Wearable device and method of operating same

Abstract

This wearable device can: acquire the angle for a hip joint of a user through an angle sensor; acquire a first state value for a motion state of the hip joint on the basis of the acquired angle; acquire a second state value related to angular velocity of the hip joint on the basis of the first state value; determine at least one weight of the second state value on the basis of the first state value; determine, on the basis of the second state value and the at least one weight, a torque control value used to control a driving module; and control the driving module such that the torque corresponding to the torque control value is output by the driving module.

Description

Wearable device and method of operation thereof

[0001] The embodiments relate to a wearable device and / or a method of operating the same.

[0002] An assistance device refers to a device or apparatus that helps a user perform exercise or movement. An assistance device may be worn on the user's body and may provide the user with the force necessary to perform exercise or movement.

[0003] Conventional cable-driven wearable devices (e.g., wearable devices that provide assistive power by driving a cable) may have difficulty accurately estimating the user's hip angle due to deformation of the cable and the wearable part (e.g., a belt or strap that wraps around the body). In other words, for conventional cable-driven wearable devices, the difference between the user's actual hip angle and the estimated hip angle (i.e., angle estimation error) can be large due to deformation of the cable and the wearable part. If the angle estimation error is large, it may be difficult to assist the user at the correct timing.

[0004] According to one embodiment, the wearable device may be a cable-driven wearable device, and a control method may be performed to minimize angle estimation errors caused by deformation of the cable and the wearing part of the wearable device (e.g., a belt and / or strap to be described later), and by driving the cable through this control method, the user may be assisted at accurate timing.

[0005] According to one embodiment, a wearable device may include at least one processor comprising a driving module, an angle sensor; a memory for storing instructions, and a processing circuit. When the instructions are executed individually or collectively by the at least one processor, the wearable device may obtain an angle of the user's hip joint through the angle sensor. When the instructions are executed individually or collectively by the at least one processor, the wearable device may obtain a first state value regarding the motion state of the hip joint based on the obtained angle. When the instructions are executed individually or collectively by the at least one processor, the wearable device may obtain a second state value related to the angular velocity of the hip joint based on the first state value. When the instructions are executed individually or collectively by the at least one processor, the wearable device may determine at least one weight of the second state value based on the first state value. When the above instructions are executed individually or collectively by the at least one processor, the wearable device may determine a torque control value used to control the drive module based on the second state value and the at least one weight. When the above instructions are executed individually or collectively by the at least one processor, the wearable device may control the drive module so that a torque corresponding to the torque control value is output by the drive module.

[0006] According to one embodiment, a wearable device may include at least one processor comprising a driving module, an angle sensor, a memory for storing instructions, and a processing circuit. When the instructions are executed individually or collectively by the at least one processor, the wearable device may obtain an angle of the user's hip joint through the angle sensor. When the instructions are executed individually or collectively by the at least one processor, the wearable device may obtain a first state value regarding the motion state of the hip joint based on the obtained angle. When the instructions are executed individually or collectively by the at least one processor, the wearable device may obtain a second state value related to the angular velocity of the hip joint based on the first state value. When the instructions are executed individually or collectively by the at least one processor, the wearable device may determine a first weight of the second state value based on a first function and the first state value. When the above instructions are executed individually or collectively by the at least one processor, the wearable device may determine a second weight of the second state value based on the second function and the second state value. When the above instructions are executed individually or collectively by the at least one processor, the wearable device may determine a torque control value of the drive module based on the second state value, the first weight, and the second weight. When the above instructions are executed individually or collectively by the at least one processor, the wearable device may control the drive module so that a torque corresponding to the torque control value is output by the drive module.

[0007] According to one embodiment, a method of operating a wearable device may include: acquiring an angle for a user’s hip joint through an angle sensor; acquiring a first state value for a motion state of the hip joint based on the acquired angle; acquiring a second state value related to the angular velocity of the hip joint based on the first state value; determining at least one weight of the second state value based on the first state value; determining a torque control value of a driving module of the wearable device based on the second state value and the at least one weight; and outputting a torque corresponding to the torque control value through the driving module.

[0008] According to one embodiment, the wearable device can easily adjust (or control) the assist timing and the strength of the assist force through information related to the angular velocity of the user's hip joint (or information regarding the degree of change between the angles of both hip joints).

[0009] According to one embodiment, the wearable device may have a different strength of assistive force provided when the user's leg performs an extension motion and a different strength of assistive force provided when the leg performs a bending motion.

[0010] FIG. 1 is a front view of a wearable device according to one embodiment and shows a user wearing the wearable device.

[0011] FIG. 2 is a rear view of a wearable device according to one embodiment and shows a user wearing the wearable device.

[0012] FIG. 3 is a drawing illustrating a wearable device unfolded according to one embodiment.

[0013] FIG. 4 is a schematic diagram illustrating the internal view of a driving module of a wearable device according to one embodiment.

[0014] FIG. 5 is a side view of a wearable device according to one embodiment and illustrates a user wearing the wearable device.

[0015] FIG. 6 is a block diagram illustrating an example of the configuration of a wearable device according to one embodiment.

[0016] FIGS. 7, FIGS. 8, FIGS. 9, FIGS. 10, FIGS. 11, and FIGS. 12 are drawings illustrating examples of the operation of a wearable device according to one embodiment.

[0017] FIG. 13 is a diagram illustrating a graph of the assisting force of a wearable device according to one embodiment.

[0018] FIG. 14 is a flowchart illustrating an example of an operation method of a wearable device according to one embodiment.

[0019] 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.

[0020] Terms such as "first" or "second" may be used to describe various components, but these terms should be interpreted solely for the purpose of distinguishing one component from another. For example, the first component may be named the second component, and similarly, the second component may be named the first component.

[0021] When it is stated that a component is "connected" to another component, it should be understood that it may be directly connected to or coupled with that other component, or that there may be other components in between.

[0022] 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.

[0023] 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.

[0024] 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.

[0025]

[0026] FIG. 1 is a front view of a wearable device according to one embodiment and illustrates a user wearing the wearable device. FIG. 2 is a rear view of a wearable device according to one embodiment and illustrates a user wearing the wearable device. FIG. 3 is a drawing illustrating a wearable device according to one embodiment laid out.

[0027] Referring to FIGS. 1, 2, and 3, a wearable device (100) according to one embodiment may be worn by a user. The wearable device (100) may be worn around the user's waist. The wearable device (100) may be worn around the user's thigh. The wearable device (100) may apply force to the user's thigh or leg. The wearable device (100) may assist the movement of the user's hip joint. The wearable device (100) may assist the user's walking.

[0028] According to one embodiment, the wearable device (100) may include a body (11), a waist belt (121, 122), a fixing band (13), front straps (14-1, 14-2), rear straps (15-1, 15-2), thigh belts (16-1, 16-2), front power transmission cables (17-1, 17-2), power distribution cables (18-1, 18-2), rear power transmission cables (19-1, 19-2), driving modules (112, 113), a guide (2), and a support plate (31).

[0029] According to one embodiment, the body (11) can support the user's waist. For example, the body (11) can support the user's back. The body (11) may include a body case (111) having an internal receiving space. Driving modules (112, 113) may be detachably attached to the body case (111).

[0030] According to one embodiment, each of the drive modules (112, 113) can drive different cables. For example, the first drive module (112) can drive the forward power transmission cable (17-1) and / or the rear power transmission cable (19-1). The first drive module (112) can apply tension to the first forward power transmission cable (17-1) and / or the first rear power transmission cable (19-1). The second drive module (113) can drive the second forward power transmission cable (17-2) and / or the second rear power transmission cable (19-2). The second drive module (113) can apply tension to the second forward power transmission cable (17-2) and / or the second rear power transmission cable (19-2).

[0031] According to one embodiment, the waist belt (121, 122) can wrap around the user's waist. The waist belt (121, 122) may include a first waist belt (121) connected to one side of the body (11) and a second waist belt (122) connected to the other side of the body (11). The first waist belt (121) and the second waist belt (122) may overlap each other in front of the user. For example, the first waist belt (121) and the second waist belt (122) may be detachable. For example, a hook may be provided on the surface of either the first waist belt (121) or the second waist belt (122), and a loop may be provided on the surface of the other.

[0032] According to one embodiment, the fixing band (13) can support the first waist belt (121) and the second waist belt (122). The fixing band (13) can increase the bonding force of the first waist belt (121) and the second waist belt (122). The fixing band (13) can surround the overlapping portion of the first waist belt (121) and the second waist belt (122).

[0033] According to one embodiment, the front straps (14-1, 14-2) can be connected to the waist belt (121, 122) and the thigh belts (16-1, 16-2). For example, one end of the first front strap (14-1) can be connected to the first waist belt (121), and the other end can be connected to the first thigh belt (16-1). One end of the second front strap (14-2) can be connected to the second waist belt (122), and the other end can be connected to the second thigh belt (16-2).

[0034] According to one embodiment, each of the front straps (14-1, 14-2) may be positioned along the front of each of the user's thighs. For example, the first front strap (14-1) may be positioned along the front of the user's first thigh (e.g., left thigh), and the second front strap (14-2) may be positioned along the front of the user's second thigh (e.g., right thigh).

[0035] According to one embodiment, each of the front straps (14-1, 14-2) may have elasticity. Since the front straps (14-1, 14-2) may have elasticity, less creasing may occur even if the length is reduced.

[0036] According to one embodiment, each of the front straps (14-1, 14-2) may have a receiving space inside which can accommodate each of the front power transmission cables (17-1, 17-2). The first front strap (14-1) may have a receiving space that can accommodate the first front power transmission cable (17-1), and the second front strap (14-2) may have a receiving space that can accommodate the second front power transmission cable (17-2).

[0037] According to one embodiment, rear straps (15-1, 15-2) can be connected to the body (11) and thigh belts (16-1, 16-2). For example, one end of the first rear strap (15-1) can be connected to the body (11), and the other end can be connected to the thigh belt (16-1). One end of the second rear strap (15-2) can be connected to the body (11), and the other end can be connected to the thigh belt (16-2).

[0038] According to one embodiment, each of the rear straps (15-1, 15-2) may be positioned along the back of each of the user's thighs. For example, the first rear strap (15-1) may be positioned along the back of the user's first thigh (e.g., left thigh), and the second rear strap (15-2) may be positioned along the back of the user's second thigh (e.g., right thigh).

[0039] According to one embodiment, each of the rear straps (15-1, 15-2) may have elasticity. Since the rear straps (15-1, 15-2) may have elasticity, less creasing may occur even if the length is reduced.

[0040] According to one embodiment, each of the rear straps (15-1, 15-2) may have a receiving space inside to accommodate each of the rear power transmission cables (19-1, 19-2). The first rear strap (15-1) may have a receiving space to accommodate the first rear power transmission cable (19-1), and the second rear strap (15-2) may have a receiving space to accommodate the second rear power transmission cable (19-2).

[0041] According to one embodiment, the front straps (14-1, 14-2) and rear straps (15-1, 15-2) can function to prevent the thigh belts (16-1, 16-2) from sliding down.

[0042] According to one embodiment, each of the thigh belts (16-1, 16-2) may wrap around each of the user's thighs. For example, the first thigh belt (16-1) may wrap around the user's first thigh (e.g., left thigh), and the second thigh belt (16-2) may wrap around the user's second thigh (e.g., right thigh). Each of the thigh belts (16-1, 16-2) may include each of the elastic layers (166-1, 166-2) comprising an elastic material. For example, each of the elastic layers (166-1, 166-2) may include neoprene. Each of the elastic layers (166-1, 166-2) may be arranged to be placed where the tendons of each of the user's thighs meet. Each of the elastic layers (166-1, 166-2) may include a cushion (not shown) provided at the periphery of each of the elastic layers (166-1, 166-2).

[0043] According to one embodiment, each of the force distribution cables (18-1, 18-2) may be provided inside each of the thigh belts (16-1, 16-2). Each of the force distribution cables (18-1, 18-2) may distribute the force transmitted to each of the thigh belts (16-1, 16-2) over a wide range. Both ends of each of the force distribution cables (18-1, 18-2) may be fixed to each of the thigh belts (16-1, 16-2). For example, the first end and the second end of each of the force distribution cables (18-1, 18-2) may each be fixed to the lower part of each of the thigh belts (16-1, 16-2).

[0044] According to one embodiment, each of the force distribution cables (18-1, 18-2) may be in the number of. For example, each of the first force distribution cable (18-1) and the second force distribution cable (18-2) may be provided as a pair. One of the pair of first force distribution cables (18-1) may be connected to the first forward force transmission cable (17-1), and the other may be connected to the first rear force transmission cable (19-1). One of the pair of second force distribution cables (18-2) may be connected to the second forward force transmission cable (17-2), and the other may be connected to the second rear force transmission cable (19-2).

[0045] Compared to the case where each of the forward force transmission cables (17-1, 17-2) is directly fixed to each of the thigh belts (16-1, 16-2), when force distribution cables (18-1, 18-2) are provided, the number of points of application of force increases, so there can be a force distribution effect in itself.

[0046] According to one embodiment, the first forward force transmission cable (17-1) can be connected to the first drive module (112) and can transmit the torque generated from the first drive module (112) to the first thigh belt (16-1). One end of the first forward force transmission cable (17-1) can be connected to the first drive module (112), and the other end can be connected to the first force distribution cable (18-1) inside the first thigh belt (16-1). The first force distribution cable (18-1) can be fixed to the first thigh belt (16-1). The torque generated from the first drive module (112) can be transmitted to the first thigh belt (16-1) through the first forward force transmission cable (17-1) and the first force distribution cable (18-1). The first forward power transmission cable (17-1) can pass through the waist belt (12) and the first forward strap (14-1).

[0047] According to one embodiment, the first rear power transmission cable (19-1) can be connected to the first drive module (112) and can transmit torque generated from the first drive module (112) to the first thigh belt (16-1). One end of the first rear power transmission cable (19-1) can be connected to the first drive module (112), and the other end can be connected to the first power distribution cable (18-1) inside the first thigh belt (16-1). The first power distribution cable (18-1) can be fixed to the first thigh belt (16-1). The torque generated from the first drive module (112) can be transmitted to the first thigh belt (16-1) through the first rear power transmission cable (19-1) and the first power distribution cable (18-1). The first rear power transmission cable (17-1) can pass through the first rear strap (15-1).

[0048] According to one embodiment, the second forward force transmission cable (17-2) can be connected to the second drive module (113) and can transmit the torque generated from the second drive module (113) to the second thigh belt (16-2). One end of the second forward force transmission cable (17-2) can be connected to the second drive module (113), and the other end can be connected to the second force distribution cable (18-2) inside the second thigh belt (16-2). The second force distribution cable (18-2) can be fixed to the second thigh belt (16-2). The torque generated from the second drive module (113) can be transmitted to the second thigh belt (16-2) through the second forward force transmission cable (17-2) and the first force distribution cable (18-2). The second front power transmission cable (17-2) can pass through the waist belt (12) and the second front strap (14-2).

[0049] According to one embodiment, the second rear power transmission cable (19-2) can be connected to the second drive module (113) and can transmit torque generated from the second drive module (113) to the second thigh belt (16-2). One end of the second rear power transmission cable (19-2) can be connected to the second drive module (113), and the other end can be connected to the second power distribution cable (18-2) inside the second thigh belt (16-2). The second power distribution cable (18-2) can be fixed to the second thigh belt (16-2). The torque generated from the second drive module (113) can be transmitted to the second thigh belt (16-2) through the second rear power transmission cable (19-2) and the second power distribution cable (18-2). The second rear power transmission cable (17-2) can pass through the second rear strap (15-2).

[0050] According to one embodiment, the guide (2) is provided inside the waist belt (12) and can guide the direction of travel of the forward power transmission cables (17-1, 17-2). For example, the guide (2) can guide the forward power transmission cables (17-1, 17-2) toward the forward straps (14-1, 14-2).

[0051] According to one embodiment, the support plate (31) may be provided inside the waist belt (12). The support plate (31) may include a material that is more rigid than the waist belt (12). The support plate (31) may support the guide (2). The support plate (31) may include an inclined surface shape in which the width increases as it moves away from the front straps (14-1, 14-2). For example, the length of the upper side of the support plate (31) may be longer than the length of the lower side. For example, the support plate (31) may have a roughly rhombus shape. The support plate (31) may distribute the force applied from the front force transmission cables (17-1, 17-2) to the guide (2). The force applied from the front force transmission cables (17-1, 17-2) to the guide (2) may be distributed beyond the area corresponding to the upper side of the support plate (31).

[0052]

[0053] FIG. 4 is a schematic diagram illustrating the internal view of a driving module according to one embodiment.

[0054] The structure of each of the first drive module (112) and the second drive module (113) may be identical to, for example, the structure of the drive module (400) of FIG. 4. The description of the drive module (400) of FIG. 4 may be applied to each of the first drive module (112) and the second drive module (113).

[0055] Referring to FIG. 4, the drive module (400) may include a body (401) having an internal receiving space, a motor (422), a transmission member (425) (e.g., a gear) that transmits the torque of the motor (422), a first spool (423) that is rotatably connected to the transmission member (625) and connected to a forward power transmission cable (410) (e.g., a first forward power transmission cable (17-1) or a second forward power transmission cable (17-2)), and a second spool (424) that is rotatably connected to the transmission member (425) and connected to a rear power transmission cable (411) (e.g., a first rear power transmission cable (19-1) or a second rear power transmission cable (19-2)). The motor (422), the transmission member (425), the first spool (423), and the second spool (424) may be located within the body (401). The first spool (423) and the second spool (424) can be connected to the motor (422) by a transmission member (425).

[0056] According to one embodiment, the drive module (400) can wind or unwind the forward power transmission cable (410) and the rear power transmission cable (411). For example, the first spool (423) can rotate based on the torque received from the transmission member (425) (e.g., torque generated by the motor (422)). The first spool (423) can wind or unwind the forward power transmission cable (410) by rotation. The second spool (424) can rotate based on the torque received from the transmission member (425) (e.g., torque generated by the motor (422)). The rotation direction of the second spool (424) may be opposite to the rotation direction of the first spool (423). The second spool (424) can wind or unwind the rear power transmission cable (411) by rotation. When the motor (422) generates torque in a first direction, for example, the first spool (423) can rotate in the first direction and the second spool (424) can rotate in a second direction opposite to the first direction. When the first spool (423) rotates in the first direction, the first spool (423) can wind the forward power transmission cable (410), and when the second spool (424) rotates in the second direction, the second spool (424) can unwind the rear power transmission cable (411). When the motor (422) generates torque in a second direction, for example, the first spool (423) can rotate in the second direction and the second spool (424) can rotate in the first direction opposite to the second direction. When the first spool (423) rotates in the second direction, the first spool (423) can unwind the forward power transmission cable (410), and when the second spool (424) rotates in the first direction, the second spool (424) can wind the rear power transmission cable (411).

[0057]

[0058] FIG. 5 is a side view of a wearable device according to one embodiment and illustrates a user wearing the wearable device.

[0059] Referring to FIG. 5, a wearable device (500) (e.g., wearable device (100)) according to one embodiment can measure or sense the user's hip joint angle (e.g., right hip joint angle (qr) and / or left hip joint angle (ql) in FIG. 5).

[0060] According to one embodiment, if the user's hip joint rotates forward relative to the reference line (510) (e.g., a line in the direction of gravity), the hip joint angle may have a negative value, and if the user's hip joint rotates backward relative to the reference line (510), the hip joint angle may have a positive value. In the example illustrated in FIG. 5, the right hip joint may rotate forward relative to the reference line (510), so the right hip joint angle (q r ) can have a negative value, and the left hip joint can rotate backward relative to the baseline (510), so the left hip joint angle (q l ) can have a positive value.

[0061] The wearable device (500) can generate torque (hereinafter referred to as torque A) based on the user's hip joint angle and hip joint angular velocity. The wearable device (500) can wind the second forward force transmission cable (520) (e.g., second forward force transmission cable (17-2)) and unwind the second rear force transmission cable (530) through torque A, thereby providing force (e.g., assistive force) to the right leg performing a flexion motion.

[0062] The wearable device (500) can generate torque (hereinafter referred to as torque B) based on the user's hip joint angle and hip joint angular velocity. The wearable device (500) can unwind the second forward force transmission cable (520) (e.g., second forward force transmission cable (17-2)) and wind the second rear force transmission cable (530) through torque B, thereby providing force (e.g., assistive force) to the right leg performing an extension motion.

[0063]

[0064] FIG. 6 is a block diagram illustrating an example of the configuration of a wearable device according to one embodiment.

[0065] Referring to FIG. 6, a wearable device (500) according to one embodiment may include a processor (601), a memory (603), a communication circuit (605), a first angle sensor (607), a second angle sensor (609), a first driving module (612) (e.g., first driving module (112)), and a second driving module (613) (e.g., second driving module (113)).

[0066] In the example illustrated in FIG. 6, two driving modules are shown, but this is merely an example, and the wearable device (500) may include one driving module or three or more driving modules.

[0067] According to one embodiment, the first angle sensor (607) and the second angle sensor (609) may each include a Hall sensor and / or an encoder.

[0068] According to one embodiment, the first angle sensor (607) can measure or sense the angle of the user's first joint (e.g., left hip joint, etc.). The first angle sensor (607) can transmit the measurement result (e.g., angle value of the first joint angle or left hip joint angle value) to the processor (601).

[0069] According to one embodiment, the second angle sensor (609) can measure or sense the angle of the user's second joint (e.g., right hip joint, etc.). The second angle sensor (609) can transmit the measurement result (e.g., angle value of the second joint angle or right hip joint angle value) to the processor (601).

[0070] According to one embodiment, the first angle sensor (607) may be included in the first driving module (612), but is not limited thereto. The second angle sensor (609) may be included in the second driving module (613), but is not limited thereto.

[0071] According to one embodiment, the processor (601) can control the wearable device (500) overall. The processor (601) may include a processing circuit.

[0072] According to one embodiment, the processor (601) can control components within the wearable device (500) (e.g., motor driver circuits (612-1, 613-1), etc.) by executing software (or programs, instructions) stored in memory (603), for example, and can perform various data processing or operations. As at least part of the data processing or operations, the processor (601) can store data received from other components (e.g., angle sensors (607, 609), etc.) in memory (603) and process instructions or data stored in memory (603).

[0073] According to one embodiment, instructions stored in memory (603) can cause the wearable device (500) to perform operations of the wearable device (500) when executed individually and / or collectively by the processor (601).

[0074] According to one embodiment, the processor (601) can control the drive modules (612, 613) so that the drive modules (612, 613) can generate (or output) torque. For example, the processor (601) can determine a torque control value related to the torque that each of the drive modules (612, 613) will generate (or output). The processor (601) can control the drive modules (612, 613) based on the torque control value.

[0075] According to one embodiment, the processor (601) can obtain an angle for the user's hip joint (e.g., first hip joint and / or second hip joint) through an angle sensor (e.g., first angle sensor (607) and / or second angle sensor (609)). The processor (601) can obtain a first state value for the motion state of the user's hip joint (or the user's walking state) based on the obtained angle. The processor (601) can obtain a second state value related to the angular velocity of the user's hip joint based on the first state value. The processor (601) can determine at least one weight of the second state value based on the first state value. The processor (601) can determine a torque control value used for controlling a drive module (e.g., first drive module (612) and / or second drive module (613)) based on the second state value and at least one weight.

[0076] According to one embodiment, the first motor driver circuit (612-1) of the first drive module (612) can control the first motor (612-2) under the control of the processor (601), and through this control, the first motor (612-2) can generate (or output) torque. The second motor driver circuit (613-1) of the second drive module (613) can control the second motor (613-2) under the control of the processor (601), and through this control, the third motor (613-2) can generate (or output) torque.

[0077] According to one embodiment, a first drive module (612) (e.g., a first motor (612-2)) can receive power from a battery (not shown), generate torque using the received power, and can wind one of a first forward power transmission cable (e.g., a first forward power transmission cable (17-1)) and a first rear power transmission cable (e.g., a first rear power transmission cable (19-1)) and unwind the other based on the generated torque. A second drive module (613) (e.g., a second motor (613-2)) can receive power from a battery and generate torque using the received power. The torque generated by the second drive module (613) may have the same magnitude as the torque generated by the first drive module (612) and the opposite direction of rotation. The second drive module (613) can wind either the second forward power transmission cable (e.g., second forward power transmission cable (17-2)) or the second rear power transmission cable (e.g., second rear power transmission cable (19-2)) and unwind the other based on the generated torque.

[0078] According to one embodiment, the communication circuit (605) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the wearable device (500) and an external electronic device (e.g., smartphone, smart watch, etc.), and the performance of communication through the established communication channel. The communication circuit (605) may include, for example, a wireless communication circuit (e.g., Bluetooth communication circuit, etc.).

[0079] According to one embodiment, the wearable device (500) may further include a battery (not shown) and a Power Management Integrated Circuit (PMIC) (not shown). The PMIC can charge the battery using power supplied from an external power source. For example, the external power source and the wearable device (500) may be connected via a cable (e.g., a USB cable, etc.). The PMIC can receive power from the external power source via the cable and charge the battery using the received power. According to an embodiment, the PMIC can charge the battery via a wireless charging method. The PMIC can transfer power stored in the battery to components within the wearable device (500) (e.g., a processor (601), a memory (603), a communication circuit (605), etc.). The PMIC can, for example, adjust the power stored in the battery to a voltage or current level suitable for the components within the wearable device (500). The PMIC may include, for example, a converter (e.g., a DC (direct current)-DC converter) or a regulator (e.g., a low drop-out (LDO) regulator or a switching regulator, etc.) capable of performing the adjustment described above.

[0080] According to one embodiment, the wearable device (500) may further include an IMU sensor (not shown). The IMU sensor may acquire acceleration values ​​in each of the three axes (e.g., X-axis, Y-axis, Z-axis) of the wearable device (500) (or user) and transmit each acquired acceleration value to a processor (601). The X-axis direction may be, for example, the direction facing the user, the Z-axis direction may be, for example, the direction of gravity, and the Y-axis direction may represent, for example, a direction orthogonal to the X-axis and Z-axis. The processor (601) may calculate the movement speed of the wearable device (500) (e.g., the user's walking speed) based on at least some of the acquired acceleration values ​​(e.g., acceleration values ​​in the frontal direction). Depending on the implementation, the wearable device (500) may not include an IMU sensor.

[0081] According to one embodiment, the wearable device (500) may include a body (e.g., the body (11) of FIG. 2). Inside the body of the wearable device (500), at least one of a processor (601), a memory (603), and a communication circuit (605) may be located, or a combination thereof may be located.

[0082]

[0083] FIGS. 7, FIGS. 8, FIGS. 9, FIGS. 10, FIGS. 11, and FIGS. 12 are drawings illustrating examples of the operation of a wearable device according to one embodiment.

[0084] Referring to FIG. 7, a wearable device (500) (e.g., processor (601)) according to one embodiment, in operation 711, the user's hip joint angle (e.g., first hip joint angle (q l ) and / or second hip angle (q rA first state value and a second state value can be determined based on )). The first state value may represent, for example, a value regarding the motion state (or walking state) of the walking user's hip joint (e.g., first hip joint and / or second hip joint). The second state value may represent, for example, a value related to the angular velocity of the walking user's hip joint (e.g., first hip joint and / or second hip joint). The motion state of the hip joint may include, for example, a state regarding how much each hip joint of the walking user has rotated from a baseline (e.g., baseline (510) in FIG. 5). The motion state of the hip joint may include, for example, a state regarding how much one leg of the user has rotated from the other leg during the user's walking.

[0085] For example, the processor (601) can obtain the user's first hip joint angle (e.g., left hip joint angle) through the first angle sensor (607). The processor (601) can obtain the user's second hip joint angle (e.g., right hip joint angle) through the second angle sensor (609). The processor (601) can determine (or obtain) a first state value for the motion state of the user's hip joint based on the first hip joint angle and the second hip joint angle. The processor (601) can determine (or obtain) the first state value for the motion state of the user's hip joint through the following mathematical formula 1.

[0086] [Mathematical Formula 1]

[0087]

[0088] In the above mathematical equation 1, y can represent the first state value, sin() can represent the sine function, and q r can represent the right hip joint angle, and q lThe left hip joint angle may be represented. The absolute value of the first state value may represent, for example, the degree of separation between the user's two legs during walking (e.g., the degree of separation between one leg performing flexion (or extension) and the other leg performing extension (or flexion)). For example, a larger absolute value of the first state value may indicate a larger degree of separation between the user's two legs during walking, and a smaller absolute value of the first state value may indicate a smaller degree of separation between the user's two legs during walking. The processor (601) may determine (or obtain) the difference between the sine function of the right hip joint angle and the sine function of the left hip joint angle as the first state value for the motion state of the hip joint. A graph (810) of the first state value over time (e.g., one gait cycle of the user) is shown in FIG. 8. The graph (810) may show the change in the first state value during one gait cycle of the user.

[0089] In the example illustrated in FIG. 8, the processor (601) determines the right hip joint angle (q) through the second angle sensor (609) at time (t1). r Left hip joint angle (q) through _1) and the first angle sensor (607) l_ 1) can be obtained. The processor (901) q r_ The sin function value of 1 (e.g., sin(q r_ 1)) and q l The sin function value of _1 (e.g., sin(q l The difference value between _1)) can be determined (or obtained) as a first state value (e.g., state value (y#1) in FIG. 8) for the motion state of the hip joint at time (t1). The processor (601) determines (or obtains) the right hip joint angle (q) through the second angle sensor (609) at time (t2). r _2) and the first angle sensor (607) to determine the left hip joint angle (q l_ 2) can be obtained. The processor (901) qr_ The sin function value of 2 (e.g., sin(q r_ 2)) and q l The sin function value of _2 (e.g., sin(q l The difference value between _2)) can be determined (or obtained) as a state value for the motion state of the hip joint at time (t2) (e.g., state value (y#2) in Fig. 8).

[0090] The processor (601) can obtain a second state value related to the angular velocity of the hip joint based on the first state value. A graph (820) of the second state value over time (e.g., one walking cycle of the user) is shown in FIG. 8. The graph (820) shows the change in the second state value during one walking cycle of the user. The graph (820) of the second state value may be, for example, the derivative form of the graph (810) of the first state value. The processor (601) can determine (or obtain) the second state value through the following Equation 2.

[0091] [Mathematical Formula 2]

[0092]

[0093] In mathematical formula 2 above can represent a second state value, and y n-1 is time (t n-1 The first state value can be represented in ), and y n is time (t n The first state value can be represented in ).

[0094] In the example illustrated in FIG. 8, a first state value at time (t0) corresponding to a time prior to time (t1) may be y#0, a first state value at time (t1) may be y#1, and a first state value at time (t2) may be y#2. The processor (601) divides the difference value between y#0 and y#1 by a time difference value (e.g., the difference value between t1 and t0) to obtain a second state value at time (t1) (e.g., a state value related to the angular velocity of the hip joint at time (t2)). #1) can be determined (or obtained). The processor (601) divides the difference value between y#2 and y#1 by the time difference value (e.g., the difference value between t2 and t1) to obtain a second state value at time (t2) (e.g., a state value related to the angular velocity of the hip joint at time (t2)). You can determine (or acquire) #2).

[0095] Returning to FIG. 7, according to one embodiment, the processor (610) has a first state value (y) and a second state value ( Processing (e.g., filtering of operation 713 in Fig. 7 and delay of operation 715 in Fig. 7) can be performed on ). of Fig. 7 may correspond to the processed first state value, and can correspond to the processed second state value.

[0096] In operation 713, the processor (601) has a first state value (y) and a second state value ( Filtering (e.g., low-pass filtering) can be performed on ). Through this preprocessing, the first state value (y) and the second state value ( Each noise can be reduced.

[0097] In operation 715, the processor (601) filters the first state value (y s ) and filtered second state value( s A delay (e.g., time delay) can be applied to ). For example, the processor (601) can apply a filtered first state value (y s ) can be stored in the first buffer and the time value (t d When the time of )(e.g., a time value related to torque output time or a time value related to the delay of torque output timing) has elapsed, the first state value (y filtered from the first buffer) s ) can be received. The processor (601) can receive the filtered second state value ( s ) can be stored in the second buffer and the time value (t d When the time of ) has elapsed, the second state value filtered from the second buffer ( s ) can be received. The filtered first state value (or processed first state value) with a delay performed is, for example, The filtered second state value (or processed second state value) with a delay performed, which can be expressed as, for example, It can be expressed as.

[0098] In operation 717, the processor (601) processes the second state value (e.g., gain(k) on ) v ) can be applied. Gain(k v ) may have a fixed value during the user's walking, for example, but is not limited to this.

[0099] In operation 719, the processor (601) processes the first state value (e.g., Based on ), the processed second state value (e.g., At least one weight (e.g., a first weight and / or a second weight) of ) can be determined. At least one weight of the processed second state value may change during the user's walk.

[0100] For example, in the example illustrated in FIG. 9, the processor (601) can determine (or obtain) a first weight (w1) of a processed second state value using the processed first state value and the first function (911). The first function (911) is, for example, of Equation 3 below. It may apply to.

[0101] [Mathematical Formula 3]

[0102]

[0103]

[0104] In mathematical formula 3 above can represent a constant.

[0105] The processor (601) of the above mathematical formula 3 By substituting the processed first state value into it, a first weight corresponding to the processed first state value can be obtained.

[0106] The waveform of the first function (911) (e.g., the first function (1000) of FIG. 10) is shown in FIG. 10.

[0107] According to one embodiment, the first function (1000) may correspond to a function in which the function value increases as the absolute value of the first state value for the motion state of the user's hip joint becomes smaller (or closer to 0) and the function value decreases as the absolute value of the first state value for the motion state of the user's hip joint becomes larger. The first function (1000) may correspond to a function to prevent the user's movement from being hindered by cables (e.g., forward force transmission cables (17-1, 17-2) and / or rear force transmission cables (19-1, 19-2)) when the user's hip joint is in a fully bent or fully extended state. The first function (1000) may correspond to a function to reduce vibrations caused by cable slack.

[0108] The function value of the first function (1000) may be greater than 0 and less than 1. The processor (601) may obtain a first weight by applying the processed first state value to the first function (1000).

[0109] The processor (601) can determine (or obtain) a second weight (w2) of a processed second state value using the processed first state value and the second function (913). The second function (913) is, for example, of Equation 4 below. It may apply to.

[0110] [Mathematical Formula 4]

[0111]

[0112] In the above mathematical formula 4, can represent a constant. The processor (601) of the above mathematical formula 4 By substituting the processed first state value, a second weight corresponding to the processed first state value can be obtained.

[0113] According to one embodiment, of the above mathematical formula 4 can be positive or negative. In Fig. 11 When is positive, the waveform of the second function (913) (e.g., the second function (1110) of FIG. 11) and Examples of the waveforms of the second function (913) (e.g., the second function (1120) of FIG. 11) when the value is negative are shown.

[0114] According to one embodiment, the second function (913) (e.g., the second function (1110) or the second function (1120) of FIG. 11) may correspond to a function that provides different function values ​​when the first motion direction of the hip joint (e.g., flexion direction) and the second motion direction of the hip joint (e.g., extension direction), respectively. The first motion direction of the hip joint (e.g., flexion direction) may include a direction in which the hip joint angle widens (or a direction in which the hip joint angle increases), and the second motion direction of the hip joint (e.g., extension direction) may include a direction in which the widened hip joint angle narrows (or a direction in which the increased hip joint angle decreases). For example, in the example illustrated in FIG. 11, Areas where α is greater than 0 may correspond to the first motion direction of the user's hip joint (e.g., flexion direction), and The region where is less than 0 may correspond to the second motion direction of the hip joint (e.g., extension direction). The second function (1110) may provide a larger function value (e.g., a larger second weight) in the first motion direction of the hip joint than in the second motion direction of the hip joint. The second function (1120) may provide a larger function value (e.g., a larger second weight) in the second motion direction of the hip joint than in the first motion direction of the hip joint. The processor (601) may obtain a second weight by applying the processed first state value to the second function (1110) or the second function (1120).

[0115] Returning to Fig. 7, the processor (601) has a processed first state value to which a gain has been applied (e.g., A torque control value (f1) can be determined or obtained using ) and weights (w) (e.g., a first weight (w1) and / or a second weight (w2)). For example, the processor (601) can determine or obtain a processed first state value to which a gain has been applied (e.g., Torque control value (f1) by multiplying ) by at least one weight Can obtain (or calculate).

[0116] In operation 723, the processor (601) can adjust the torque control value (f1). As the torque control value (f1) increases, oscillation may occur, and oscillation can be reduced by adjusting the torque control value (f1) to a smaller value. For example, the processor (601) can calculate the adjustment value based on a third state value related to the angular velocity of the user's hip joint. Here, the adjustment value may represent a value used to adjust the torque control value (f1). The processor (601) can determine the adjusted torque control value by subtracting the adjustment value from the torque control value (f1) or by adding the adjustment value to the torque control value (f1). In the example illustrated in FIG. 12, the processor (601) [uses] a third state value (e.g., A constant value in ) Adjust value by multiplying by ) (yes: ) can be calculated. Here, can represent a multiplication symbol. Third state value (e.g., ) may be positive. In this case, the processor (601) subtracts the adjustment value from the torque control value (f1) to obtain an adjusted torque control value (1210) (e.g., f in FIG. 12). control Can obtain (or calculate) the third state value (e.g., ) can be negative. In this case, the processor (601) adds an adjustment value to the torque control value (f1) to obtain an adjusted torque control value (1210) (e.g., f in FIG. 12). control ) can be obtained (or calculated). The processor (601) can, for example, adjust torque control value Can obtain (or calculate).

[0117] The processor (601) can control the drive module based on the adjusted torque control value (1210) (or torque control value) so that the drive module can output (or generate) a torque corresponding to the adjusted torque control value (1210) (or torque control value).

[0118] According to one embodiment, the processor (601) Based on this, the drive module can be controlled, and through this control, the drive module can generate torque. Here, is, for example, the first weight ( It may correspond to a torque control value (or torque control signal) determined by the application of ), and It could be. This may correspond to the first function (911) described above.

[0119] According to one embodiment, the processor (601) Based on this, the drive module can be controlled, and through this control, the drive module can generate torque. Here, is, for example, the second weight ( It may correspond to a torque control value (or torque control signal) determined by the application of ), and It could be. This may correspond to the second function (913) described above.

[0120] According to one embodiment, the processor (601) Based on this, the drive module can be controlled, and through this control, the drive module can generate torque. For example, it may correspond to a torque control value (or torque control signal) determined by applying a first weight and a second weight.

[0121] According to one embodiment, the processor (601) time ( You can obtain the first state value (e.g., y#1) at ), and time ( The second state value in ) (e.g., #1) can be obtained. The processor (601) can obtain a first state value (e.g., y#1) and a second state value (e.g., #1) can be filtered. The processor (901) can filter the first state value (e.g., #1) can be stored in the first buffer, and the filtered second state value (e.g., s #1) can be stored in the second buffer. The processor (901) filters the first state value (e.g., #1) is stored in the first buffer and the filtered second state value (e.g., s After storing #1) in the second buffer, the time value( When the time of ) has elapsed, the first state value filtered from the first buffer (or the first state value filtered with a delay) (e.g., #1) can receive a second state value filtered from the second buffer (or a second state value with a delay) (e.g., sCan receive #1).

[0122] hour( From ) time value( When the time of ) has elapsed, the processor (601) time ( Third state value related to the angular velocity of the hip joint in ) (e.g., # ) can be obtained. Third state value (e.g.: # ) and the second state value (e.g.: s The time difference between #1 is, for example, the time value ( It may correspond to ). The processor (901) obtains the time value ( When ) time has passed, the third state value (e.g., # You can obtain ).

[0123] The processor (901) receives a second state value (e.g., from the second buffer) s #1) gain( ) can be applied. The processor (901) receives a first state value (e.g., from the first buffer) #1) and the first function (911) (e.g., first function (1000)) are used to obtain a first state value (e.g.,) received from the first buffer. #1) corresponding to the first weight (e.g., #1) can be determined. The processor (901) can determine the first state value received from the first buffer (e.g., #1) and the second function (913) (e.g., second function (1110) or second function (1120)) are used to obtain a first state value (e.g.,) from the first buffer. #1) The second weight corresponding to (e.g., #1) can be determined.

[0124] The processor (901) gains ( Result of applying ) (e.g.: ), first weight (e.g.: #1), and second weight (e.g., Based on #1) torque control value (f1)(e.g.: Can determine (or acquire) ).

[0125] The processor (901) has a third state value (e.g., # Adjustment value based on ) (e.g., ) can be calculated. The processor (901) can calculate the adjustment value (e.g., Torque control value (f1) based on ) (e.g.: Adjust the adjusted torque control value (e.g.,) by adjusting ) Can acquire (or determine) ).

[0126] The processor (901) adjusts the torque control value (e.g., The drive module can be controlled based on the following. The drive module can output a torque corresponding to the adjustment torque control value, and can provide auxiliary power to the user by winding one of the cables connected to the drive module (e.g., the front power transmission cable (410) and the rear power transmission cable (411)) and unwinding the other.

[0127]

[0128] FIG. 13 is a diagram illustrating a graph of the assisting force of a wearable device according to one embodiment.

[0129] Referring to FIG. 13, graphs (1310), (1320), and (1330) are illustrated. The x-axis of each of the graphs (1310), (1320), and (1330) in FIG. 13 may represent time (e.g., one walking cycle of a user). The y-axis of each of the graphs (1310), (1320), and (1330) in FIG. 13 may represent the magnitude of the assisting force. A magnitude greater than 0 on the y-axis may correspond to the flexion direction of the hip joint, and a magnitude less than 0 on the y-axis may correspond to the extension direction of the hip joint.

[0130] The graph (1310) shows that the wearable device (500) A graph of the auxiliary force provided to the user can be shown by generating torque based on the generated torque and winding one of the front power transmission cable (410) and the rear power transmission cable (411) and unwinding the other.

[0131] The graph (1320) shows that the wearable device (500) A graph of the auxiliary force provided to the user can be shown by generating torque based on the generated torque and winding one of the front power transmission cable (410) and the rear power transmission cable (411) and unwinding the other.

[0132] The graph (1330) shows that the wearable device (500) A graph of the auxiliary force provided to the user can be shown by generating torque based on the generated torque and winding one of the front power transmission cable (410) and the rear power transmission cable (411) and unwinding the other. of the second function (913) used in the calculation For example, it can be a negative number.

[0133] When comparing graph (1310) and graph (1320) with reference to "arrow ①" and "arrow ②" in FIG. 13, the magnitude of the auxiliary force in graph (1320) may be smaller than the magnitude of the auxiliary force in graph (1310) at the same time. In the case of graph (1310). this It was not applied to and in the case of graph (1320). this It was applied to. The fact that the magnitude of the auxiliary force of graph (1320) is smaller than the magnitude of the auxiliary force of graph (1310) at the same time It may be caused by: when the user's hip joint moves in a direction of full flexion or full extension, Compared to cases where this is not applied In this applied case, the magnitude of the assistive force provided to the user may be small. This is, Compared to cases where this is not applied In this applied case, the magnitude of the assisting force may be smaller when the user's hip joint moves in a direction of full flexion or full extension. As a result, the rotation of the user's leg can be prevented from being obstructed by the cable. According to an embodiment, of the first function (911) used to determine Based on this, the difference between the magnitude of the auxiliary force of graph (1310) and the magnitude of the auxiliary force of graph (1320) at the same time can be determined. of the first function (911). The larger this is, the greater the difference between the magnitude of the auxiliary force of graph (1310) and the magnitude of the auxiliary force of graph (1320) at the same time.

[0134] Referring to the graph (1330), the magnitude of the assisting force when the y-axis is less than 0 (e.g., in the direction of hip extension) may be greater than the magnitude of the assisting force when the y-axis is greater than 0 (e.g., in the direction of hip flexion). In other words, the magnitude of the assisting force provided for motion in the extension direction may be greater than the magnitude of the assisting force provided for motion in the flexion direction. Since is negative, in the motion in the bending direction In motion towards the temple can be larger. As a result, the magnitude of the assisting force provided for motion in the bending direction may be greater than the magnitude of the assisting force provided for motion in the extension direction. If, unlike the example illustrated in Fig. 13 If is positive, in the motion in the direction of the temple In motion in the bending direction It can be larger. Due to this, If θ is positive, the magnitude of the assisting force provided for motion in the bending direction may be greater than the magnitude of the assisting force provided for motion in the extension direction.

[0135] When comparing graph (1320) and graph (1330) with reference to "arrow ③" in FIG. 13, when the y-axis is less than 0 (e.g., in the direction of hip extension), the peak value of graph (1330) may be greater than the peak value of graph (1320) by a certain amount. In this case, a greater assistive force may be provided to the user for motion in the extension direction in graph (1330) than in graph (1320). When the y-axis is greater than 0 (e.g., in the direction of hip flexion), the time of the peak value of graph (1330) may be faster than the time of the peak value of graph (1320), and when the y-axis is less than 0 (e.g., in the direction of hip extension), the time of the peak value of graph (1330) may be delayed compared to the time of the peak value of graph (1320). When the hip joint is in the flexion direction, the output timing of the peak value of the auxiliary force in graph (1330) may be faster than in graph (1320), and when the hip joint is in the extension direction, the output timing of the peak value of the auxiliary force in graph (1330) may be delayed compared to graph (1320).

[0136] Unlike the example shown in Fig. 13 If y is positive, when the y-axis is greater than 0 (e.g., when the hip joint is in the bending direction), the peak value of graph (1330) may be greater than the peak value of graph (1320) by a certain level. If y is positive, the time of the peak value of graph (1330) may be delayed compared to the time of the peak value of graph (1320) when the y-axis is greater than 0, and the time of the peak value of graph (1330) may be faster than the time of the peak value of graph (1320) when the y-axis is less than 0. When the hip joint is in the flexion direction, the output timing of the assistive force at the peak value in graph (1330) may be delayed compared to graph (1320), and when the hip joint is in the extension direction, the output timing of the assistive force at the peak value in graph (1330) may be faster than graph (1320).

[0137]

[0138] FIG. 14 is a flowchart illustrating an example of an operation method of a wearable device according to one embodiment.

[0139] Referring to FIG. 14, a wearable device (500) according to one embodiment can obtain an angle for the user's hip joint through an angle sensor in operation 1410.

[0140] In operation 1420, the wearable device (500) can obtain a first state value for the motion state of the user's hip joint based on the acquired angle.

[0141] In operation 1430, the wearable device (500) can obtain a second state value related to the angular velocity of the user's hip joint based on a first state value.

[0142] In operation 1440, the wearable device (500) can determine at least one weight of a second state value based on a first state value.

[0143] In operation 1450, the wearable device (500) can determine the torque control value (f1) of the drive module of the wearable device based on a second state value and at least one weight.

[0144] According to one embodiment, the wearable device (500) can calculate an adjustment value used to adjust a torque control value based on a third state value related to the angular velocity of the hip joint. The wearable device (500) subtracts the adjustment value from the torque control value to obtain an adjusted torque control value (f). control ) can be determined. The wearable device (500) can control the drive module so that a torque corresponding to the adjustment torque control value is output by the drive module.

[0145] In operation 1460, the wearable device (500) can output a torque corresponding to a torque control value (or an adjustable torque control value) through a drive module. The wearable device (500) can provide assistive force to the user by winding a first cable (e.g., a forward power transmission cable (410)) and unwinding a second cable (e.g., a rear power transmission cable (411)) through the outputted torque. The wearable device (500) can provide assistive force to the user by unwinding a first cable (e.g., a forward power transmission cable (410)) and winding a second cable (e.g., a rear power transmission cable (411)) through the outputted torque.

[0146] According to one embodiment, the wearable device (500) may include a thigh strap (or thigh belt) that wraps around the user's thigh (e.g., a first thigh belt (16-1) and / or a second thigh belt (16-2)), a first cable connected to a first part of the thigh strap, and a second cable connected to a second part of the thigh strap.

[0147] According to one embodiment, when the torque control value (or the first state value) is positive, the wearable device (500) can wind the first cable (e.g., forward force transmission cable (410)) using the first spool (e.g., the first spool (423)) and unwind the second cable (e.g., rear force transmission cable (411)) using the second spool (e.g., the second spool (424)). Accordingly, the wearable device (500) can provide assistive force to a user (e.g., a leg performing a bending motion) performing a first motion (e.g., a bending motion). When the torque control value (or the first state value) is negative, the wearable device (500) can unwind the first cable using the first spool and wind the second cable using the second spool. Accordingly, the wearable device (500) can provide assistive force to a user (e.g., a leg performing the extension motion) performing a second motion (e.g., an extension motion).

[0148] The embodiments described through FIGS. 1 to 13 can be applied to the operation method of the wearable device of FIG. 14.

[0149]

[0150] According to one embodiment, a wearable device (100; 500) may include a driving module (112; 113; 400; 612; 613), an angle sensor (607; 609), a memory (603) for storing instructions, and at least one processor (601) including a processing circuit. The processor may obtain an angle for a user's hip joint through the angle sensor. When the instructions are executed individually or collectively by the at least one processor, the wearable device may obtain a first state value for the motion state of the hip joint based on the obtained angle. When the instructions are executed individually or collectively by the at least one processor, the wearable device may obtain a second state value related to the angular velocity of the hip joint based on the first state value. When the above instructions are executed individually or collectively by the at least one processor, the wearable device may determine at least one weight of the second state value based on the first state value. When the above instructions are executed individually or collectively by the at least one processor, the wearable device may determine a torque control value used to control the drive module based on the second state value and the at least one weight. When the above instructions are executed individually or collectively by the at least one processor, the wearable device may control the drive module so that a torque corresponding to the torque control value is output by the drive module.

[0151] When the above instructions are executed individually or collectively by the at least one processor, the wearable device may determine a first weight to apply to the second state value based on the first state value and a first function that provides a function value that increases as the absolute value of the state value for the motion state decreases.

[0152] When the above instructions are executed individually or collectively by the at least one processor, the wearable device may determine a second weight to be applied to the second state value based on the first state value and a second function that provides different function values ​​in the first motion direction of the hip joint and the second motion direction of the hip joint, respectively.

[0153] When the above instructions are executed individually or collectively by the at least one processor, the wearable device may determine a first weight corresponding to the first state value through a first function, determine a second weight corresponding to the first state value through a second function, and determine the torque control value by applying the first weight and the second weight to the second state value.

[0154] When the above commands are executed individually or collectively by the at least one processor, the wearable device may calculate an adjustment value used to adjust the torque control value based on a third state value related to the angular velocity of the hip joint, determine an adjusted torque control value by subtracting the adjustment value from the torque control value, and control the driving module so that a torque corresponding to the adjusted torque control value is output by the driving module.

[0155] The above third state value is obtained after the above second state value, and the time difference between obtaining the above second state value and obtaining the above third state value may be based on a time value related to the torque output time.

[0156] When the above instructions are executed individually or collectively by the at least one processor, the wearable device may store the first state value in the first buffer and the second state value in the second buffer, and after a time delay of a time value, receive the first state value from the first buffer and receive the second state value from the second buffer.

[0157] The above driving module may include a motor that outputs the torque, a transmission member that transmits the torque, a first spool that rotates based on the torque received from the transmission member and winds or unwinds a first cable of the wearable device, and a second spool that rotates in a direction opposite to the rotation direction of the first spool based on the torque received from the transmission member and winds or unwinds a second cable of the wearable device.

[0158] When the torque control value is positive, the drive module can provide an assisting force to the user performing the first motion by winding the first cable using the first spool and unwinding the second cable using the second spool. When the torque control value is negative, the drive module can provide an assisting force to the user performing the second motion by unwinding the first cable using the first spool and winding the second cable using the second spool.

[0159] According to one embodiment, a wearable device (100; 500) may include a driving module (112; 113; 400; 612; 613), an angle sensor (607; 609), a memory (603) for storing instructions, and at least one processor (601) including a processing circuit. When the instructions are executed individually or collectively by the at least one processor, the wearable device may obtain an angle of the user's hip joint through the angle sensor. When the instructions are executed individually or collectively by the at least one processor, the wearable device may obtain a first state value regarding the motion state of the hip joint based on the obtained angle. When the instructions are executed individually or collectively by the at least one processor, the wearable device may obtain a second state value related to the angular velocity of the hip joint based on the first state value. When the above instructions are executed individually or collectively by the at least one processor, the wearable device may determine a first weight of the second state value based on a first function and the first state value. When the above instructions are executed individually or collectively by the at least one processor, the wearable device may determine a second weight of the second state value based on a second function and the second state value. When the above instructions are executed individually or collectively by the at least one processor, the wearable device may determine a torque control value of the drive module based on the second state value, the first weight, and the second weight.When the above commands are executed individually or collectively by the at least one processor, the wearable device may control the drive module so that a torque corresponding to the torque control value is output by the drive module.

[0160] The first function above may represent a function that provides a function value that increases as the absolute value of the first state value decreases. The second function above may represent a function that provides different function values ​​when the first motion direction of the hip joint and the second motion direction of the hip joint are, respectively.

[0161] When the above commands are executed individually or collectively by the at least one processor, the wearable device may calculate an adjustment value used to adjust the torque control value based on a third state value related to the angular velocity of the hip joint, determine an adjusted torque control value by subtracting the adjustment value from the torque control value, and control the driving module so that a torque corresponding to the adjusted torque control value is output by the driving module.

[0162] The above third state value is obtained after the above second state value, and the time difference between obtaining the above second state value and obtaining the above third state value may be based on a time value related to the torque output time.

[0163] When the above instructions are executed individually or collectively by the at least one processor, the wearable device may store the first state value in the first buffer and the second state value in the second buffer, and after a time delay of a time value, receive the first state value from the first buffer and receive the second state value from the second buffer.

[0164] The above driving module may include a motor that outputs the torque, a transmission member that transmits the torque, a first spool that rotates based on the torque received from the transmission member and winds or unwinds a first cable of the wearable device, and a second spool that rotates in a direction opposite to the rotation direction of the first spool based on the torque received from the transmission member and winds or unwinds a second cable of the wearable device.

[0165] When the torque control value is positive, the drive module can provide an assisting force to the user performing the first motion by winding the first cable using the first spool and unwinding the second cable using the second spool. When the torque control value is negative, the drive module can provide an assisting force to the user performing the second motion by unwinding the first cable using the first spool and winding the second cable using the second spool.

[0166] According to one embodiment, a method of operation of a wearable device (100; 500) may include: acquiring an angle for a user’s hip joint through an angle sensor (607; 609); acquiring a first state value for a motion state of the hip joint based on the acquired angle; acquiring a second state value related to an angular velocity of the hip joint based on the first state value; determining at least one weight of the second state value based on the first state value; determining a torque control value of a driving module (112; 113; 400; 612; 613) of the wearable device based on the second state value and the at least one weight; and outputting a torque corresponding to the torque control value through the driving module.

[0167] The operation of determining at least one weight may include a first function that provides a function value that increases as the absolute value of the first state value decreases, and an operation of determining a first weight to be applied to the second state value based on the first state value.

[0168] The operation of determining at least one weight may include an operation of determining a second weight to be applied to the second state value based on the first state value and a second function that provides different function values ​​when the first motion direction of the hip joint and when the second motion direction of the hip joint, respectively.

[0169] The above operation method may further include an operation of calculating an adjustment value used to adjust the torque control value based on a third state value related to the angular velocity of the hip joint, an operation of determining an adjusted torque control value by subtracting the adjustment value from the torque control value, and an operation of outputting a torque corresponding to the adjusted torque control value through the driving module.

[0170] The above driving module may include a motor that outputs the torque, a transmission member that transmits the torque, a first spool that rotates based on the torque received from the transmission member and winds or unwinds a first cable of the wearable device, and a second spool that rotates in a direction opposite to the rotation direction of the first spool based on the torque received from the transmission member and winds or unwinds a second cable of the wearable device.

[0171] The above operation method may include an operation of providing auxiliary force to the user performing a first motion by winding the first cable using the first spool and unwinding the second cable using the second spool when the torque control value is positive. The above operation method may include an operation of providing auxiliary force to the user performing a second motion by unwinding the first cable using the first spool and winding the second cable using the second spool when the torque control value is negative.

[0172]

[0173] The embodiments described above may be implemented as hardware components, software components, and / or combinations of hardware and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing unit may execute an operating system (OS) and software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit may be described as being used as a single unit, but those skilled in the art will understand that the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. In addition, other processing configurations, such as parallel processors, are also possible.

[0174] 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 stored on any type of machine, component, physical device, virtual equipment, computer storage medium, or device so as to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on computer-readable recording media.

[0175] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may store program instructions, data files, data structures, etc., either individually or in combination, and the program instructions recorded on the medium may be those specifically designed and configured for the embodiment or those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0176] The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

[0177] Although the embodiments have been described above with reference to the limited drawings, those skilled in the art can apply various technical modifications and variations based thereon. For example, suitable results may be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents.

[0178] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

In a wearable device (100; 500), Driving module(112; 113; 400; 612; 613); Angle sensor (607; 609); Memory for storing instructions (603); and At least one processor (601) including a processing circuit Includes, When the above instructions are executed individually or collectively by the at least one processor, the wearable device: The method comprises obtaining an angle for a user's hip joint through the angle sensor, obtaining a first state value for the motion state of the hip joint based on the obtained angle, obtaining a second state value related to the angular velocity of the hip joint based on the first state value, determining at least one weight of the second state value based on the first state value, determining a torque control value used to control the driving module based on the second state value and the at least one weight, and controlling the driving module so that a torque corresponding to the torque control value is output by the driving module. Wearable device. In paragraph 1, When the above instructions are executed individually or collectively by the at least one processor, the wearable device: A first function that provides a function value that increases as the absolute value of the first state value decreases, and a first weight to be applied to the second state value based on the first state value. Wearable device. In any one of paragraphs 1 to 2, When the above instructions are executed individually or collectively by the at least one processor, the wearable device: A second function that provides different function values ​​in the first motion direction of the hip joint and the second motion direction of the hip joint, respectively, and a second weight to be applied to the second state value based on the first state value, thereby determining the second weight to be applied to the second state value. Wearable device. In any one of paragraphs 1 through 3, When the above instructions are executed individually or collectively by the at least one processor, the wearable device: Determining a first weight corresponding to the first state value through a first function, determining a second weight corresponding to the first state value through a second function, and determining the torque control value by applying the first weight and the second weight to the second state value. Wearable device. In any one of paragraphs 1 through 4, When the above instructions are executed individually or collectively by the at least one processor, the wearable device: Calculating an adjustment value used to adjust the torque control value based on a third state value related to the angular velocity of the hip joint, determining an adjusted torque control value by subtracting the adjustment value from the torque control value, and controlling the drive module so that a torque corresponding to the adjusted torque control value is output by the drive module. Wearable device. In paragraph 5, The above third state value is obtained after the above second state value, and the time difference between the acquisition of the above second state value and the acquisition of the above third state value is based on a time value related to the torque output time, Wearable device. In any one of paragraphs 1 through 6, When the above instructions are executed individually or collectively by the at least one processor, the wearable device: The first state value is stored in a first buffer and the second state value is stored in a second buffer, and after a time delay equal to a time value, the first state value is received from the first buffer and the second state value is received from the second buffer. Wearable device. In any one of paragraphs 1 through 7, The above-mentioned drive module is, A motor that outputs the above torque; A transmission member that transmits the above torque; A first spool that rotates based on torque received from the transmission member and winds or unwinds the first cable of the wearable device; and A second spool that rotates in a direction opposite to the rotation direction of the first spool based on torque received from the transmission member, and winds or unwinds the second cable of the wearable device. including, Wearable device. In paragraph 8, The above-mentioned drive module is, When the above torque control value is positive, an assisting force is provided to the user performing the first motion by winding the first cable using the first spool and unwinding the second cable using the second spool, and When the above torque control value is negative, providing an assisting force to the user performing the second motion by unwinding the first cable using the first spool and winding the second cable using the second spool. Wearable device. In a method of operating a wearable device (100; 500), The action of obtaining the angle of the user's hip joint through an angle sensor (607; 609); An action of obtaining a first state value for the motion state of the hip joint based on the above-mentioned obtained angle; An operation to obtain a second state value related to the angular velocity of the hip joint based on the first state value; An operation to determine at least one weight of the second state value based on the first state value; An operation to determine a torque control value of a driving module (112; 113; 400; 612; 613) of the wearable device based on the second state value and at least one weight; and Operation of outputting torque corresponding to the torque control value through the above driving module including, Method of operation of a wearable device. In Paragraph 10, The operation of determining at least one weight above is, An operation to determine a first weight to be applied to a second state value based on a first function that provides a function value that increases as the absolute value of the first state value decreases, and the first state value. including, Method of operation of a wearable device. In any one of paragraphs 10 to 11, The operation of determining at least one weight above is, An operation to determine a second weight to be applied to a second state value based on a second function that provides different function values ​​in each of the first motion direction of the hip joint and the second motion direction of the hip joint, and the first state value. including, Method of operation of a wearable device. In any one of paragraphs 10 through 12, An operation to calculate an adjustment value used to adjust the torque control value based on a third state value related to the angular velocity of the hip joint; An operation to determine an adjusted torque control value by subtracting the adjustment value from the torque control value; and Operation of outputting torque corresponding to the adjustment torque control value through the above driving module including, Method of operation of a wearable device. In any one of paragraphs 10 through 13, The above-mentioned drive module is, A motor that outputs the above torque; A transmission member that transmits the above torque; A first spool that rotates based on torque received from the transmission member and winds or unwinds the first cable of the wearable device; and A second spool that rotates in a direction opposite to the rotation direction of the first spool based on torque received from the transmission member, and winds or unwinds the second cable of the wearable device. including, Method of operation of a wearable device. In Paragraph 14, When the torque control value is positive, an operation of providing an assisting force to the user who performs a first motion by winding the first cable using the first spool and unwinding the second cable using the second spool; and When the torque control value is negative, an operation to provide auxiliary force to the user performing the second motion by unwinding the first cable using the first spool and winding the second cable using the second spool. including, Method of operation of a wearable device.

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