device (210) to control the wearable device (100), and through the program, the user may adjust the operation or setting values ​​of the wearable device (100) (e.g., torque intensity output from the motor of the drive module, volume of audio output from the sound output circuit (e.g., sound output circuit (550) of FIG. 5), and brightness of the lighting module (e.g., lighting module (85) of FIG. 3). The program running on the electronic device (210) may provide a graphical user interface 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, 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.

[0041] According to one embodiment, an 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, medical history, 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). In one embodiment, the server (230) may be connected to the wearable device (100). The server (230) can receive sensor data measured by the wearable device (100) from the wearable device (100) and can transmit control signals and / or exercise program-related data to the wearable device (100) to control the operation of the wearable device (100). In one embodiment, the server (230) may be a cloud server.

[0042] According to one embodiment, a wearable device (100) and / or an electronic device (210) may be connected directly or indirectly to another wearable device (220). User exercise result information, physical ability information, and / or exercise motion evaluation information determined 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). Other wearable devices (220) may be, for example, wireless earphones (222), a smartwatch (or a watch-type wearable device) (224) or smart glasses (a wearable device in the form of glasses or goggles) (226), but are not limited to the aforementioned devices.

[0043] In one embodiment, the wireless earphone (222) is wirelessly connected to the electronic device (210) and / or the wearable device (100) to output a guide voice, music, and / or sound effects related to an exercise program. The wireless earphone (222) can provide the user with a guide voice for providing information related to the exercise program (e.g., an introduction to the exercise program, remaining exercise time) and / or a guide voice for real-time exercise coaching. The wireless earphone (222) may include a microphone, and the microphone may receive voice input from the user. Voice input received through the microphone may be transmitted to the electronic device (210), and voice recognition for the voice input may be performed on the electronic device (210).

[0044] In one embodiment, the smartwatch (224) may include a biosensor (e.g., heart rate sensor, electromyograph sensor) that measures a biosignal including a user's heart rate information, and may transmit the biosignal measured through the biosensor to an electronic device (210) and / or a wearable device (100). The electronic device (210) may measure the user's heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) and / or electromyograph information based on the biosignal received from the smartwatch (224), for example, and may provide the measured heart rate information and / or electromyograph information to the user.

[0045] In one embodiment, the smartwatch (224) may include an inertial sensor for measuring user movement information and / or a position sensor for measuring user location information, and may transmit the user movement information and / or location information to an electronic device (210) and / or a wearable device (100). The smartwatch (224) may include a communication circuit (e.g., a short-range communication circuit) for communicating with other devices (e.g., the electronic device (210), the wearable device (100)). In one embodiment, the smartwatch (224) may provide an exercise program interface through a display. The exercise program interface may be implemented through a separate application installed on the smartwatch (224). The user may also control the wearable device (100) through the smartwatch (224).

[0046] In one embodiment, the smart glasses (226) can provide information to the user through a glass-shaped display. For example, the smart glasses (226) can output information such as current exercise speed, target exercise speed, current exercise amount achieved, exercise performance time, and / or biometric information through the display in exercise mode. Additionally, the smart glasses (226) can output a screen to guide the user on an exercise path.

[0047]

[0048] FIG. 3 shows a rear schematic view of a wearable device according to various embodiments. FIG. 4 shows a left side view of a wearable device worn on a user's body according to various embodiments.

[0049] Referring to FIGS. 3 and 4, a wearable device (100) according to one embodiment may include a base body (80), a waist support frame (20), a driving module (35, 45), a torque transmission frame (50, 55), a thigh fastening part (1, 2), and a waist fastening part (60). In one embodiment, at least one of these components may be omitted from the wearable device (100), or one or more other components may be added.

[0050] 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) to prevent the wearable device (100) from falling downward due to gravity while the user is wearing the wearable device (100), or to reduce the possibility of it falling off. 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 directly or indirectly to the waist support frame (20). Both ends of the base body (80) may be provided with waist support frame connecting elements (not shown) that can be connected directly or indirectly to the waist support frame (20).

[0051] In one embodiment, at least one of a processor (e.g., processor (512) of FIG. 5), a battery, a power management integrated circuit (PMIC) that converts the power of the battery to match the operating voltage of each component of the wearable device (100) and supplies it to each component, a memory (e.g., memory (514) of FIG. 5), an inertial sensor (e.g., inertial sensor (522) of FIG. 5), a communication circuit (e.g., communication circuit (516) of FIG. 5), an acoustic output circuit (e.g., acoustic output circuit (550) of FIG. 5), or a haptic circuit (e.g., haptic circuit (560) of FIG. 5) may be located inside the base body (80). The base body (80) can protect the components placed inside.

[0052] In one embodiment, a display (not shown) may be provided on the outer surface of the base body (80). The display may provide various visual information related to the wearable device (100) (e.g., status information of the wearable device (100)) and a screen for a user interface.

[0053] The waist support frame (20) can support the user's body (e.g., waist) when the wearable device (100) is worn on the user's body. The waist support frame (20) may extend from both ends of the base body (80). The user's lower back may be accommodated within the waist support frame (20). The waist support frame (20) may include at least one rigid body beam. Each beam may have a curved shape with a pre-set curvature to surround the user's lower back. A waist fastening part (60) may be directly or indirectly connected to the ends of the waist support frame (20). A driving module (35, 45) may be directly or indirectly connected to the waist support frame (20).

[0054] In one embodiment, the wearable device (100) may include a sensor circuit comprising one or more sensors. The sensor circuit may include one or more sensors that acquire sensor data containing information on the movement of a user and / or information on the movement of a component of the wearable device (100). For example, one or more sensors may include, but are not limited to, an inertial sensor (e.g., inertial sensor (522) of FIG. 5) for measuring the movement of the user's pelvis or the movement of the waist support frame (20) and / or an angle sensor (e.g., first angle sensor (524) and second angle sensor (524-1) of FIG. 5) for measuring the angle of the user's hip joint or the angle of the torque transfer frame (e.g., first angle sensor (524) and second angle sensor (524-1) of FIG. 5)). The angular velocity of the user's hip joint or the angular velocity of the torque transfer frame may be determined by differentiating the angle of the user's hip joint or the angle of the torque transfer frame measured by the angle sensor.

[0055] In one embodiment, one or more sensors may further include at least one of a position sensor, a torque sensor, a pressure sensor, a temperature sensor, a biosignal sensor (e.g., a heart rate sensor, an electrocardiogram sensor), a distance sensor, or a proximity sensor.

[0056] The waist fastening portion (60) can be directly or indirectly connected to the waist support frame (20) and can secure the waist support frame (20) to the user's waist. The waist fastening portion (60) may include, for example, a pair of belts.

[0057] The first drive module (45) and the second drive module (35) can generate an external force (or torque) applied to the user's body based on a control signal generated by a processor. For example, the first drive module (45) and the second drive module (35) can generate an assistive force or resistance force applied to the user's legs. In one embodiment, the first drive module (45) may be located at a position corresponding to the user's right hip joint, and the second drive module (35) may be located at a position corresponding to the user's left hip joint. The first drive module (45) can generate torque to move (or rotate) the first torque transmission frame (55) in the forward or backward direction of the wearable device (100). The second drive module (35) can generate torque to move (or rotate) the second torque transmission frame (50) in the forward or backward direction of the wearable device (100). The forward direction is the direction corresponding to the user's front direction or the flexion movement of the leg, and the rear direction may be the direction corresponding to the user's back direction or the extension movement of the leg.

[0058] The first driving module (45) may include a first actuator and a first joint member, and the second driving module (35) may include a second actuator and a second joint member. The first actuator may provide power transmitted to the first joint member, and the second actuator may provide power transmitted to the second joint member. The first actuator and the second actuator may each include a motor that generates power (or torque) by receiving power from a battery. When power is supplied and the motor is driven, it may generate a force (assistive force) to assist the user's body movement or a force (resistance force) to hinder body movement. In one embodiment, the processor may adjust the voltage and / or current supplied to the motor to control the strength and direction of the force generated by the motor.

[0059] In one embodiment, the first joint member and the second joint member each receive power from the first actuator and the second actuator, respectively, and can apply external force to the user's body based on the received power. The first joint member and the second joint member may each be positioned at a location corresponding to the user's joint. One side of the first joint member may be directly or indirectly connected to the first actuator, and the other side may be directly or indirectly connected to the first torque transmission frame (55). The first joint member may be rotated by the power received from the first actuator. An encoder or a Hall sensor capable of operating as an angle sensor for measuring the rotation angle (corresponding to the user's joint angle) of the first joint member or the first torque transmission frame (55) may be disposed on one side of the first joint member. One side of the second joint member may be connected to the second actuator, and the other side may be connected to the second torque transmission frame (50). The second joint member can be rotated by power received from the second actuator. An encoder or Hall sensor capable of operating as an angle sensor for measuring the rotation angle of the second joint member or the second torque transmission frame (50) may also be disposed on one side of the second joint member.

[0060] In one embodiment, the first actuator may be positioned on the side of the first joint member, and the second actuator may be positioned on the side of the second joint member. The rotation axis of the first actuator and the rotation axis of the first joint member may be positioned so as to be spaced apart from each other, and the rotation axis of the second actuator and the rotation axis of the second joint member may also 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, each actuator may be positioned spaced apart from the joint member. In this case, the first drive module (45) and the second drive module (35) may each 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 embodiments is not limited by the positional relationship between the actuator and the joint member and the power transmission structure described above.

[0061] In one embodiment, the first torque transmission frame (55) and the second torque transmission frame (50) can each transmit torque generated by the first driving module (45) and the second driving module (35) to the user's body (e.g., leg) when the wearable device (100) is worn on the user's leg. The transmitted torque can act as an external force applied to the user's leg movement. One end of each of the first torque transmission frame (55) and the second torque transmission frame (50) can be rotated by being connected directly or indirectly to a joint member. As the other end of each of the first torque transmission frame (55) and the second torque transmission frame (50) is connected directly or indirectly to the first thigh fastening part (2) and the second thigh fastening part (1), the first torque transmission frame (55) and the second torque transmission frame (50) can transmit torque generated by the first driving module (45) and the second driving module (35) to the user's thigh while supporting the user's thigh. For example, the first torque transmission frame (55) and the second torque transmission frame (50) can push or pull the user's thigh. The first torque transmission frame (55) and the second torque transmission frame (50) can extend along the longitudinal direction of the user's thigh and can be folded to wrap around at least a portion of the user's thigh circumference. The first torque transmission frame (55) may be a torque transmission frame for transmitting torque to the user's right leg, and the second torque transmission frame (50) may be a torque transmission frame for transmitting torque to the user's left leg.

[0062] The first thigh fastening part (2) and the second thigh fastening part (1) are each directly or indirectly connected to the first torque transmission frame (55) and the second torque transmission frame (50), respectively, and can fasten the wearable device (100) to the user's leg (especially the thigh). The first thigh fastening part (2) is a thigh fastening part for fastening the first torque transmission frame (55) to the user's leg (e.g., right thigh), and the second thigh fastening part (1) may be a thigh fastening part for fastening the second torque transmission frame (50) to the user's leg (e.g., left thigh).

[0063] In one embodiment, the first thigh fastening part (2) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (1) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover can each apply torque generated from the first driving module (45) and the second driving module (35) to the user's thigh. The first cover and the second cover are each positioned on one side of the user's thigh to push or pull the user's thigh. The first cover and the second cover may be positioned along the circumference of the user's thigh. The first cover and the second cover may each extend to both sides centered on the other end of the first torque transmission frame (55) and the second torque transmission frame (50), and may include a curved surface corresponding to the user's thigh. One end of each of the first cover and the second cover may be directly or indirectly connected to the first fastening frame and the second fastening frame. The other end of each of the first cover and the second cover may be directly or indirectly connected to the first strap and the second strap.

[0064] The first fastening frame and the second fastening frame are positioned to wrap around, for example, at least a portion of the circumference of the user's thigh, thereby preventing the user's thigh from coming off the wearable device (100) or reducing the likelihood of it coming off. The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

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

[0066]

[0067] FIG. 5 is a diagram illustrating the configurations of the electronic system of a wearable device according to various embodiments.

[0068] Referring to FIG. 5, the electronic system of the wearable device (100) may include a control circuit (510), a communication circuit (516), one or more sensors (e.g., an inertial sensor (522), a first angle sensor (524), a second angle sensor (524-1)), a driving module (530, 530-1), an input circuit (540), an acoustic output circuit (550), and a haptic circuit (560). At least one of the described components (e.g., the input circuit (540), the acoustic output circuit (550), the haptic circuit (560))) may be omitted from the electronic system, or one or more other components (e.g., a display circuit, a lighting circuit for driving the lighting module (85), or a power management integrated circuit) may be added.

[0069] The driving module (530) includes a motor (534) and a motor driver circuit (532) for driving the motor (534), and the driving module (530-1) may include a motor (534-1) and a motor driver circuit (532-1) for driving the motor (534-1). In the embodiment of FIG. 5, the driving module is shown as having two parts, but this is merely an example. In certain embodiments, the driving module may be one or three or more parts. The driving module (530) including the motor driver circuit (532) and the motor (534) may correspond to the first driving module (45) of FIG. 3, and the driving module (530-1) including the motor driver circuit (532-1) and the motor (534-1) may correspond to the second driving module (35) of FIG. 3.

[0070] One or more sensors may include a sensor that acquires sensor data (or sensing value). One or more sensors may transmit the acquired sensor data to a control circuit (510). One or more sensors may acquire sensor data including movement information of the wearable device (100) caused by the movement of a user wearing the wearable device (100). One or more sensors may include, for example, an inertial sensor (522) for acquiring sensor data including movement information of the wearable device (100) corresponding to the movement of the user's waist or torso, and / or an angle sensor (e.g., a first angle sensor (524) and / or a second angle sensor (524-1)) for acquiring sensor data including movement information of the wearable device (100) corresponding to the movement of the user's legs. Each of these sensors may exist in multiple numbers, and some may be omitted.

[0071] The inertial sensor (522) can measure the movement of the user's body. The inertial sensor (522) can sense acceleration, angular velocity, and rotation angles (e.g., roll, pitch, yaw) along the X-axis, Y-axis, and Z-axis according to the user's movement. The inertial sensor (522) can measure, for example, the movement of the user's pelvis. The inertial sensor (522) can measure anterior-posterior tilt of the user's pelvis, lateral tilt of the pelvis, and rotation of the pelvis. The roll, pitch, and yaw measured by the inertial sensor (522) can correspond to any one of the anterior-posterior tilt, lateral tilt, and rotation of the pelvis. The movement of the user's pelvis can correspond to the movement of the waist support frame (e.g., the waist support frame (20) of FIG. 3) of the wearable device (100). In one embodiment, the inertial sensor (522) may be located on a printed circuit board within the base body of the wearable device (100) (e.g., the base body (80) of FIG. 3) and may measure the tilt and / or acceleration of the wearable device (100) indicating the degree of tilt of the wearable device (100).

[0072] In one embodiment, the first angle sensor (524) and the second angle sensor (524-1) can measure the hip joint angle according to the user's leg movement. The first angle sensor (524) can sense the hip joint angle of the user's right leg, and the second angle sensor (524-1) can sense the hip joint angle of the user's left leg. Each of the first angle sensor (524) and the second angle sensor (524-1) may include, for example, an encoder and / or a Hall sensor. The hip joint angle of the right leg sensed by the first angle sensor (524) corresponds to the movement (e.g., angle) of the first torque transmission frame of the wearable device (e.g., the first torque transmission frame (55) of FIG. 3), and the hip joint angle of the left leg sensed by the second angle sensor (524-1) corresponds to the movement (e.g., angle) of the second torque transmission frame of the wearable device (e.g., the second torque transmission frame (50) of FIG. 3).

[0073] In one embodiment, the first angle sensor (524) and the second angle sensor (524-1) may be angle sensors that sense the knee joint angle or ankle joint angle according to the user's leg movement.

[0074] In one embodiment, the processor (512) can determine the angular velocity of the first torque transfer frame by differentiating the angle change over time of the first torque transfer frame sensed by the first angle sensor (524), and determine the angular velocity of the second torque transfer frame by differentiating the angle change over time of the second torque transfer frame sensed by the second angle sensor (524-1).

[0075] In one embodiment, one or more sensors may further include a torque sensor for sensing a torque value, a position sensor for obtaining a position value of a wearable device (100), a proximity sensor for detecting proximity of an object, a biosignal sensor for detecting a user's biosignal, a distance sensor for measuring the distance to an object, a pressure sensor for measuring a pressure value, and / or a temperature sensor for measuring an ambient temperature.

[0076] The input circuit (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 circuit (540) may include, for example, a key (e.g., button) and / or a touch screen.

[0077] The acoustic output circuit (550) can output an acoustic signal to the outside of the wearable device (100). The acoustic output circuit (550) may include a speaker that outputs a guide acoustic signal (e.g., drive start sound, operation error notification sound), music content, and / or guide voice.

[0078] The driving module (530, 530-1) can generate an external force or torque applied to the user's leg under the control of the control circuit (510). The driving module (530, 530-1) is located at a position corresponding to the user's hip joint and can generate torque applied to the user's leg based on a control signal generated by the control circuit (510). The control circuit (510) can transmit the control signal to the motor driver circuit (532, 532-1), and the motor driver circuit (532, 532-1) can control the operation of the motor (534, 534-1) by generating a current signal (or voltage signal) corresponding to the control signal and supplying it to the motor (534, 534-1). Depending on the control signal, the current signal may not be supplied to the motor (534, 534-1). The motor driver circuit (532, 532-1) can convert a direct current (DC) voltage supplied from a battery into an alternating current (AC) voltage and supply it to the motor (534, 534-1). One or more motors (e.g., motor (534), motor (534-1)) included in the wearable device (100) can generate torque under the control of the processor (512). When the motor (534, 534-1) is driven by supplying a current signal to the motor (534, 534-1), it can generate an assisting force to assist the user's leg movements or a resistive force to hinder leg movements. The motor (534; 534-1) can generate torque based on electrical energy supplied from the battery. The motor (534; 534-1) may be, for example, a brushless DC (BLDC) motor or a permanent magnet synchronous motor (PMSM).

[0079] The control circuit (510) controls the overall operation of the wearable device (100) and can generate control signals to control each component of the wearable device (100). The control circuit (510) may include a processor (512) and a memory (514).

[0080] The processor (512) can execute software to control at least one other component (e.g., hardware or software component) of the wearable device (100) that is directly or indirectly connected to the processor (512), and can perform various data processing or operations. For example, the processor (512) can control the operation of the motor (534, 534-1). As at least part of the data processing or operations, the processor (512) can store instructions or data received from another component (e.g., communication circuit (516)) in memory (514), process the instructions or data stored in memory (514), and store the resulting data after processing in memory (514). The processor (512) may include one or more processors, and the operations of the wearable device (100) described in this disclosure may be performed by a single processor or by a combination of multiple processors.

[0081] According to one embodiment, the processor (512) may include at least one of a main processor (e.g., a central processing unit (CPU) or an application processor) and / or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or together with the main processor. The processor (512) may also be implemented as a system on chip (SoC) or an integrated circuit (IC) that performs processing. The auxiliary processor may be implemented separately from the main processor or as part thereof.

[0082] In the present disclosure, each ‘processor’ may include a processing circuit or a plurality of processors. For example, as used in the present disclosure including in the claims, the term ‘processor’ may include various processing circuits including at least one processor, wherein one or more processors may be configured to perform various functions described in the present disclosure in a distributed manner, individually and / or collectively. Where the ‘processor,’ ‘at least one processor,’ and ‘one or more processors’ are described in the present disclosure as being configured to perform a plurality of functions, these terms include, but are not limited to, for example, a situation where one processor performs some of the cited functions and another processor performs other of the cited functions, and a situation where a single processor can perform all of the cited functions. Additionally, one or more processors may include a combination of processors performing various cited / disclosed functions, for example, in a distributed manner. One or more processors may execute instructions to achieve or perform various functions.

[0083] Memory (514) may store data used by at least one component of the wearable device (100) (e.g., processor (512)). The data may include, for example, software, input or output data for related instructions, and sensor data. Memory (514) may store at least one instruction that can be executed by the processor (512). Memory (514) may include one or more memories, and instructions for controlling the processor (512) to perform the operations of the wearable device (100) described in this disclosure may be stored in one memory or divided and stored in multiple memories. Memory (514) may include volatile memory or non-volatile memory. When the instructions are executed individually or collectively by one or more processors (512), the wearable device (100) may be made to perform one or more operations of the wearable device (100) described in the present disclosure.

[0084] The communication circuit (516) can support the establishment of a wired or wireless communication channel between the control circuit (510) and other components of the wearable device (100) or an external electronic device (e.g., the electronic device (210) of FIG. 2 or another wearable device (220)), and the performance of communication through the established communication channel. The communication circuit (516) can communicate with, for example, an electronic device (e.g., the electronic device (210) of FIG. 2). The communication circuit (516) can transmit sensor data acquired by the sensors of the wearable device (100) and / or a trigger signal to the electronic device to induce a change in the state of an exercise program running on the electronic device, and can receive a control signal from the electronic device. According to one embodiment, the communication circuit (516) may include one or more communication processors that operate independently of the processor (512) and support wired or wireless communication. According to one embodiment, the communication circuit (516) may include a wireless communication circuit (e.g., a cellular communication circuit, a short-range wireless communication circuit, or a GNSS (global navigation satellite system) communication circuit) and / or a wired communication circuit. The wireless communication circuit may communicate with other components of the wearable device (100) and / or external devices via, for example, Bluetooth, WiFi (wireless fidelity), IrDA (infrared data association), a legacy cellular network, or a 5G network.

[0085] The haptic circuit (560) can provide haptic feedback to a user under the control of the processor (512). The haptic circuit (560) may include one or more haptic actuators. The haptic actuators may include, for example, piezo actuators, bander type actuators, and / or vibration motor-based actuators. There may be one or more haptic actuators. In one embodiment, the haptic actuators may be located in at least one of the base body of the wearable device (100), the torque transmission frame (e.g., the first torque transmission frame (75) and the second torque transmission frame (70) of FIG. 3), and the thigh fastener (e.g., the first thigh fastener (2) and the second thigh fastener (1) of FIG. 3).

[0086] In order for a user to use the wearable device (100), it is necessary for the user to wear the wearable device (100) and secure the wearable device (100) to their body. The user can wear the wearable device (100) to fit their body through a fastening part including a belt and / or band of the wearable device (100). For example, when the user wears the wearable device (100), the user fastens the waist fastening part of the wearable device (100) (e.g., the waist fastening part (60) in FIG. 3) to fit their waist size, and fastens both thigh fastening parts (e.g., the first thigh fastening part (2) and the second thigh fastening part (1) in FIG. 3) to fit both thigh sizes. Due to the nature of the wearable device (100) being worn on the user's body and applying external force to the user's body, proper and accurate wearing of the wearable device (100) is important in terms of safety and usability. The wearable device (100) must be worn normally on the user's body so that the external force (or torque) generated by the wearable device (100) can be transmitted accurately and efficiently to the user's body, and safe operation becomes possible.

[0087] According to various embodiments of the present disclosure, the wearable device (100) may perform a wear detection function to detect whether the wearable device (100) is worn normally (or correctly) on the user's body. The wearable device (100) may perform a wear detection function not only before or during the preparation phase, but also during the performance of the application operation, before the wearable device (100) performs a substantial application operation (e.g., performing an exercise program). The wearable device (100) may recognize the user's walking motion or walking in place based on sensor data acquired by one or more sensors, and may automatically determine whether the user's wearable device (100) is in a normal state or whether the user has started walking normally based on the recognition result. The sensor data acquired by one or more sensors may correspond to sensor data including information on the angles of both hip joints of the user acquired by the first angle sensor (524) and the second angle sensor (524-1). In one embodiment, the wearable device (100) can automatically determine whether the user is wearing the wearable device (100) normally when the user wants to start performing an exercise program while wearing the wearable device (100) and / or when the user's exercise performance is detected after the exercise performance has stopped.

[0088] In one embodiment, the wearable device (100) can determine the angular velocity for the user's first leg and the angular velocity for the user's second leg based on sensor data obtained by one or more sensors (e.g., a first angle sensor (524) and a second angle sensor (524-1)). In the present disclosure, the first leg and the second leg are different legs, and if the first leg is the right leg, the second leg is the left leg, and if the first leg is the left leg, the second leg is the right leg. The wearable device (100) can obtain angle data for the user's right leg (or right hip joint) through, for example, the first angle sensor (524), and can determine the angular velocity data for the right leg (or right hip joint) by differentiating the angle data. The wearable device (100) can acquire angle data for the user's left leg (or left hip joint) through the second angle sensor (524-1) and can determine angular velocity data for the left leg (or left hip joint) by differentiating the angle data.

[0089] The wearable device (100) can determine whether a first condition is satisfied based on the angular velocity of the first leg and the angular velocity of the second leg. The first condition may include the first-1 condition and / or the first-2 condition described below. The first-1 condition and the first-2 condition may be determined sequentially or in parallel.

[0090] In one embodiment, the wearable device (100) may determine whether a first-1 condition is satisfied based on the sum of the angular velocity of the first leg and the angular velocity of the second leg. The first-1 condition may be a condition for determining whether a large force is generated in the forward direction of the user (or the direction in which the user is advancing). The wearable device (100) may determine that the first-1 condition is satisfied if the sign (e.g., plus or minus) indicated by the sum of the angular velocity of the first leg and the angular velocity of the second leg corresponds to the forward direction of the user, and the magnitude of the sum of the angular velocity of the first leg and the angular velocity of the second leg (e.g., the absolute value of the sum) is greater than a threshold value. For example, if the sign indicated by the sum of the angular velocity of the first leg and the angular velocity of the second leg is minus, it may be determined that a larger force is generated in the forward direction of the user.

[0091] In one embodiment, the wearable device (100) may determine whether a first-2 condition is satisfied based on the difference between the angular velocity of the first leg and the angular velocity of the second leg. The first-2 condition may be a condition for determining whether the user's two legs have moved in different directions. The wearable device (100) may determine that the first-2 condition is satisfied if the magnitude of the difference between the angular velocity of the first leg and the angular velocity of the second leg (e.g., the absolute value of the difference) is greater than a threshold value.

[0092] A wearable device (100) can determine an angle for a user's first leg and an angle for a user's second leg based on sensor data obtained by one or more sensors (e.g., a first angle sensor (524) and a second angle sensor (524-1)). The wearable device (100) can determine whether a second condition is satisfied based on the angle for the first leg and the angle for the second leg. In one embodiment, the wearable device (100) can determine whether the second condition is satisfied when it is determined that both the first-1 condition and the first-2 condition are satisfied (corresponding to when the first condition is satisfied). When it is determined that both the first-1 condition and the first-2 condition are satisfied, the satisfaction of the second condition can be determined.

[0093] The second condition may be a condition for determining whether the user is performing normal walking, such that the magnitude of the angle difference between the maximum and minimum angles of each measured leg per step is greater than a certain magnitude per step. For example, the wearable device (100) may determine whether the second condition is satisfied by determining whether the magnitude of the angle difference (e.g., the absolute value of the angle difference) between the maximum value of the angle for the first leg and the minimum value of the angle for the first leg is greater than a first threshold, and whether the magnitude of the angle difference (e.g., the absolute value of the angle difference) between the maximum value of the angle for the second leg and the minimum value of the angle for the second leg is greater than a second threshold. The first threshold may be the same as the second threshold or may be different from each other. A wearable device (100) can determine that a second condition is satisfied if, for each step of a predefined number of steps (e.g., 3 steps) for the first leg, the magnitude of the corresponding angle difference for the first leg is greater than a first threshold, and for each step of a predefined number of steps (e.g., 3 steps) for the second leg, the magnitude of the corresponding angle difference for the second leg is greater than a second threshold.

[0094] When the wearable device (100) detects the user's movement through sensor data and detects that the user has started walking, it can determine that the step recognition for the leg is successful if the magnitude of the difference between the maximum angle (maximum value) and the minimum angle (minimum value) of the step angle for one leg is greater than a threshold value. When the wearable device (100) alternately performs a right step with the right leg in the forward direction and a left step with the left leg in the forward direction for a certain number of steps or more, it can determine that the second condition is satisfied if the magnitude of the difference between the maximum value and the minimum value of the angle for each leg for each step of a predetermined number of steps is greater than a threshold value.

[0095] When the wearable device (100) determines that the first and second conditions described above are satisfied, it may generate a trigger signal to induce the electronic device (210) to change the state of the exercise program. When the wearable device (100) determines that both the first and second conditions are satisfied, it determines that the user has walked while wearing the wearable device normally, and may generate a trigger signal to start or proceed with the exercise program or UX (user experience) using the wearable device (100). For example, if the current exercise program has not yet proceeded, the trigger signal may cause the electronic device (210) to change the progress state of the exercise program to the next progress state. When the exercise program running on the electronic device (210) is currently in a stopped state, the trigger signal generated by the wearable device (100) may cause the electronic device (210) to change the exercise program from a stopped state to a progress state. The wearable device (100) may transmit the generated trigger signal to the electronic device (210). The trigger signal can be transmitted through the communication circuit (516).

[0096] In one embodiment, the wearable device (100) may determine whether the first-1 condition and / or the first-2 condition are satisfied while determining whether the second condition is satisfied. If, while determining whether the second condition is satisfied, it is determined that at least one of the first-1 condition and the first-2 condition is not satisfied, the wearable device (100) may recognize that the user is not wearing the wearable device (100) normally or is not in a normal walking state, and may maintain the current state of the exercise program (e.g., before starting, paused state). In this case, a trigger signal may not be generated. If any of the described first-1 condition, first-2 condition and second condition are not satisfied, the wearable device (100) may control the driving module (e.g., driving module (530), driving module (530-1)) so that it does not generate external force or torque, thereby reducing the possibility of safety issues arising from the movement of the wearable device (100). The wearable device (100) can prevent the wearable device (100) from moving when the wearable device (100) is not worn normally on the user's body or when normal walking conditions are not recognized, or it can induce the user to wear the wearable device (100) normally (e.g., output guide content), thereby reducing the possibility that the user will be injured due to abnormal wearing of the wearable device (100).

[0097] In addition, according to one embodiment, user convenience can be improved by enabling the wearable device (100) to automatically recognize the user's normal wearing state or normal walking state based on sensor data without the need to notify the wearable device (100) and / or electronic device (210) of the wearing completion state through a separate user input or a response process regarding whether the wearer is wearing the wearable device (100) after the user wears the wearable device (100). The wearable device (100) provides user convenience by automatically determining whether the user is wearing the wearable device (100) normally based on sensor data at the start of exercise or at the restart of exercise after pausing, without a process of confirming whether the user is wearing it, and can prevent safety problems that may occur due to abnormal wearing of the wearable device (100).

[0098]

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

[0100] 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 (e.g., smartphone, tablet PC) of a user using the wearable device (100). According to one embodiment, the wearable device (100) and the electronic device (210) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0101] In one embodiment, the electronic device (210) may execute an application to check the status of the wearable device (100) or to control or operate the wearable device (100). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (100) or determining the operation mode of the wearable device (100) may be displayed on the display (212) of the electronic device (210). The UI may be, for example, a graphical user interface (GUI). The user may select an exercise program to perform through the application. The electronic device (210) may control the wearable device (100) according to the selected exercise program and evaluate the user's exercise performance based on sensor data received from the wearable device (100).

[0102] In one embodiment, a user may input commands to control the operation of the wearable device (100) (e.g., commands to execute a walking assistance mode, an exercise assistance mode) or change the settings of the wearable device (100) through a GUI screen on the display (212) of the electronic device (210). Additionally, the user may set an exercise goal and change the torque parameters to be applied to the wearable device (100) through the GUI screen. The torque parameters may include, for example, a first parameter that controls the strength of the torque generated by the motor of the wearable device (100) (e.g., motor (534), motor (534-1) of FIG. 5) and / or a second parameter that controls the timing of the application of the torque. In various embodiments of the present disclosure, the term 'torque parameter' may be replaced with the terms 'parameter', 'robot parameter', or 'control parameter'. The electronic device (210) can generate a control command (or control signal) corresponding to a motion control command or setting change command entered by a user, and transmit the generated control command to a wearable device (100). In one embodiment, the control command may include torque parameters set by the user.

[0103] The electronic device (210) can display a user interface (UI) screen on the display (212) for controlling the operation of the wearable device (100) or for measuring the user's physical ability. The user can input a command to control the operation of the wearable device (100) (e.g., a command to execute into a physical ability measurement mode) through the UI screen on the display (212) of the electronic device (210). The electronic device (210) can generate a control command corresponding to the command and transmit the generated control command to the wearable device (100). The wearable device (100) can operate according to the received control command and can transmit control results and / or data (e.g., sensor data, result data processed by the wearable device (100)) according to the control command to the electronic device (210).

[0104] According to one embodiment, the wearable device (100) can determine whether the user has worn the wearable device (100) normally and moved (or walked) based on sensor data acquired by the sensor of the wearable device (100) before the start of exercise or while the exercise is paused. If it is determined that the user has worn the wearable device (100) normally and moved, the wearable device (100) can generate a trigger signal to induce the electronic device (210) to change the state of the exercise program and transmit it to the electronic device (210). The electronic device (210) can change the state of the exercise program in response to receiving the trigger signal from the wearable device (100). For example, if the state before the start of exercise was before receiving the trigger signal, the electronic device (210) can output an interface screen that allows the user to select an exercise program to perform in response to receiving the trigger signal. If the exercise program was in a paused state before receiving the trigger signal, the electronic device (210) can change the state to continue the exercise program in response to receiving the trigger signal.

[0105]

[0106] FIG. 7 is a drawing illustrating the configurations of an electronic device according to various embodiments.

[0107] Referring to FIG. 7, the electronic device (210) may include a processor (710), memory (720), communication circuit (730), display circuit (740), sound output circuit (750), and input circuit (760). In one embodiment, at least one of these components (e.g., sound output circuit (750)) may be omitted from the electronic device (210), or one or more other components (e.g., sensor circuit, haptic circuit, battery) may be added.

[0108] 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 instructions or data received from another component (e.g., a communication circuit (730)) in memory (720), process the instructions or data stored in memory (720), and store result data in memory (720). The processor (710) may include one or more processors, and the operations of the electronic device (210) described in this disclosure may be performed by a single processor or by a combination of multiple processors.

[0109] According to one embodiment, the processor (710) may include at least one of a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor 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). The processor (512) may also be implemented as a system-on-chip (SoC) or an integrated circuit that performs processing.

[0110] The memory (720) may store various data used by at least one component of the electronic device (210) (e.g., processor (710) or communication circuit (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 one or more memories, and instructions for controlling the processor (710) to perform the operations of the electronic device (210) described in this disclosure may be stored in one memory or divided and stored in multiple memories. When the instructions are executed individually or collectively by one or more processors (710), they may cause the electronic device (210) to perform one or more operations of the electronic device (210) described in this disclosure.

[0111] The memory (720) may include volatile memory or non-volatile memory.

[0112] The communication circuit (730) can support the establishment of a 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 circuit (730) may include a communication circuit for performing communication functions. The communication circuit (730) may include one or more communication processors that operate independently of the processor (710) (e.g., an application processor) and support wired communication or wireless communication. According to one embodiment, the communication circuit (730) may include a wireless communication circuit (e.g., a Bluetooth communication circuit, a cellular communication circuit, a Wi-Fi communication circuit, or a GNSS communication circuit) or a wired communication circuit (e.g., a LAN communication circuit, or a power line communication circuit) that performs wireless communication. The communication circuit (730) can, for example, transmit a control command to a 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.

[0113] The display circuit (740) can visually provide information to an external (e.g., user) of the electronic device (210). The display circuit (740) may include a display such as, for example, an LCD or OLED display, a holographic device, or a projector device. The display circuit (740) may further include a control circuit for controlling the display drive. In one embodiment, the display circuit (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. The display circuit (740) may output a user interface screen for controlling the wearable device (100) or providing various information (e.g., exercise evaluation information, setting information of the wearable device (100)).

[0114] The acoustic output circuit (750) can output an acoustic signal to the outside of the electronic device (210). The acoustic output circuit (750) may include a speaker that plays a guide acoustic signal (e.g., drive start sound, operation error notification sound), music content, or guide voice based on the state of the wearable device (100).

[0115] The input circuit (760) may 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 circuit (760) may include an input component circuit and may receive user input. The input circuit (760) may include a touch recognition circuit for recognizing, for example, a key (e.g., button) and / or a touch on the screen.

[0116] In one embodiment, when instructions stored in memory (720) are executed individually or collectively by one or more processors (710), the electronic device (210) may be enabled to perform operations that determine the normal wearing state of the wearable device (100) of the present disclosure. For example, the electronic device (210) may determine the angular velocity of the user's first leg and the angular velocity of the user's second leg based on sensor data received from the wearable device (100) through a communication circuit (730). The received sensor data may include movement information regarding the movement of the wearable device (100) corresponding to the movement of the user's leg, and may be obtained using an angle sensor of the wearable device (100) (e.g., the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5). The electronic device (210) can determine whether a first condition is satisfied based on the angular velocity of the first leg and the angular velocity of the second leg. The electronic device (210) can determine the angle of the user's first leg and the angle of the user's second leg based on sensor data, and determine whether a second condition is satisfied based on the angle of the first leg and the angle of the second leg. For a description of the process of determining whether the first condition is satisfied and the process of determining whether the second condition is satisfied, refer to the description of the wearable device (100) described in FIG. 5. If the electronic device (210) determines that the first condition and the second condition are satisfied, it can change the state of the currently running exercise program. For example, if it was in a state before starting the exercise, the electronic device (210) can change the progress state of the exercise program to the next progress state (e.g., the exercise program selection step). When the running exercise program was in a stopped state, the electronic device (210) can change the exercise program from a stopped state to a progress state (restart state).

[0117]

[0118] FIG. 8 is a flowchart for explaining the operations of a method of operating a wearable device according to various embodiments.

[0119] The wearable device (100) can automatically determine the wearing status of the user's wearable device (100) through recognition of the user's steps based on sensor data. This determination of the wearing status of the wearable device (100) may be made, for example, when the wearable device (100) is first worn by the user or when determining whether to restart the exercise program after it has been paused.

[0120] Referring to FIG. 8, in operation (810), the wearable device (100) can acquire sensor data from a sensor. The wearable device (100) can acquire sensor data using an angle sensor (e.g., the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5) for measuring movement information regarding the movement of the wearable device (100) corresponding to the user's leg movement. The sensor data may include information regarding the user's leg angle (or hip joint angle).

[0121] In operation (820), the wearable device (100) can determine the angular velocity for the user's first leg and the angular velocity for the user's second leg based on sensor data. The wearable device (100) can determine the angular velocity data for the first leg by differentiating the angle data for the user's first leg (e.g., right leg) obtained through sensor data. The wearable device (100) can determine the angular velocity data for the second leg by differentiating the angle data for the user's second leg obtained through sensor data.

[0122] In operation (830), the wearable device (100) can determine whether a first condition is satisfied based on the angular velocity for the first leg and the angular velocity for the second leg. The first condition may include a first-1 condition and / or a first-2 condition.

[0123] In one embodiment, the wearable device (100) can determine whether the 1-1 condition is satisfied based on the sum of the angular velocity of the first leg and the angular velocity of the second leg. The wearable device (100) can determine that the 1-1 condition is satisfied if the sign indicated by the sum of the angular velocity of the first leg and the angular velocity of the second leg corresponds to the forward direction of the user, and the magnitude of the sum of the angular velocity of the first leg and the angular velocity of the second leg (e.g., the absolute value of the sum) is greater than a threshold value. Generally, there is no case where a step is started from the back when a step begins, and whether a large force is generated in the forward direction when walking begins can be determined through the 1-1 condition based on the sum of the angular velocities of the first leg and the second leg.

[0124] In one embodiment, the wearable device (100) can determine whether a first-2 condition is satisfied based on the difference between the angular velocity of the first leg and the angular velocity of the second leg. For example, the wearable device (100) can determine that the first-2 condition is satisfied if the magnitude of the difference between the angular velocity of the first leg and the angular velocity of the second leg (e.g., the absolute value of the difference) is greater than a threshold value. Whether a force is generated in different directions on the first leg and the second leg can be determined through the first-2 condition based on the difference between the angular velocities of the first leg and the second leg.

[0125] In one embodiment, abnormal walking patterns, such as when a user sits on a chair while starting exercise or moves their legs significantly in the forward direction but moves both legs in the same direction, can be filtered out through the first-2 conditions. In these cases, the magnitude of the difference between the angular velocities of the first leg and the second leg becomes below a threshold value, so it can be determined that the first-2 conditions are not satisfied.

[0126] The above 1-1 condition and 1-2 condition may be determined sequentially or in parallel. If it is determined that the 1st condition is not satisfied (if it is 'No' in operation (830)), it may return to operation (820).

[0127] In operation (840), the wearable device (100) can determine the angle for the user's first leg and the angle for the user's second leg based on sensor data obtained by one or more sensors. The wearable device (100) can determine the angle for the first leg and the angle for the user's second leg based on angle data obtained through, for example, an angle sensor (e.g., the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5) as is, or based on data in which the angle data has been preprocessed (e.g., filtering, sampling, normalization, interpolation, outlier removal).

[0128] In operation (850), the wearable device (100) can determine whether a second condition is satisfied based on the angle for the first leg and the angle for the second leg. In one embodiment, the wearable device (100) can determine whether the second condition is satisfied when it is determined that both the first-1 condition and the first-2 condition are satisfied. When it is determined that both the first-1 condition and the first-2 condition are satisfied, the satisfaction of the second condition can be determined.

[0129] In one embodiment, the operation of determining whether the second condition is satisfied may include determining whether the magnitude of the angle difference between the maximum value of the angle for the first leg and the minimum value of the angle for the first leg (e.g., the absolute value of the angle difference) is greater than a first threshold value for each step of the user, and determining whether the magnitude of the angle difference between the maximum value of the angle for the second leg and the minimum value of the angle for the second leg (e.g., the absolute value of the angle difference) is greater than a second threshold value. The wearable device (100) may determine that the second condition is satisfied if, for each step of a predefined number of steps (e.g., 3 steps) for the first leg, the magnitude of the angle difference for the first leg is greater than a first threshold value, and for each step of a predefined number of steps (e.g., 3 steps) for the second leg, the magnitude of the angle difference for the second leg is greater than a second threshold value. The wearable device (100) can determine that step recognition for one leg is successful if, when the user's movement is detected through sensor data and it is detected that the user has started walking, the magnitude of the difference between the maximum angle and the minimum angle measured within the step of one leg is greater than a threshold value.

[0130] The action of determining whether the second condition is satisfied based on the angle of the leg can be performed alternately for right steps and left steps, and for each step, whether the second condition is satisfied can be determined for a sufficient number of steps (e.g., 6 steps or more). When the wearable device (100) performs a certain number of steps alternately for right steps in which the right leg is stepped forward and left steps in which the left leg is stepped forward, it can determine whether the magnitude of the angle difference between the maximum angle and the minimum angle of the leg is greater than a threshold value for each step.

[0131] If it is determined that the second condition is not satisfied (if it is 'No' in operation (850)), it may return to operation (820). In one embodiment, while determining whether the second condition is satisfied, if it is determined that at least one of condition 1-1 and condition 1-2 is not satisfied, the wearable device (100) may recognize that the user is not wearing the wearable device (100) normally or is not in a normal walking state, and may maintain the current state of the exercise program (e.g., before starting, paused state).

[0132] When it is determined that the first and second conditions are satisfied (when 'yes' in operation (850)), in operation (860) the wearable device (100) may generate a trigger signal to induce the electronic device (210) to change the state of the exercise program. For example, if the current exercise program is not yet in progress, the trigger signal may cause the electronic device (210) to change the progress state of the exercise program to the next progress state. When the exercise program running on the electronic device (210) is currently in a stopped state, the trigger signal generated by the wearable device (100) may cause the electronic device (210) to change the exercise program from a stopped state to a progress state (e.g., a restart state).

[0133] In operation (870), the wearable device (100) can transmit a generated trigger signal to an electronic device (210). The electronic device (210) can change the progress state of an exercise program in response to receiving the trigger signal. For example, it can change the progress state of the exercise program to the next progress state (e.g., the exercise program selection stage) or change the state of a paused exercise program to a state of resuming progress. These changes can be performed automatically by the trigger signal without user input or user command.

[0134]

[0135] FIGS. 9a and 9b are drawings for explaining whether a condition based on the angular velocity of a user's leg according to various embodiments is satisfied.

[0136] Referring to FIG. 9a, an example of graphs showing the change over time of the angular velocity (910) for the user's right leg and the angular velocity (920) for the left leg is shown. The angles (or hip joint angles) of the user's right leg and left leg can be measured by the angle sensors of the wearable device (100) (e.g., the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5), and the angular velocity can be obtained by differentiating the angle with respect to time. The angle of the leg can be defined as a value of 0 degrees when, for example, the torque transfer frame of the wearable device (100) (e.g., the first torque transfer frame (55) or the second torque transfer frame (50) of FIG. 3) coincides with a gravity line (900) perpendicular to the horizon. The movement of the torque transfer frame may correspond to the movement of the user's leg. The angle of the leg can be defined as a negative value when the torque transfer frame is in the forward direction of the user and as a positive value when it is in the rear direction of the user. For example, as shown in FIG. 9a, when the user extends their right leg forward and the first torque transfer frame (55) is in the forward direction, the angle of the leg can be defined as a negative value. However, the method of defining the angle of the leg is not limited thereto.

[0137] In one embodiment, the wearable device (100) can determine whether the first-1 condition is satisfied based on the sum of the angular velocity (910) for the right leg and the angular velocity (920) for the left leg. For example, if the sign of the sum of the angular velocity for the right leg and the angular velocity for the left leg is negative during the initial time interval (930) when the user's movement begins to be detected through sensor data, and the magnitude of the sum (e.g., the absolute value of the sum) is greater than a threshold value (e.g., 95 degrees / second (deg / s)), the wearable device (100) can determine that the first-1 condition is satisfied. If the first-1 condition is satisfied, it is determined that a large force has been generated in the forward direction, and the user's step may be recognized as having started.

[0138] Referring to FIG. 9b, another example of graphs showing the change over time of the angular velocity (940) for the user's right leg and the angular velocity (950) for the left leg is illustrated. The wearable device (100) can distinguish whether the user is in a normal walking state by determining whether the first-second condition is satisfied based on the difference between the angular velocity for the user's right leg and the angular velocity for the left leg. The wearable device (100) can determine that the first-second condition is satisfied if the magnitude of the difference between the angular velocity for the right leg and the angular velocity for the left leg (e.g., the absolute value of the difference) is greater than a threshold value. In a normal walking state, the user's right leg and left leg must be moving in different directions. For example, when the user sits on a chair while starting to exercise, graphs of the angular velocity for the right leg (940) and the angular velocity for the left leg (950), as illustrated in FIG. 9b, may appear. When viewed in the time interval (960), the magnitude of the angular velocity (940) of the right leg and the angular velocity (950) of the left leg in the forward direction of the user increases, but the case where both legs move in the same direction simultaneously is not a normal (correct) step. In such a case, the difference between the angular velocity (940) of the right leg and the angular velocity (950) of the left leg will be zero or a small value, so by checking whether the above first-second condition is satisfied, it is possible to distinguish an abnormal step where both legs move in the same direction (or only one leg moves).

[0139]

[0140] FIG. 10 is a drawing for explaining whether a condition based on the angle of a user's leg according to various embodiments is satisfied.

[0141] Referring to FIG. 10, an example of graphs showing changes over time in the angle (1010) of the user's right leg and the angle (1020) of the left leg is illustrated. The angles (or hip joint angles) of the user's right leg and left leg may be measured by an angle sensor of the wearable device (100) (e.g., the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5). The wearable device (100) may determine whether a second condition based on the angle of the right leg (1010) and the angle of the left leg (1020) is satisfied in order to distinguish whether the wearing state and / or walking state of the user's wearable device (100) is normal. The examination for the second condition may be performed when both the previously described first-1 condition and first-2 condition are satisfied, but is not limited thereto. The examination for the second condition may also be performed in parallel with the examination for the first-1 condition and the first-2 condition.

[0142] The second condition is for determining whether the magnitude of the difference in angle between the maximum angle and the minimum angle of the leg measured for each step of the user (e.g., the absolute value of the angle difference) is greater than a certain size (e.g., 20 degrees or more) for each step, and may be a condition for determining whether the user is performing a normal step. The wearable device (100) may determine that the step of one leg has been performed normally (or that the step of that leg has ended) if the magnitude of the difference in angle of one leg (e.g., the absolute value of the angle difference between the absolute value of the maximum angle and the absolute value of the minimum angle) after the user starts stepping is greater than a threshold. The wearable device (100) may determine whether the magnitude of the difference in angle between the maximum value and the next minimum value adjacent to the maximum value in the angle measured for each leg in the forward direction is greater than a threshold. For example, if the magnitude of the angle difference (e.g., angle difference (1030)) between the maximum value and the minimum value appearing after the maximum value in the angle (1010) for the right leg is greater than the threshold, it can be determined that the recognition of the right step is successful. If the magnitude of the angle difference (e.g., angle difference (1035)) between the maximum value and the minimum value appearing after the maximum value in the angle (1020) for the left leg is greater than the threshold, it can be determined that the recognition of the left step is successful. Through this judgment process, the wearable device (100) can determine that the second condition is satisfied if the recognition of the right step and the left step is successful a predetermined number of times consecutively.

[0143]

[0144] FIGS. 11 and FIGS. 12 are drawings for illustrating examples in which the state of an exercise program running in an electronic device is changed by a trigger signal according to various embodiments.

[0145] Referring to FIG. 11, an example of interface screens (1110, 1120) of a program running on an electronic device (210) is illustrated. Guide content to induce a user to take steps is displayed through the interface screen (1110). When the wearable device (100) is connected to the electronic device (210) after being powered on, the interface screen (1110) can be displayed through the display of the electronic device (210). The interface screen (1110) can be provided to the user, for example, when the user is wearing the wearable device (100) but has not yet started exercising.

[0146] The user may wear the wearable device (100) and start walking according to the requirements of the guide content, and the wearable device (100) may analyze sensor data sensed during the user's walking to determine whether the user is wearing the wearable device (100) normally and performing walking normally. The wearable device (100) determines whether both the first condition and the second condition described above are satisfied based on the sensor data, and if both the first condition and the second condition are satisfied, it may generate a trigger signal to induce the electronic device (210) to change the state of the exercise program and transmit it to the electronic device (210). When the electronic device (210) receives the trigger signal from the wearable device (100), the electronic device (210) may output an interface screen (1120) that allows the user to select an exercise program to perform.

[0147] Referring to FIG. 12, an interface screen (1210) is shown that is displayed on the display of an electronic device (210) when a user pauses while performing exercise. Even without a separate user input (e.g., input of a 'continue' button) to restart the exercise program while it is paused, the wearable device (100) can generate a trigger signal to cause the electronic device (210) to continue the exercise program when the user's normal steps are automatically recognized, and can transmit the generated trigger signal to the electronic device (210). The wearable device (100) can determine whether both the first condition and the second condition described above are satisfied based on sensor data, and can generate the corresponding trigger signal if both the first condition and the second condition are satisfied. When the electronic device (210) receives the trigger signal from the wearable device (100), the electronic device (210) can display an interface screen (1220) in which the exercise program is in progress.

[0148]

[0149] A method of operation of a wearable device (100) according to one embodiment may include: an operation of acquiring sensor data from a sensor (810); an operation of determining an angular velocity for a user's first leg and an angular velocity for a user's second leg based on the sensor data (820); an operation of determining whether a first condition based on the angular velocity for the first leg and the angular velocity for the second leg is satisfied (830); an operation of determining an angle for the user's first leg and an angle for the user's second leg based on the sensor data (840); an operation of determining whether a second condition based on the angle for the first leg and the angle for the second leg is satisfied (850); an operation of generating a trigger signal to induce an electronic device (210) to change the state of an exercise program when it is determined that the first condition and the second condition are satisfied (860); and an operation of transmitting the generated trigger signal to the electronic device (210) (870).

[0150] The operation (830) for determining whether the above first condition is satisfied may include an operation for determining whether the first-1 condition is satisfied based on the sum between the angular velocity of the first leg and the angular velocity of the second leg, and an operation for determining whether the first-2 condition is satisfied based on the difference between the angular velocity of the first leg and the angular velocity of the second leg.

[0151] The operation of determining whether the above 1-1 condition is satisfied may include an operation of determining that the above 1-1 condition is satisfied if the sign indicated by the sum between the angular velocity of the first leg and the angular velocity of the second leg corresponds to the forward direction of the user, and the magnitude of the sum between the angular velocity of the first leg and the angular velocity of the second leg is greater than a threshold value.

[0152] The operation of determining whether the above 1-2 conditions are satisfied may include determining that the above 1-2 conditions are satisfied when the magnitude of the difference between the angular velocity for the first leg and the angular velocity for the second leg is greater than a threshold value.

[0153] The operation (850) for determining whether the above second condition is satisfied may include the operation for determining whether the above second condition is satisfied when it is determined that both the above first-1 condition and the above first-2 condition are satisfied.

[0154] The operation (850) for determining whether the above second condition is satisfied may include the operation of determining whether the magnitude of the angle difference between the maximum value of the angle for the first leg and the minimum value of the angle for the first leg is greater than the first threshold value, and the operation of determining whether the magnitude of the angle difference between the maximum value of the angle for the second leg and the minimum value of the angle for the second leg is greater than the second threshold value.

[0155] The operation (850) for determining whether the second condition is satisfied may include determining that the second condition is satisfied when the magnitude of the angle difference for the first leg is greater than the first threshold value for each step of the number of steps of the first leg of the predetermined number of steps, and when the magnitude of the angle difference for the second leg is greater than the second threshold value for each step of the number of steps of the second leg of the predetermined number of steps.

[0156] The above trigger signal may cause the electronic device (210) to change the progress state of the exercise program to the next progress state.

[0157] When the exercise program running on the electronic device (210) is in a stopped state, the trigger signal may cause the electronic device (210) to change the exercise program from the stopped state to a continuing state.

[0158] The operation (810) of acquiring the sensor data may include acquiring the sensor data using an angle sensor (524, 524-1) for measuring movement information regarding the movement of the wearable device (100) corresponding to the user's leg movement.

[0159] A computer-readable recording medium according to one embodiment may store a program for performing a method of operating the wearable device (100).

[0160] A wearable device (100) according to one embodiment may include one or more sensors (524, 524-1) for acquiring sensor data including movement information of the wearable device (100) due to the movement of a user wearing the wearable device (100), a communication circuit (516) for communicating with an electronic device (210), one or more memories (514) for storing instructions, and one or more processors (512).

[0161] When the above instructions are executed individually or collectively by the one or more processors (512), the wearable device (100) may determine the angular velocity of the user's first leg and the angular velocity of the user's second leg based on the sensor data, determine whether a first condition based on the angular velocity of the first leg and the angular velocity of the second leg is satisfied, determine the angle of the user's first leg and the angle of the user's second leg based on the sensor data, determine whether a second condition based on the angle of the first leg and the angle of the second leg is satisfied, and if it is determined that the first condition and the second condition are satisfied, the electronic device (210) may generate a trigger signal to induce a change in the state of the exercise program and transmit the generated trigger signal to the electronic device (210).

[0162] When the above instructions are executed individually or collectively by the one or more processors (512), the wearable device (100) may determine whether a first-1 condition based on the sum of the angular velocity for the first leg and the angular velocity for the second leg is satisfied, and whether a first-2 condition based on the difference between the angular velocity for the first leg and the angular velocity for the second leg is satisfied.

[0163] When the above instructions are executed individually or collectively by the one or more processors (512), the wearable device (100) may be made to determine that the first-1 condition is satisfied if the sign indicated by the sum of the angular velocity for the first leg and the angular velocity for the second leg corresponds to the forward direction of the user, and the magnitude of the sum of the angular velocity for the first leg and the angular velocity for the second leg is greater than a threshold value.

[0164] When the above instructions are executed individually or collectively by the one or more processors (512), the wearable device (100) may determine that the first-2 conditions are satisfied if the magnitude of the difference between the angular velocity for the first leg and the angular velocity for the second leg is greater than a threshold value.

[0165] When the above instructions are executed individually or collectively by the one or more processors (512), the wearable device (100) may be able to determine whether the second condition is satisfied when it is determined that both the first-1 condition and the first-2 condition are satisfied.

[0166] When the above instructions are executed individually or collectively by the one or more processors (512), the wearable device (100) may determine whether the second condition is satisfied by determining whether the magnitude of the angle difference between the maximum value of the angle for the first leg and the minimum value of the angle for the first leg is greater than a first threshold value, and determining whether the magnitude of the angle difference between the maximum value of the angle for the second leg and the minimum value of the angle for the second leg is greater than a second threshold value.

[0167] The above one or more sensors may include an angle sensor (524, 524-1) for acquiring sensor data including movement information regarding the movement of the wearable device (100) corresponding to the user's leg movement.

[0168]

[0169] The various embodiments of the present disclosure and the terms used therein are not intended to limit the technical features described in the present disclosure to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of said items unless the relevant context clearly indicates otherwise. In the present disclosure, phrases such as “A or B,” “at least one of A and B,” “at least one of A or B,” “A, B or C,” “at least one of A, B and C,” and “at least one of A, B, or C” each may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof. Terms such as “first,” “second,” or “first” or “second” may be used simply to distinguish said components from other said components and do not limit said components in any other aspect (e.g., importance or order). Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0170] At least one of the operations described in the various embodiments of the present disclosure may be performed simultaneously or in parallel with other operations, and the order of the operations may be changed. Additionally, at least one of the operations may be omitted, and other operations may be performed additionally.

[0171] The term “module” as used in various embodiments of the present disclosure may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit, for example. A module may be a component formed integrally, or a minimum unit of said component or a part thereof that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC).

[0172] Various embodiments of the present disclosure may be implemented as software comprising one or more instructions stored in a storage medium readable by a machine (e.g., the wearable device (100) of FIG. 1, the electronic device (210) of FIG. 2 and FIG. 7). For example, a processor of the machine (e.g., the processor (512) of FIG. 5 or the processor (710) of FIG. 7) may call at least one of the one or more instructions stored from the storage medium and execute it. This enables the machine to be operated to perform at least one function according to the at least one called instruction. The one or more instructions may include code generated by a compiler or code that can be executed by an interpreter. The storage medium readable by the machine may be provided in the form of a non-transitory storage medium. Here, 'non-temporary' simply means that the storage medium is a tangible device and does not contain a signal (e.g., electromagnetic waves), and the term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily.

[0173] 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, or computer storage medium or device so as 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 stored or executed in a distributed manner. Software and data may be stored on computer-readable recording media.

[0174] According to one embodiment, the method according to the various embodiments disclosed herein may be provided by being included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or distributed online (e.g., download or upload) through an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created in a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0175] According to various embodiments, each component (e.g., module or program) of the components described above may include a singular or multiple entities, and some of the multiple entities may be separated and placed in other components. According to various embodiments, one or more of the components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Generally or additionally, multiple components (e.g., module or program) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each of the multiple components in the same or similar manner as those performed by the corresponding component among the multiple components prior to integration. According to various embodiments, operations performed by the module, program, or other components may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.

[0176] 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. Additionally, other processing configurations, such as parallel processors, are also possible.

[0177] 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.

[0178] Although the present disclosure has been illustrated and described with reference to various embodiments, it will be understood that the various embodiments are for illustrative purposes only and are not limiting. It will be further understood by those skilled in the art that various modifications of form and detail may be made without departing from the true spirit and full scope of the present disclosure, including the appended claims and their equivalents. Additionally, it will be understood that any embodiment(s) described in the present disclosure may be used in combination with any other embodiment(s) described in the present disclosure.

Claims

In a method of operating a wearable device (100), Operation of acquiring sensor data from a sensor (810); An operation (820) for determining the angular velocity of the user's first leg and the angular velocity of the user's second leg based on the sensor data above; An operation (830) to determine whether a first condition based on the angular velocity of the first leg and the angular velocity of the second leg is satisfied; An operation (840) to determine the angle of the user's first leg and the angle of the user's second leg based on the sensor data above; An operation (850) to determine whether a second condition based on the angle of the first leg and the angle of the second leg is satisfied; When it is determined that the first condition and the second condition are satisfied, an operation (860) to cause the electronic device (210) to generate a trigger signal to induce a change in the state of the exercise program; and The operation (870) of transmitting the above-generated trigger signal to the electronic device (210) A method of operation including In paragraph 1, The operation (830) for determining whether the above first condition is satisfied is, An operation to determine whether a 1-1 condition is satisfied based on the sum between the angular velocity for the first leg and the angular velocity for the second leg; and Operation to determine whether the first-2 condition is satisfied based on the difference between the angular velocity for the first leg and the angular velocity for the second leg. A method of operation including In paragraph 2, The operation of determining whether the above 1-1 condition is satisfied is, An operation to determine that the 1-1 condition is satisfied when the sign indicated by the sum of the angular velocity for the first leg and the angular velocity for the second leg corresponds to the forward direction of the user, and the magnitude of the sum of the angular velocity for the first leg and the angular velocity for the second leg is greater than a threshold value. A method of operation including In paragraph 2 or 3, The operation of determining whether the above 1-2 conditions are satisfied is, An operation to determine that the first and second conditions are satisfied when the magnitude of the difference between the angular velocity for the first leg and the angular velocity for the second leg is greater than a threshold value. A method of operation including In paragraph 2 or 3, The operation (850) for determining whether the above second condition is satisfied is, An operation to determine whether the second condition is satisfied when it is determined that both the first-1 condition and the first-2 condition are satisfied. A method of operation including In any one of paragraphs 1 through 5, The operation (850) for determining whether the above second condition is satisfied is, An operation to determine whether the magnitude of the angle difference between the maximum value of the angle for the first leg and the minimum value of the angle for the first leg is greater than a first threshold value; and Operation to determine whether the magnitude of the angle difference between the maximum value of the angle for the second leg and the minimum value of the angle for the second leg is greater than a second threshold value. A method of operation including In paragraph 6, The operation (850) for determining whether the above second condition is satisfied is, An operation to determine that the second condition is satisfied when, for each step of a predefined number of steps for the first leg, the magnitude of the angle difference for the first leg is greater than the first threshold, and for each step of a predefined number of steps for the second leg, the magnitude of the angle difference for the second leg is greater than the second threshold. A method of operation including In any one of paragraphs 1 through 7, The above trigger signal is, The above electronic device (210) causes the progress state of the exercise program to change to the next progress state. Method of operation. In any one of paragraphs 1 through 7, When the exercise program running on the electronic device (210) is in a stopped state, The above trigger signal is, The above electronic device (210) causes the exercise program to change from a stopped state to a moving state. Method of operation. In any one of paragraphs 1 through 9, The operation (810) of acquiring the above sensor data is, Operation of acquiring sensor data using an angle sensor (524; 524-1) for measuring movement information regarding the movement of the wearable device (100) corresponding to the leg movement of the user. A method of operation including In a wearable device (100), One or more sensors (524; 524-1) for acquiring sensor data including movement information of the wearable device (100) caused by the movement of a user wearing the wearable device (100); A communication circuit (516) for communicating with an electronic device (210); One or more memories (514) for storing instructions; and One or more processors (512) Includes, When the above instructions are executed individually or collectively by the one or more processors (512), the wearable device (100) is enabled, Based on the sensor data above, the angular velocity for the user's first leg and the angular velocity for the user's second leg are determined, and Determining whether a first condition based on the angular velocity for the first leg and the angular velocity for the second leg is satisfied, Based on the sensor data above, the angle of the user's first leg and the angle of the user's second leg are determined, and Determining whether a second condition based on the angle for the first leg and the angle for the second leg is satisfied, and When it is determined that the first condition and the second condition are satisfied, the electronic device (210) generates a trigger signal to induce a change in the state of the exercise program, and The above-mentioned trigger signal is transmitted to the electronic device (210). Wearable device (100). In Paragraph 11, When the above instructions are executed individually or collectively by the one or more processors (512), the wearable device (100) is enabled, Determining whether the 1-1 condition is satisfied based on the sum between the angular velocity for the first leg and the angular velocity for the second leg, and Determining whether the first-2 condition is satisfied based on the difference between the angular velocity for the first leg and the angular velocity for the second leg. Wearable device (100). In Paragraph 12, When the above instructions are executed individually or collectively by the one or more processors (512), the wearable device (100) is enabled, The sign indicated by the sum of the angular velocity for the first leg and the angular velocity for the second leg corresponds to the forward direction of the user, and if the magnitude of the sum of the angular velocity for the first leg and the angular velocity for the second leg is greater than a threshold value, it is determined that the first-1 condition is satisfied. Wearable device (100). In Article 12 or Article 13, When the above instructions are executed individually or collectively by the one or more processors (512), the wearable device (100) is enabled, If the magnitude of the difference between the angular velocity for the first leg and the angular velocity for the second leg is greater than a threshold value, it is determined that the first and second conditions are satisfied. Wearable device (100). In any one of paragraphs 12 through 14, When the above instructions are executed individually or collectively by the one or more processors (512), the wearable device (100) is enabled, When it is determined that both the above 1-1 condition and the above 1-2 condition are satisfied, determining whether the above 2 condition is satisfied, Wearable device (100).

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