Wearable device capable of measuring efficiency of gear assembly

Abstract

According to one embodiment, a wearable device may comprise: a driving module including a stator, a rotor rotatably connected to the stator, and a gear assembly connected to the rotor; a torque transmission frame which is connected to an output terminal of the gear assembly and can rotate by receiving power generated from the driving module; at least one sensor capable of detecting the movement of the output terminal of the gear assembly; and a control unit provided to be able to control the driving module and calculate the gear efficiency of the gear assembly.

Description

A wearable device capable of measuring the efficiency of a gear assembly

[0001] The embodiments relate to a wearable device capable of measuring the efficiency of a gear assembly.

[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 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.

[0004] According to one embodiment, a wearable device capable of measuring the efficiency of a gear assembly may include: a base body; a waist frame connected to the base body and surrounding the user's waist; a drive module comprising a stator connected to the waist frame, a rotor rotatably connected to the stator, and a gear assembly connected to the rotor; a torque transmission frame connected to the output end of the gear assembly and rotatable by receiving power generated from the drive module; a thigh fastening part connected to the torque transmission frame and fixed to the user's thigh; at least one sensor capable of detecting movement of the output end of the gear assembly; and a control unit configured to control the drive module and calculate the gear efficiency of the gear assembly.

[0005] According to one embodiment, a wearable device may include: a drive module comprising a stator, a rotor rotatably connected to the stator, and a gear assembly connected to the rotor; a torque transmission frame connected to the output end of the gear assembly and rotatable by receiving power generated from the drive module; at least one sensor capable of detecting movement of the output end of the gear assembly; and a control unit configured to control the drive module and calculate the gear efficiency of the gear assembly.

[0006] 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.

[0007] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0008] FIG. 2 is a drawing for explaining an exercise assistance system according to one embodiment.

[0009] FIG. 3 shows a schematic diagram of the rear of a wearable device according to one embodiment.

[0010] FIG. 4 shows a left side view of a wearable device worn on a user's body according to one embodiment.

[0011] FIG. 5 is a diagram illustrating the configurations of an electronic system of a wearable device according to one embodiment.

[0012] FIG. 6 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0013] FIG. 7 is a diagram illustrating the configurations of an energy management device according to one embodiment.

[0014] FIG. 8 is a block diagram schematically illustrating a driving module and a control unit according to one embodiment.

[0015] FIG. 9 is a flowchart schematically showing the sequence in which a control unit of a wearable device according to one embodiment calculates the gear efficiency of a gear assembly.

[0016] FIG. 10 is a cross-sectional view of a driving module of a wearable device according to one embodiment, illustrating a state in which the driving module operates in an auxiliary mode.

[0017] FIG. 11 is a plan view schematically illustrating the state in which a driving module of a wearable device according to one embodiment operates in an auxiliary mode.

[0018] FIG. 12 is a cross-sectional view of a driving module of a wearable device according to one embodiment, illustrating a state in which the driving module operates in a power generation mode.

[0019] FIG. 13 is a plan view schematically illustrating the state in which a driving module of a wearable device according to one embodiment operates in a power generation mode.

[0020] FIG. 14 is a graph illustrating the correlation between the number of uses of a drive module and the gear efficiency of a gear assembly according to one embodiment.

[0021] FIG. 15 is a graph illustrating the correlation between the number of uses of a drive module and the torque of a gear assembly according to one embodiment.

[0022] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Accordingly, actual implementations are not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or substitutions included in the technical concept described by the embodiments.

[0023] The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, terms such as "comprising" or "having" are intended to specify the existence of the described features, numbers, steps, actions, components, parts, or combinations thereof, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0024] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this specification.

[0025] 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.

[0026]

[0027] FIG. 1 is a diagram illustrating an overview of a wearable device worn on a user's body according to one embodiment.

[0028] 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.

[0029] 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'.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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. For example, through the movement information of the user (110) measured by the wearable device (100), walking indicators (e.g., number of steps, total walking distance, stride length) or exercise ability indicators (e.g., muscle strength, exercise endurance, posture balance) of the user (110) may be measured.

[0034] 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.

[0035] A wearable device (100) comprises a support frame (e.g., waist frame (20) of FIG. 3 and FIG. 4) for supporting the body of a user (110) when the wearable device (100) is worn on the body of a user (110), a drive module (e.g., first drive module (1) and second drive module (2) of FIG. 3) for generating torque applied to the legs of a user (110), a torque transmission frame (e.g., first torque transmission frame (50) and second torque transmission frame (55) of FIG. 3) for transmitting the torque generated by the drive module to the legs of a 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, upper body movements) of a user (110), a control circuit (e.g., control circuit (510) of FIG. 5) for controlling the operation of the wearable device (100), and a component that supplies power to each component of the wearable device (100). It may include a battery (e.g., the battery (565) of FIG. 5).

[0036] In one embodiment, the wearable device (100) may include an angle sensor and an inertial sensor. 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 positioned near where a motor included in a drive module is directly or indirectly connected to the torque transmission frame. The inertial sensor may include an acceleration sensor and / or an angular velocity sensor and may measure changes in acceleration and / or angular velocity according to the movement of the user (110). The inertial sensor may measure the movement value of, for example, the waist frame (e.g., the waist frame (20) in FIG. 3) or the base body (e.g., the base body (80) in FIG. 3) of the wearable device (100). The movement value of the waist frame or base body measured by the inertial sensor may correspond to the waist movement value (or upper body movement value) of the user (110).

[0037] 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 a base body of the wearable device (100) (e.g., the base body (80) of FIG. 3). 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 frame of the wearable device (100). The base body may support the lumbar region of the user (110).

[0038]

[0039] FIG. 2 is a drawing for explaining an exercise assistance system according to one embodiment.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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).

[0044] 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 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's measured current exercise status, exercise results, exercise posture, and / or physical ability to the user through a graphical user interface (GUI).

[0045] 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), 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.

[0046] 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.

[0047] 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.

[0048] In one embodiment, the wireless earphones (222) are 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 earphones (222) may provide the user with information related to the exercise program (e.g., an introduction to the exercise program, remaining exercise time) through the guide voice, or may ask the user for a choice. The wireless earphones (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 of the voice input may be performed on the electronic device (210).

[0049] 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.

[0050] 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).

[0051] 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.

[0052]

[0053] FIG. 3 shows a rear schematic view of a wearable device according to one embodiment. FIG. 4 shows a left side view of a wearable device worn on a user's body according to one embodiment.

[0054] Referring to FIGS. 3 and 4, a wearable device (100) according to one embodiment may include a base body (80), a waist frame (20), a driving module (1, 2), a torque transmission frame (50, 55), a thigh fastening part (91, 92), and a waist belt (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.

[0055] 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 frame (20). Both ends of the base body (80) may be provided with waist frame connecting elements (not shown) that can be connected directly or indirectly to the waist frame (20).

[0056] In one embodiment, at least one of a processor (e.g., processor (512) of FIG. 5), a battery (e.g., battery (565) of FIG. 5), a power management integrated circuit (PMIC), an electrical energy consumption circuit (e.g., electrical energy consumption circuit (595) of FIG. 5), 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.

[0057] 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.

[0058] The waist 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 frame (20) may extend from both ends of the base body (80). The user's lower back may be accommodated within the waist frame (20). The waist 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 belt (60) may be directly or indirectly connected to the ends of the waist frame (20). A drive module (1, 2) may be directly or indirectly connected to the waist frame (20).

[0059] 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 movement information of the user and / or movement information of a component of the wearable device (100). For example, one or more sensors may include, but are not limited to, an inertial sensor for measuring the movement value of the user's upper body or the movement value of the waist frame (20) (e.g., inertial sensor (522) of FIG. 5) and / or an angle sensor for measuring the angle of the user's hip joint or the angle of the torque transfer frame (e.g., first torque transfer frame (50), second torque transfer frame (55))) (e.g., angle sensor of FIG. 1, 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.

[0060] 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.

[0061] The waist belt (60) can be connected directly or indirectly to the waist frame (20) and can secure the waist frame (20) to the user's waist.

[0062] The first driving module (1) and the second driving module (2) 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 driving module (1) and the second driving module (2) can generate an assisting force or a resistance force applied to the user's leg. In one embodiment, the first driving module (1) may be located at a position corresponding to the user's left hip joint, and the second driving module (2) may be located at a position corresponding to the user's right hip joint. The first driving module (1) can generate torque to move (or rotate) the first torque transmission frame (50) in the forward or backward direction of the wearable device (100). The second driving module (2) can generate torque to move (or rotate) the second torque transmission frame (55) 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.

[0063] The first driving module (1) may include a first actuator and a first joint member, and the second driving module (2) 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, and a gear assembly for adjusting the magnitude of the output torque of the motor. 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 adjust the strength and direction of the force generated by the motor.

[0064] 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. In one embodiment, 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 (50). 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 of the first joint member or the first torque transmission frame (50) (corresponding to the user's joint angle) 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 (55). The second joint member may be rotated by power received from the second actuator. An encoder or a 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 (55) may also be disposed on one side of the second joint member.

[0065] 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 driving module (1) and the second driving module (2) 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.

[0066] In one embodiment, the first torque transmission frame (50) and the second torque transmission frame (55) can each transmit torque generated by the first driving module (1) and the second driving module (2) 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 (50) and the second torque transmission frame (55) 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 (50) and the second torque transmission frame (55) is connected directly or indirectly to the first thigh fastening part (92) and the second thigh fastening part (91), the first torque transmission frame (50) and the second torque transmission frame (55) can transmit torque generated by the first driving module (1) and the second driving module (2) to the user's thigh while supporting the user's thigh. For example, the first torque transmission frame (50) and the second torque transmission frame (55) can push or pull the user's thigh. The first torque transmission frame (50) and the second torque transmission frame (55) can be extended 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 (50) may be a torque transmission frame for transmitting torque to the user's right leg, and the second torque transmission frame (55) may be a torque transmission frame for transmitting torque to the user's left leg.

[0067] The first thigh fastening part (92) and the second thigh fastening part (91) are each directly or indirectly connected to the first torque transmission frame (50) and the second torque transmission frame (55), respectively, and can fasten the wearable device (100) to the user's leg (particularly, the thigh). The first thigh fastening part (92) may be a thigh fastening part for fastening the wearable device (100) to the user's right thigh, and the second thigh fastening part (91) may be a thigh fastening part for fastening the wearable device (100) to the user's left thigh.

[0068] In one embodiment, the first thigh fastening part (92) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (91) 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 (1) and the second driving module (2) 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 direction 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 (50) and the second torque transmission frame (55), 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.

[0069] 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.

[0070] The first strap may 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 may 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).

[0071]

[0072] FIG. 5 is a diagram illustrating the configurations of an electronic system of a wearable device according to one embodiment.

[0073] 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), a haptic circuit (560), and an energy management circuit (575). 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) may be added.

[0074] 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 (1) 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 (2) of FIG. 3.

[0075] 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 include, for example, an inertial sensor (522), a first angle sensor (524), and / or a second angle sensor (524-1). Each of these sensors may exist in multiple numbers, and some may be omitted.

[0076] The inertial sensor (522) can measure the movement values ​​of the user's body. The inertial sensor (522) can sense the acceleration, angular velocity, and rotation angle (e.g., roll, pitch, yaw) of the X-axis, Y-axis, and Z-axis according to the user's movement. The inertial sensor (522) can measure, for example, the movement values ​​of the user's upper body. The movement values ​​of the user's upper body may correspond to the movement values ​​of the waist frame of the wearable device (100) (e.g., the waist frame (20) of FIGS. 3 and 4). In one embodiment, the inertial sensor (522) may be located on a printed circuit board present inside the base body (80) of the wearable device (100) and may measure a signal indicating the degree of tilt of the wearable device (100) and / or the acceleration of the wearable device (100).

[0077] 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 a movement value (e.g., angle) of the first torque transmission frame of the wearable device (e.g., the first torque transmission frame (50) of FIG. 3), and the hip joint angle of the left leg sensed by the second angle sensor (524-1) corresponds to a movement value (e.g., angle) of the second torque transmission frame of the wearable device (e.g., the second torque transmission frame (55) of FIG. 3).

[0078] In one embodiment, the first angle sensor (524) and the second angle sensor (524-1) may sense the knee joint angle or ankle joint angle according to the user's leg movement.

[0079] In one embodiment, the processor (512) can determine the angular velocity of the first torque transmission frame by differentiating the angle change over time of the first torque transmission frame sensed by the first angle sensor (524), and determine the angular velocity of the second torque transmission frame by differentiating the angle change over time of the second torque transmission frame sensed by the second angle sensor (524-1).

[0080] 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.

[0081] The input circuit (540) can receive instructions or data to be used in 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.

[0082] 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.

[0083] The driving module (530, 530-1) can generate an external force acting on 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 acting on the user's leg based on a control signal generated by the control circuit (510). The control circuit (510) can transmit the control signal to the motor driver circuit (532, 532-1), and the motor driver circuit (532, 532-1) can control the operation of the motor (534, 534-1) by generating a current signal (or voltage signal) corresponding to the control signal and supplying it to the motor (534, 534-1). Depending on the control signal, the current signal may not be supplied to the motor (534, 534-1). The motor (534, 534-1) can generate an assisting force to assist the user's leg movement or a resistive force to hinder the leg movement when a current signal is supplied to the motor (534, 534-1) and it is driven.

[0084] 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).

[0085] The processor (512) may, for example, execute software to control at least one other component (e.g., hardware or software component) of a wearable device directly or indirectly connected to the processor (512) and may perform various data processing or operations. According to one embodiment, as at least part of the data processing or operations, the processor (512) may store instructions or data received from another component (e.g., communication circuit (516)) in memory (514), process the instructions or data stored in memory (514), and store the result 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.

[0086] 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.

[0087] In this disclosure, each “processor” may include a processing circuit or a plurality of processors. For example, as used in this 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 this disclosure in a distributed manner, individually and / or collectively. Where in this disclosure “processor,” “at least one processor,” and “one or more processors” are described 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.

[0088] 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 commands, and sensor data. Memory (514) may include at least one instruction that is executable by the processor (512). Memory (514) may include one or more memories, and instructions for controlling the processor (512) to perform 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.

[0089] The communication circuit (516) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the control circuit (510) and other components of the wearable device (100) or an external electronic device (e.g., the electronic device (210) of FIG. 2 or another wearable device (220)), and the performance of communication through the established communication channel. The communication circuit (516) may, for example, transmit sensor data acquired by a sensor to an external electronic device (e.g., the electronic device (210) of FIG. 2) and receive control signals from the external 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 direct (e.g., wired) communication 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 can communicate with other components of the wearable device (100) and / or external devices via, for example, Bluetooth, WiFi (wireless fidelity), IrDA (infrared data association), legacy cellular networks, 5G networks, next-generation communication networks, the Internet, or computer networks (e.g., LAN (local area network) or WAN (wide area network)).

[0090] The haptic circuit (560) can provide haptic feedback to the 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 (e.g., base body (80) of FIG. 3), the torque transmission frame (e.g., first torque transmission frame (50), second torque transmission frame (55) of FIG. 3), and the thigh fastener (e.g., first thigh fastener (92), second thigh fastener (91) of FIG. 3) of the wearable device (100).

[0091] In one embodiment, the electronic system may include an energy management circuit (575). The energy management circuit (575) may be a circuit that monitors the state of the battery (565) (e.g., battery charge level, voltage, current, temperature) and controls the power supply from the battery (565) and the charging of the battery (565). The energy management circuit (575) may be controlled by one or more processors (512). The battery (565) may be a secondary battery (e.g., a lithium-ion (Li-ion) battery) capable of charging or discharging electrical energy for use.

[0092] The energy management circuit (575) may include a battery (565), a battery charging circuit (585), and an electrical energy consumption circuit (595) for supplying power to each component of the wearable device (100). The battery charging circuit (585) may be a circuit that controls the charging of the battery (565) based on a regenerative current generated by a back electromotive force from a motor (534, 534-1). The battery charging circuit (585) may supply regenerative current to the battery (565) or cut off the supply of regenerative current to the battery (565) under the control of the processor (512). When the battery (565) is charged based on the regenerative current, the battery charging circuit (585) can charge the battery (565) with a high constant current (CC (constant current) charging mode) when the remaining battery capacity of the battery (565) is low (e.g., less than 70%), and charge the battery (565) with a constant voltage (CV (constant voltage) charging mode) when the remaining battery capacity of the battery (565) is high (e.g., 70% to 80%). The battery (565) may be determined to be fully charged when the remaining battery capacity of the battery (565) reaches about 80%, but is not limited thereto, and the conditions for determining full charge may vary. The electrical energy consumption circuit (595) may be a circuit for consuming electrical energy for at least a portion of the regenerative current generated from the motor (534, 534-1) or converting it into other forms of energy (e.g., thermal energy, light energy, kinetic energy, sound energy, magnetic energy). The conversion of electrical energy into other forms of energy may involve the consumption of electrical energy. By consuming electrical energy for at least a portion of the regenerative current by the electrical energy consumption circuit (595), the possibility of overcharging of the battery (565) is reduced, and the possibility of damage to the battery (565) or circuit elements due to overvoltage at the node where the regenerative current is output is reduced.In one embodiment, the electric energy consumption circuit (595) may be located within the base body of the wearable device (100) (e.g., the base body (80) of FIG. 3).

[0093] In one embodiment, the energy management circuit (575) may further include a power management integrated circuit (PMIC) (not shown) that controls the power supply from the battery (565). The power management integrated circuit can convert the power of the battery (565) to match the operating voltage of each component of the wearable device (100) and supply it to each component. The power management integrated circuit can charge the battery (565) using power supplied from an external power source. The power management integrated circuit can measure the state of the battery (e.g., state of charge, state of health, voltage, current, overcharge, overdischarge, overheating, short circuit, swelling). The operation of the power management integrated circuit can be controlled by a processor (512).

[0094] When a user wears the wearable device (100) and walks or exercises, the motor (534, 534-1) operates in accordance with the user's leg movement pattern, and the rotation direction of the rotation axis of the motor (534, 534-1) can change periodically. When the wearable device (100) operates in a mode that generates assistive force (e.g., walking assist mode, assist mode of exercise assist mode), the motor (534, 534-1) can consume energy stored in the battery (565) to rotate the rotation axis in the direction of the user's leg movement. When the wearable device (100) operates in a mode that generates resistance force (e.g., resistance mode of exercise assist mode), the rotation axis of the motor (534, 534-1) is rotated by the user's leg movement, causing a back electromotive force to be induced in the motor (534, 534-1), and a regenerative current can be generated by the back electromotive force. Alternatively, regenerative current may be generated from the motor (534, 534-1) when the rotation axis of the motor (534, 534-1) is controlled to be fixed and the rotation axis rotates due to the movement of the user's leg, or when the rotation axis of the motor (534, 534-1) is controlled to rotate in a first rotation direction and the rotation axis rotates in a second rotation direction opposite to the first rotation direction due to the movement of the user's leg. In this way, the motor (534, 534-1) may operate as a generator that produces electrical energy.

[0095] In one embodiment, the processor (512) can control the electrical energy generated in the wearable device (100) by taking into account the charge state of the battery (565). For a wearable device (100) that is worn on a user's body and moves with the user, the ability of the battery to supply power for a long time is important, and the use of a heavy battery is limited. The processor (512) can increase the usage time of the wearable device (100) by charging the battery (565) through the battery charging circuit (585) with electrical energy generated by the regenerative current from the motor (534, 534-1). If the regenerative current of the motor continues to be generated even after the battery is fully charged or has reached an appropriate charge capacity, the voltage of the node where the regenerative current is output increases, which may damage the battery (e.g., battery cell) or surrounding circuit components. The processor (512) monitors the charge state of the battery (565), and when it is determined that the charge of the battery (565) has reached an appropriate state, it controls the battery charging circuit (585) to block the delivery of regenerative current to the battery (565), and subsequently controls at least a portion of the electrical energy generated by the regenerative current to be consumed in the electrical energy consumption circuit (595) or converted into another form of energy. In the electrical energy consumption circuit (595), for example, electrical energy can be converted into thermal energy, light energy, kinetic energy, or sound energy.

[0096] A wearable device (100) according to one embodiment may include a motor (534, 534-1) that generates torque based on electrical energy supplied from a battery (565) or generates regenerative current based on the leg movement of a user wearing the wearable device (100); a torque transmission frame for transmitting the generated torque to the user's leg (e.g., a first torque transmission frame (50) and a second torque transmission frame (55) of FIG. 3); a thigh fastening part for fixing the torque transmission frame to the user's leg (e.g., a first thigh fastening part (92) and a second thigh fastening part (91) of FIG. 3); an energy management circuit (575) that controls the supply of electrical energy from the battery (565) to the motor (534, 534-1) and controls the charging of the battery (565) by the regenerative current generated from the motor (534, 534-1); and one or more processors (512) that control the energy management circuit (575). there is.

[0097] In one embodiment, the energy management circuit (575) may include a rechargeable battery (565), a battery charging circuit (585) that charges the battery (565) based on regenerative current generated from the motor (534, 534-1), and an electrical energy consumption circuit (595) that consumes electrical energy for at least a portion of the regenerative current generated from the motor (534, 534-1).

[0098] In one embodiment, one or more processors (512) may activate the battery charging circuit (585) so that the battery (565) is charged by the regenerative current when the charge amount of the battery (565) is less than or equal to a reference charge value and the voltage value of the node into which the regenerative current flows into the energy management circuit (575) (or battery charging circuit (585)) is greater than a first reference voltage value, and may activate the electric energy consumption circuit (595) so that the electric energy for at least a portion of the regenerative current is consumed.

[0099] In one embodiment, one or more processors (512) can block the inflow of regenerative current to the battery (565) and activate an electrical energy consumption circuit (595) so that electrical energy for at least a portion of the regenerative current is consumed when the charge amount of the battery (565) is greater than a reference charge value and the voltage value of the node where the regenerative current flows into the energy management circuit (575) is greater than a first reference voltage value.

[0100] In one embodiment, one or more processors (512) can monitor the voltage value of a node into which regenerative current flows into the energy management circuit (575) after the electric energy consumption circuit (595) is activated. If, during monitoring, the voltage value of the node becomes lower than or equal to a second reference voltage value which is smaller than a first reference voltage value, the one or more processors (512) can block the flow of regenerative current into the electric energy consumption circuit (595).

[0101] In one embodiment, one or more processors (512) can block the inflow of regenerative current to the battery (565) and the inflow of regenerative current to the electrical energy consumption circuit (595) when the charge amount of the battery (565) is greater than a reference charge value and the voltage value of the node where the regenerative current flows into the energy management circuit (575) is less than or equal to a first reference voltage value.

[0102] Each of the energy management circuit (575), battery charging circuit (585), and electric energy consumption circuit (595) may correspond to the energy management circuit (720), battery charging circuit (724), and electric energy consumption circuit (726) described below with reference to FIG. 7. The details described below for each of the energy management circuit (720), battery charging circuit (724), and electric energy consumption circuit (726) may be applied as is to the energy management circuit (575), battery charging circuit (585), and electric energy consumption circuit (595).

[0103]

[0104] FIG. 6 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0105] Referring to FIG. 6, the wearable device (100) can communicate with an electronic device (210). For example, the electronic device (210) may be a user terminal of a user using the wearable device (100). 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).

[0106] 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).

[0107] 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 torque application. In one embodiment of the present disclosure, the term 'torque parameter' may be replaced with the terms 'parameter', 'robot parameter', or 'control parameter'.

[0108] The electronic device (210) can generate a control command (or control signal) corresponding to a motion control command or a setting change command entered by a user, and transmit the generated control command to the wearable device (100). In one embodiment, the control command may include torque parameters set by the user. The wearable device (100) can operate according to the received control command and transmit the control result according to the control command and / or sensor data measured by the sensor module of the wearable device (100) to the electronic device (210). The electronic device (210) can provide result information (e.g., current exercise status information, exercise result information, exercise posture evaluation information, physical ability evaluation information) derived by analyzing the control result and / or sensor data to the user through a GUI screen.

[0109]

[0110] FIG. 7 is a diagram illustrating the configurations of an energy management device according to one embodiment.

[0111] Referring to FIG. 7, the energy management device (700) may be a device that monitors the state of the battery (722) and controls the power supply from the battery (722) and the charging of the battery (565). The energy management device (700) may include a motor (710), an energy management circuit (720), and a processor (730).

[0112] The energy management device (700) may exist independently as an individual device or be included in another device and operate. For example, the energy management device (700) may be included in and operate within the wearable device (100) described in this disclosure. When the energy management device (700) is included in the wearable device (100), the motor (710), processor (730), energy management circuit (720), battery (722), battery charging circuit (724), and electric energy consumption circuit (726) may each correspond to the motor (534, 534-1), processor (512), energy management circuit (575), battery (565), battery charging circuit (585), and electric energy consumption circuit (595) of FIG. 5.

[0113] The motor (710) can generate torque based on electrical energy supplied from the battery (722) or generate regenerative current by back EMF. The motor (710) can convert electrical energy stored in the battery (722) into rotational kinetic energy or convert kinetic energy transmitted from the outside into electrical energy. When the rotation axis of the motor (710) rotates due to an external force, back EMF is generated, and regenerative current by back EMF can be generated from the motor (710). The motor (710) may be, for example, a brushless DC (BLDC) motor or a permanent magnet synchronous motor (PMSM). Although not shown in the drawing, the motor (710) may be connected to a motor driver circuit (e.g., motor driver circuit (532), motor driver circuit (532-1)) that controls the operation of the motor (710). The motor driver circuit is a circuit that drives the motor (710) and can convert the direct current (DC) voltage supplied from the battery (722) into alternating current (AC) voltage and supply it to the motor (710).

[0114] The energy management circuit (720) controls the supply of electrical energy from the battery (722) to the motor (710) and can control the charging of the battery (722) by the regenerative current generated from the motor (710). The energy management circuit (720) may include a rechargeable battery (722), a battery charging circuit (724) that charges the battery (722) based on the regenerative current, and an electrical energy consumption circuit (726) that consumes electrical energy for at least a portion of the regenerative current generated from the motor (710).

[0115] The processor (730) can, for example, execute software to control at least one other component (e.g., hardware or software component) of a wearable device directly or indirectly connected to the processor (512) and can perform various data processing or operations. The processor (730) 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 network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or together with it. The processor (730) may also be implemented as a system-on-chip (SoC) or integrated circuit (IC) that performs processing.

[0116] The processor (730) can control the energy management circuit (720) and / or the motor (710). For example, the processor (730) can control the flow of regenerative current generated from the motor (710) into each component of the energy management circuit (720), and control the delivery of power from the battery (722) to the motor (710) so that the motor (710) is driven. The processor (730) can control the current supplied to the motor (710), the rotational speed of the motor (710), and / or the position of the motor (710). The processor (730) may include one or more processors, and the operations of the energy management device (700) described in this disclosure may be performed by a single processor or by a combination of multiple processors.

[0117] In one embodiment, the battery charging circuit (724) may include a first switch for controlling whether regenerative current flows into the battery charging circuit (724), and the electric energy consumption circuit (726) may include a second switch for controlling whether regenerative current flows into the electric energy consumption circuit (726), and each of the first switch and the second switch may be controlled by a processor (730). The first switch and the second switch may be, for example, a semiconductor switch such as a transistor, a mechanical switch, or an electronic switch such as a software-controllable switch. The processor (730) may allow or block the regenerative current generated from the motor (710) from flowing into the battery (722) by controlling the first switch. The processor (730) can allow or block the regenerative current generated from the motor (710) from flowing into the electrical energy consumption circuit (726) by controlling the second switch.

[0118] The electric energy consumption circuit (726) may include a component for consuming electric energy from the regenerative current or converting it into another form of energy. For example, the electric energy consumption circuit (726) may include a light-emitting component (e.g., a light-emitting diode, a luminous capacitor, or a light bulb) that generates light energy by consuming electric energy for at least a portion of the regenerative current when the electric energy consumption circuit (726) is activated. Activation of the electric energy consumption circuit (726) may indicate that a second switch included in the electric energy consumption circuit (726) is turned on so that the regenerative current generated from the motor (710) is supplied to the electric energy consumption circuit (726). As another example, the electric energy consumption circuit (726) may include a heating component that generates heat energy by consuming electric energy for at least a portion of the regenerative current when the electric energy consumption circuit (726) is activated. As another example, the electric energy consumption circuit (726) may include a power generation device (e.g., a haptic device that generates vibration, a fan device that generates wind) that generates mechanical energy by consuming electric energy for at least a portion of the regenerative current when the electric energy consumption circuit (726) is activated. The components that the electric energy consumption circuit (726) may include are not limited to these examples, and the electric energy consumption circuit (726) may include various components. For example, the electric energy consumption circuit (726) may include an acoustic component (e.g., a speaker).

[0119] In one embodiment, the processor (730) may activate a battery charging circuit (724) to charge the battery (722) by the regenerative current when the charge amount of the battery (722) is less than or equal to a reference charge value and the voltage value of the node into which the regenerative current generated by the motor (710) flows into the energy management circuit (720) is greater than a first reference voltage value, and may activate an electrical energy consumption circuit (726) to consume electrical energy for at least a portion of the regenerative current. The activation of the battery charging circuit (724) may indicate that a first switch included in the battery charging circuit (724) is turned on so that the regenerative current generated from the motor (710) is supplied to the battery charging circuit (724). Charging of the battery (722) by the regenerative current may occur when the voltage value of the battery (722) is less than or equal to the voltage value of the node. As explained above, the activation of the electric energy consumption circuit (726) may indicate that the second switch included in the electric energy consumption circuit (726) is turned on, and the regenerative current generated from the motor (710) is supplied to the electric energy consumption circuit (726).

[0120] The processor (730) can control the battery charging circuit (724) so ​​that when the charge amount of the battery (722) is less than or equal to a reference charge value (e.g., 80%), the regenerative current generated from the motor (710) is delivered to the battery (722) through the battery charging circuit (724). If the voltage value of the node into which the regenerative current flows into the energy management circuit (720) is greater than a set first reference voltage value, the processor (730) can control the electrical energy consumption circuit (726) so that at least a portion of the regenerative current is consumed by the electrical energy consumption circuit (726). For example, if the electrical energy consumption circuit (726) includes a heating element, the processor (730) can control the regenerative current to be supplied to the heating element so that the electrical energy from the regenerative current is consumed by the heating element. The fact that the voltage value of the above node is greater than the set first reference voltage value may indicate that the electrical energy of the regenerative current generated from the motor (710) is excessive compared to the electrical energy used to charge the battery (722). In such a case, the processor (730) can reduce the possibility of damage to the battery (722) and / or circuit elements due to the excessive regenerative current by controlling the charging of the battery (722) based on the regenerative current while simultaneously consuming the excessive electrical energy by the electrical energy consumption circuit (726).

[0121] In one embodiment, the processor (730) can block the inflow of regenerative current into the battery (722) and activate an electrical energy consumption circuit (726) so that electrical energy for at least a portion of the regenerative current is consumed when the charge amount of the battery (722) is greater than a reference charge value and the voltage value of the node is greater than a first reference voltage value. When the charge amount of the battery (722) is greater than a reference charge value (e.g., 80%), the processor (730) can block the inflow of regenerative current into the battery (722) by turning off a first switch so that the battery (722) is not overcharged. Blocking the inflow of regenerative current into the battery (722) may correspond to deactivating the battery charging circuit (724). If the voltage value of the node is greater than a set first reference voltage value, the processor (730) can control the inflow of at least a portion of the regenerative current into the electrical energy consumption circuit (726).

[0122] In one embodiment, the processor (730) can block the inflow of regenerative current into the battery (722) and the inflow of regenerative current into the electrical energy consumption circuit (726) when the charge amount of the battery (722) is greater than a reference charge value and the voltage value of the node is less than or equal to a first reference voltage value. When the charge amount of the battery (722) is greater than a reference charge value (e.g., 80%), the processor (730) can block the inflow of regenerative current into the battery (722) so that the battery (722) is not overcharged. The processor (730) can monitor the voltage value of the node and activate the electrical energy consumption circuit (726) when the voltage value of the node becomes greater than the first reference voltage value. The electrical energy consumption circuit (726) can be activated whenever the voltage value of the node becomes greater than the first reference voltage value to consume at least a portion of the regenerative current. The voltage value of the node can be maintained below a first reference voltage value through the electrical energy consumption circuit (726). The processor (730) can monitor the voltage value of the node after the electrical energy consumption circuit (726) is activated. If, during monitoring, the voltage value of the node becomes below a second reference voltage value which is smaller than the first reference voltage value, the processor (730) can block the inflow of regenerative current into the electrical energy consumption circuit (726).

[0123] In one embodiment, the processor (730) can block the inflow of regenerative current into the battery (722) and the inflow of regenerative current into the electrical energy consumption circuit (726) when the charge amount of the battery (722) is less than or equal to a reference charge value, the voltage value of the battery (722) is greater than the voltage value of the node, and the voltage value of the node is less than or equal to a first reference voltage value. If the charge amount of the battery (722) is less than or equal to a reference charge value but the voltage value of the battery (722) is greater than the voltage value of the node, the battery (722) cannot be charged by regenerative current due to the property that current flows from a higher voltage value to a lower voltage value, so the processor (730) can block the inflow of regenerative current into the battery (722) by turning off the first switch included in the battery charging circuit (724). If the voltage value of the above node is less than or equal to the first reference voltage value, there is no need to activate the electrical energy consumption circuit (726) because the accumulation of electrical energy by the regenerative current is not excessive. Therefore, the processor (730) can block the inflow of the regenerative current into the electrical energy consumption circuit (726).

[0124] In one embodiment, the processor (730) can activate the battery charging circuit (724) to charge the battery (722) by regenerative current and block the inflow of the regenerative current to the electrical energy consumption circuit (726) when the charge amount of the battery (722) is below a reference charge value, the voltage value of the battery (722) is below the voltage value of the node, and the voltage value of the node is below a first reference voltage value. If the charge amount of the battery (722) is below the reference charge value but the voltage value of the battery (722) is below the voltage value of the node, the processor (730) can turn on a first switch included in the battery charging circuit (724) to charge the battery (722) based on the regenerative current, thereby controlling the inflow of the regenerative current to the battery (722). If the voltage value of the above node is less than or equal to the first reference voltage value, the processor (730) can disable the electrical energy consumption circuit (726) because the accumulation of electrical energy by the regenerative current is not excessive.

[0125] In one embodiment, when the battery charging circuit (724) is activated and the battery (722) is charged by the regenerative current, high-speed charging or low-speed charging may be performed depending on the charge state of the battery (722). The battery (722) may be charged by a portion of the regenerative current, and in this case, the voltage value of the node may increase due to the electrical energy of the remaining regenerative current. Whenever the voltage value of the node increases above a first reference voltage value during the charging of the battery (722), the processor (730) may activate the electrical energy consumption circuit (726) to reduce the likelihood that the voltage value of the node will increase above the first reference voltage value. When the charging of the battery (722) is completed (e.g., when the charge amount of the battery (722) reaches 80%), it enters a full-charge mode, and charging of the battery (722) by the regenerative current may no longer occur.

[0126] As described above, the energy management device (700) can increase the power supply time of the battery (722) by charging the battery (722) using the regenerative current generated from the motor (710). The energy management device (700) checks whether the battery (722) is fully charged and, if the battery (722) is not fully charged, supplies the regenerative current to the battery (722). If the battery (722) is fully charged, it causes the electrical energy consumption circuit (726) to consume the electrical energy from the regenerative current, thereby reducing the possibility that a voltage greater than the operating voltage will be generated within the circuit by the regenerative current. Through this, the energy management device (700) can reduce the possibility of damage to the battery (722) and circuit components due to excessive regenerative current and the possibility of the temperature on the circuit becoming excessively high.

[0127]

[0128] FIG. 8 is a block diagram schematically illustrating a driving module and a control unit according to one embodiment. FIG. 9 is a flowchart schematically illustrating the sequence in which a control unit of a wearable device according to one embodiment calculates the gear efficiency of a gear assembly.

[0129] Referring to FIGS. 8 and 9, a wearable device (e.g., the wearable device (100) of FIG. 1) may include a drive module (e.g., the drive module (1) of FIG. 3) and a control unit (83). The drive module may include a gear assembly (14). The drive module may include an input terminal (81) for inputting power to the gear assembly (14) and an output terminal (82) for outputting power from the gear assembly (14). The gear assembly (14) may include a plurality of gears. The gear assembly (14) may have a reduction ratio. The gear assembly (14) may increase the magnitude of the torque input from the input terminal (81) and transmit it to the output terminal (82).

[0130] A wearable device according to one embodiment does not require a separate precision device for measuring the torque of the input terminal (81). The input terminal (81) can supply power in the form of applied current. For example, the driving module may include a stator and a rotor. The rotor may accommodate a gear assembly (14). The stator may include a coil. The input terminal (81) can supply current to the stator. The control unit (83) can calculate the gear efficiency of the gear assembly (14) based on the applied current applied from the input terminal (81) to the stator.

[0131] The gear assembly (14) may be sequentially connected to a coupler (821), a sensor (822), and a torque transmission frame (823). For example, the sensor (822) may be provided with at least one. For example, the sensor (822) may include a torque sensor that measures the strength of the torque at the output end of the gear assembly (14). The sensor (822) may include an angle sensor that measures the angle at the output end of the gear assembly (14). The angle sensor may include an encoder and / or a Hall sensor.

[0132] The control unit (83) may be electrically connected to the input terminal (81) and the output terminal (82). For example, the control unit (83) may exchange signals with the input terminal (81) and the output terminal (82). The control unit (83) may receive information regarding the intensity of the applied current applied to the gear assembly (14) from the input terminal (81). The control unit (83) may be electrically connected to the sensor (822). The control unit (83) may obtain information detected by the sensor (822). The control unit (83) may obtain information regarding the intensity of the torque of the output terminal of the gear assembly (14) or the angle of the output terminal. Based on the obtained information, the control unit (83) may calculate the gear efficiency of the gear assembly (14).

[0133] Hereinafter, the control unit (83) will explain how to measure the gear efficiency of the gear assembly (14).

[0134] In step (S110), the control unit (83) can calculate the power of the output end. Here, the power of the output end may include the torque intensity and angular velocity of the output end of the gear assembly (14).

[0135] In step (S120), the control unit (83) can detect the applied current. For example, the input terminal (81) and the control unit (83) are electrically connected, and when current is applied from the input terminal (81) to the gear assembly (14), information on the intensity of the current can be transmitted from the input terminal (81) to the control unit (83).

[0136] In step (S130), the control unit (83) can process data. The driving module can operate in two modes. The driving module can operate in an assist mode to assist the user's movement or in a power generation mode to generate electricity through the user's movement by applying resistance to the user.

[0137] In step (S140), the control unit (83) can calculate the gear efficiency based on the processed information.

[0138] In auxiliary mode, the control unit (83) can calculate the gear efficiency through the following [Equation 1].

[0139]

[0140] Here, T gear : Torque generated in the gear, T motor : Torque generated by the motor, w gear : Speed ​​generated in the gear, w motor : Speed ​​generated by the motor, P out : motor output power, P in : motor input power, P mechanical : mechanical power of the motor, Pelectrical : Motor's electrical power, P loss : loss incurred in the motor, n : gear ratio, k tm : motor torque constant, I rms : Line current RMS value,η gear : gear efficiency,η motor : It is motor efficiency.

[0141] In generation mode, the control unit (83) can calculate the gear efficiency through the following [Equation 2].

[0142]

[0143] Here, T gear : Torque generated in the gear, T motor : Torque generated by the motor, w gear : Speed ​​generated in the gear, w motor : Speed ​​generated by the motor, P out : motor output power, P in : motor input power, P mechanical : mechanical power of the motor, P electrical : Motor's electrical power, P loss : loss incurred in the motor, n : gear ratio, k tm : motor torque constant, I rms : Line current RMS value,η gear : gear efficiency,η motor : It is motor efficiency.

[0144] FIG. 10 is a cross-sectional view of a driving module of a wearable device according to one embodiment, illustrating a state in which the driving module operates in an auxiliary mode. FIG. 11 is a plan view schematically illustrating a state in which the driving module of a wearable device according to one embodiment operates in an auxiliary mode. FIG. 12 is a cross-sectional view of a driving module of a wearable device according to one embodiment, illustrating a state in which the driving module operates in a power generation mode. FIG. 13 is a plan view schematically illustrating a state in which the driving module of a wearable device according to one embodiment operates in a power generation mode.

[0145] Referring to FIGS. 10 to 14, the drive module (1) may include a stator (11), a rotor (12), and a gear assembly (14).

[0146] The stator (11) may have a hollow interior. The stator (11) may accommodate a ring-shaped coil (11a). The stator (11) may receive an applied current from an input terminal and transmit it to the rotor (12) in the form of magnetic force.

[0147] In auxiliary mode, input power (IP) can be applied from a power source to the stator (11). The power source may include, for example, a battery. Motor torque (Tmotor) can be transferred from the stator (11) to the rotor (12). In auxiliary mode, the power source may be discharged.

[0148] In generation mode, motor torque (Tmotor) can be transmitted from the rotor (12) to the stator (11). The motor torque (Tmotor) transmitted to the stator (11) can be converted into current and transmitted to a power source. In generation mode, the power source can be charged.

[0149] The rotor (12) may be rotatably provided relative to the stator (11). The rotor (12) may be received inside the stator (11). The rotor (12) may have a hollow interior. The rotor (12) may receive a gear assembly (14) interior.

[0150] The gear assembly (14) may include a plurality of gears. The gear assembly (14) may include a first sun gear (13) connected to a rotor (12) and rotating together with the rotor (12), a first planetary gear (141) meshing with the first sun gear (13), a first carrier (142) connected to the first planetary gear (141), a second sun gear (143) connected to the first carrier (142), a second planetary gear (144) meshing with the second sun gear (143), a second carrier (145) meshing with the second planetary gear (144), an output terminal (146) connected to the second carrier (145), and a ring gear (147) meshing with the first planetary gear (141) and the second planetary gear (144).

[0151] The first planetary gear (141) may include a plurality of planetary gears. For example, the first planetary gear (141) may include three planetary gears positioned at intervals of 120 degrees from each other with respect to the first sun gear (13). Each planetary gear may mesh with the first sun gear (13) on one side and mesh with the ring gear (147) on the other side. The first carrier (142) may be connected to the rotation axis of each of the plurality of planetary gears. The ring gear (147) may be provided in a fixed state to the stator (11) independently of the rotation of the rotor (12).

[0152] Hereinafter, the first sun gear (13), the first planetary gear (141), and the first carrier (142) may be referred to as the first gear set. The second sun gear (143), the second planetary gear (144), and the second carrier (145) may be referred to as the second gear set. Transmission from the first gear set to the second gear set

[0153] The drive module (1) may include a plurality of bearings (151, 152, 153). The first bearing (151) may be located between the first sun gear (13) and the stator (11). The second bearing (152) may be located between the output terminal (146) and the rotor (12). The third bearing (153) may be located between the stator (11) and the rotor (12). It should be noted that bearings not shown or described may also be provided between each component.

[0154] The drive module (1) can operate in either an auxiliary mode or a generating mode. When the drive module (1) operates in an auxiliary mode, the drive module (1) can transmit power to the torque transmission frame (50). When the drive module (1) operates in a generating mode, the drive module (1) can store power applied to the torque transmission frame (50) from the user.

[0155]

[0156] FIG. 14 is a graph illustrating the correlation between the number of uses of a drive module and the gear efficiency of a gear assembly according to one embodiment. FIG. 15 is a graph illustrating the correlation between the number of uses of a drive module and the torque of a gear assembly according to one embodiment.

[0157] Referring to Fig. 14, it can be seen that the gear efficiency of the gear assembly decreases as the number of uses of the drive module increases. Here, the number of uses refers to the amount of drive module used when a user takes one step while wearing the wearable device.

[0158] The control unit can monitor the gear efficiency of the gear assembly in real time. The control unit stores information regarding the value of the gear efficiency of the gear assembly based on the number of uses of the drive module, and can transmit a signal if the gear efficiency of the gear assembly is lower than a preset threshold efficiency. Here, the signal may be a notification recommending the replacement of the drive module. While the drive module is operating in generation mode, the control unit can transmit a signal if the torque value transmitted from the torque transmission frame to the gear assembly is greater than or equal to a preset threshold torque. The preset threshold torque may be, for example, 15 Nm. If the torque value transmitted to the gear assembly is greater than the preset threshold torque, the control unit determines that the risk is high and can transmit a signal recommending the replacement of the drive module to the outside.

[0159]

[0160] According to one embodiment, a wearable device capable of measuring the efficiency of a gear assembly may include: a base body; a waist frame connected to the base body and surrounding the user's waist; a drive module comprising a stator connected to the waist frame, a rotor rotatably connected to the stator, and a gear assembly connected to the rotor; a torque transmission frame connected to the output end of the gear assembly and rotatable by receiving power generated from the drive module; a thigh fastening part connected to the torque transmission frame and fixed to the user's thigh; at least one sensor capable of detecting movement of the output end of the gear assembly; and a control unit configured to control the drive module and calculate the gear efficiency of the gear assembly.

[0161] In one embodiment, the gear efficiency of the gear assembly can be measured with the drive module connected to the waist frame.

[0162] In one embodiment, the at least one sensor may include a torque sensor for measuring the gear torque of the output end of the gear assembly; and an angle sensor for measuring the angular velocity of the output end of the gear assembly.

[0163] In one embodiment, the control unit can calculate the gear efficiency based on the magnitude of the applied current applied to the driving module, the gear torque, and the angular velocity.

[0164] In one embodiment, the control unit can calculate the torque of the input end of the gear assembly from the magnitude of the applied current applied to the driving module.

[0165] In one embodiment, the angle sensor may be a Hall sensor or an encoder.

[0166] In one embodiment, the rotor may be located inside the stator.

[0167] In one embodiment, the gear assembly may be located inside the rotor.

[0168] In one embodiment, the gear assembly may include a ring gear provided on the inner wall of the rotor; a first gear set connected to the ring gear; and a second gear set connected to the ring gear and the first gear set.

[0169] In one embodiment, the first gear set may include a first sun gear connected to the rotor; a first planetary gear connected to the first sun gear and the ring gear; and a first carrier connected to the first planetary gear.

[0170] In one embodiment, the second gear set may include a second sun gear connected to the first carrier; a second planetary gear connected to the second sun gear and the ring gear; and an output end connected to the second planetary gear and connected to the torque transmission frame.

[0171] In one embodiment, the driving module can operate in either an auxiliary mode or a generating mode, and when the driving module operates in the auxiliary mode, the driving module transmits power to the torque transmission frame, and when the driving module operates in the generating mode, the driving module can store power applied to the torque transmission frame from the user.

[0172] In one embodiment, the control unit can monitor the gear efficiency of the gear assembly in real time.

[0173] In one embodiment, the control unit stores information regarding the value of the gear efficiency of the gear assembly according to the number of uses of the drive module, and can transmit a signal when the gear efficiency of the gear assembly is lower than a preset threshold efficiency.

[0174] In one embodiment, the control unit may transmit a signal when, while the drive module is operating in a power generation mode, the torque value transmitted from the torque transmission frame to the gear assembly is greater than or equal to a preset threshold torque.

[0175] According to one embodiment, a wearable device may include: a drive module comprising a stator, a rotor rotatably connected to the stator, and a gear assembly connected to the rotor; a torque transmission frame connected to the output end of the gear assembly and rotatable by receiving power generated from the drive module; at least one sensor capable of detecting movement of the output end of the gear assembly; and a control unit configured to control the drive module and calculate the gear efficiency of the gear assembly.

[0176] One embodiment 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 at least a third component(s).

[0177] As used in one embodiment of the present disclosure, the term “module” 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). Accordingly, each “module” in this specification may include a circuit.

[0178] 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 instruct 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 a networked computer system and may be stored or executed in a distributed manner. Software and data may be stored on a computer-readable recording medium. One embodiment of the present disclosure may be implemented as software comprising one or more instructions stored on a storage medium readable by a machine. For example, the processor of the machine 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. One or more of the above instructions may include code generated by a compiler or code that can be executed by an interpreter. A device-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' simply means that the storage medium is a tangible device and does not contain a signal (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily in the storage medium.

[0179] According to one embodiment, the method according to the embodiments 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 on a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0180] According to one embodiment, 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 one embodiment, one or more of the components or operations among 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 one embodiment, 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.

[0181] Although the present disclosure has been illustrated and described with reference to one embodiment, it will be understood that the embodiment is for illustrative purposes only and not for limiting purposes. 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 herein may be used in combination with any other embodiment(s) described herein.

Claims

1. In a wearable device worn on a user's body, Base body; A waist frame connected to the base body and surrounding the user's waist; A drive module comprising a stator connected to the above-mentioned waist frame, a rotor rotatably connected to the stator, and a gear assembly connected to the rotor; A torque transmission frame connected to the output end of the above gear assembly and rotatable by receiving power generated from the above drive module; A thigh fastening part connected to the torque transmission frame and fixed to the user's thigh; At least one sensor capable of detecting movement of the output end of the above gear assembly; and A wearable device capable of measuring the efficiency of a gear assembly, comprising a control unit configured to control the drive module and calculate the gear efficiency of the gear assembly.

2. In Paragraph 1, A wearable device capable of measuring the efficiency of a gear assembly, wherein the gear efficiency of the above gear assembly is measurable while the drive module is connected to the waist frame.

3. In Paragraph 1, The above-mentioned at least one sensor is, A torque sensor for measuring the gear torque of the output end of the above gear assembly; and A wearable device capable of measuring the efficiency of a gear assembly, comprising an angle sensor for measuring the angular velocity of the output end of the gear assembly.

4. In Paragraph 3, A wearable device capable of measuring the efficiency of a gear assembly, wherein the control unit calculates the gear efficiency based on the magnitude of the applied current applied to the driving module, the gear torque, and the angular velocity.

5. In Paragraph 3, The above control unit is a wearable device capable of measuring the efficiency of a gear assembly, which calculates the torque of the input end of the gear assembly from the magnitude of the applied current applied to the driving module.

6. In Paragraph 3, The above angle sensor is a wearable device capable of measuring the efficiency of a gear assembly, which is a Hall sensor or an encoder.

7. In Paragraph 1, The above rotor is a wearable device capable of measuring the efficiency of a gear assembly located inside the stator.

8. In Paragraph 7, The above gear assembly is a wearable device capable of measuring the efficiency of the gear assembly, located inside the rotor.

9. In Paragraph 8, The above gear assembly is, A ring gear provided on the inner wall of the rotor; A first gear set connected to the above ring gear; and A wearable device capable of measuring the efficiency of a gear assembly, comprising the above ring gear and a second gear set connected to the above first gear set.

10. In Paragraph 9, The above-mentioned first gear set is, A first line gear connected to the rotor above; A first planetary gear connected to the first sun gear and the ring gear; and A wearable device capable of measuring the efficiency of a gear assembly, comprising a first carrier connected to the first planetary gear.

11. In Paragraph 10, The above second gear set is, A second line gear connected to the first carrier above; A second planetary gear connected to the second sun gear and the ring gear; and A wearable device capable of measuring the efficiency of a gear assembly, comprising an output end connected to the second planetary gear and connected to the torque transmission frame.

12. In Paragraph 1, The above-mentioned drive module can operate in either an auxiliary mode or a generating mode, and When the above drive module operates in the above auxiliary mode, the above drive module transmits power to the torque transmission frame, and When the above driving module operates in the above generation mode, the driving module is a wearable device capable of measuring the efficiency of a gear assembly that stores power applied to the torque transmission frame from a user.

13. In Paragraph 12, The above control unit is a wearable device capable of measuring the efficiency of a gear assembly and monitoring the gear efficiency of the gear assembly in real time.

14. In Paragraph 13, A wearable device capable of measuring the efficiency of a gear assembly, wherein the control unit stores information regarding the value of the gear efficiency of the gear assembly according to the number of uses of the driving module, and transmits a signal when the gear efficiency of the gear assembly is lower than a preset threshold efficiency.

15. In Paragraph 13, A wearable device capable of measuring the efficiency of a gear assembly, wherein the control unit transmits a signal when the torque value transmitted from the torque transmission frame to the gear assembly is greater than or equal to a preset threshold torque while the drive module is operating in a power generation mode.

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