Method for outputting audio for exercise on basis of sensor data of wearable device and electronic device for performing same

Abstract

A method for outputting audio performed by an electronic device according to an embodiment may comprise the operations of: acquiring, from a wearable device, sensor data generated by an angle sensor of the wearable device; calculating, on the basis of the sensor data, the current walking speed of a user wearing the wearable device; calculating the difference between the current walking speed and a target walking speed; generating an audio signal corresponding to the difference by using a head-related transfer function (HRTF), wherein the audio signal corresponds to audio generated at a first virtual position having a first distance and a first direction from the position of the user; determining, on the basis of the sensor data, a first time at which a first leg of the user touches the ground; and outputting the audio by outputting the audio signal by means of an external electronic device on the basis of the first time.

Description

Audio output method for exercise based on sensor data of a wearable device and electronic device for performing the method

[0001] One embodiment relates to a technology for outputting audio for exercise to a user of a wearable device.

[0002] Recently, various electronic devices that assist walking have been proposed. These electronic devices can output assistive torque to facilitate the user's walking or output resistance torque for muscle strength exercises. These electronic devices can sense information about the user's movements through various sensors. Information about the user's movements can be sensed, and the electronic devices can be controlled based on the sensed information.

[0003] According to one embodiment, an electronic device comprises at least one processor including a processing circuit and a memory including one or more storage media for storing instructions, and when the instructions are executed individually or collectively by the at least one processor, the electronic device may be configured to: acquire sensor data generated by an angle sensor of the wearable device from the wearable device, calculate the current walking speed of a user wearing the wearable device based on the sensor data, calculate the difference between the current walking speed and a target walking speed, generate an audio signal corresponding to the difference using a head-related transfer function (HRTF) - the audio signal corresponds to audio generated at a first virtual location having a first distance and a first direction from the user's location -, determine a first time when the user's first leg touches the ground based on the sensor data, and output the audio by outputting the audio signal through an external electronic device based on the first time.

[0004] An audio output method performed by an electronic device according to one embodiment may include: acquiring sensor data generated by an angle sensor of the wearable device from the wearable device; calculating the current walking speed of a user wearing the wearable device based on the sensor data; calculating the difference between the current walking speed and a target walking speed; generating an audio signal corresponding to the difference using a head-related transfer function (HRTF) - the audio signal corresponds to audio generated at a first virtual location having a first distance and a first direction from the user's location -, determining a first time when the user's first leg touches the ground based on the sensor data; and outputting the audio by outputting the audio signal through an external electronic device based on the first time.

[0005] According to one embodiment, a computer program stored on a computer-readable recording medium may be provided to execute a method of outputting the above audio in combination with hardware.

[0006] According to one embodiment, an electronic device comprises at least one processor including a processing circuit and a memory including one or more storage media for storing instructions, and when the instructions are executed individually or collectively by the at least one processor, the electronic device may: acquire sensor data generated by an angle sensor of the wearable device from the wearable device, calculate the current walking speed of a user wearing the wearable device based on the sensor data, calculate the difference between the current walking speed and a target walking speed, generate an audio signal corresponding to the difference using HRTF - the audio signal corresponds to audio generated at a first virtual position having a first distance and a first direction from the user's position -, determine a first time when the user's first leg touches the ground based on the sensor data, output a basic audio by outputting a basic audio signal through an external electronic device at the first time, and output the audio by outputting the audio signal through the external electronic device at a second time calculated based on the first time.

[0007] In relation to the description of the drawings, the same or similar reference numerals may be used for identical or similar components.

[0008] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0009] FIG. 2 is a drawing for illustrating an exercise management system including a wearable device and an electronic device according to one embodiment.

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

[0011] FIG. 4 shows a left side view of a wearable device according to one embodiment.

[0012] FIGS. 5A and 5B are drawings illustrating the configuration of a control system of a wearable device according to one embodiment.

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

[0014] FIG. 7 is a drawing illustrating the configuration of an electronic device according to one embodiment.

[0015] FIG. 8 illustrates virtual locations of audio outputs based on a user's walking, according to one embodiment.

[0016] FIG. 9 is a flowchart of a method for outputting audio according to one embodiment.

[0017] FIG. 10 is a flowchart of a method for generating an audio signal based on the difference between a current walking speed and a target walking speed, according to one embodiment.

[0018] FIG. 11 illustrates a method for outputting a first audio when the difference between the current walking speed and the target walking speed corresponds to a first threshold range, according to one embodiment.

[0019] FIG. 12 illustrates a method for outputting a second audio when the difference between the current walking speed and the target walking speed does not correspond to a first threshold range and the current walking speed is faster than the target walking speed, according to one embodiment.

[0020] FIG. 13 illustrates a method for outputting a third audio when the difference between the current walking speed and the target walking speed does not correspond to a first threshold range and the current walking speed is slower than the target walking speed, according to one embodiment.

[0021] FIG. 14 illustrates a method for calculating the distance to a virtual position of audio to be output based on current walking acceleration according to one embodiment.

[0022] FIG. 15 is a flowchart of a method for outputting audio according to one embodiment.

[0023] FIG. 16 illustrates a configuration diagram of a system including a wearable device and an external wearable device according to one embodiment.

[0024] FIG. 17 is a flowchart of a method for outputting audio when a wearable device establishes a connection with an external wearable device, according to one embodiment.

[0025] FIG. 18 illustrates a method for outputting audio of a user's exercise posture according to one embodiment.

[0026] FIG. 19 illustrates a method for outputting audio based on the difference between a target position and a current position according to one embodiment.

[0027] Hereinafter, embodiments of the present disclosure are described in detail with reference to the drawings so that those skilled in the art can easily practice them. However, the present disclosure may be embodied in various different forms and is not limited to the embodiments described herein. In relation to the description of the drawings, the same or similar reference numerals may be used for identical or similar components. Furthermore, in the drawings and related descriptions, descriptions of well-known functions and configurations may be omitted for clarity and brevity.

[0028]

[0029] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0030] Referring to FIG. 1, in one embodiment, the wearable device (100) may be a device worn on the body of a user (110) to assist the user (110) in walking, exercising, and / or working. In one embodiment, the wearable device (100) may be used to measure the physical abilities of the user (110) (e.g., walking ability, exercise ability, exercise posture). In the embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking aid', or 'exercise aid'. The user (110) may be a person or an animal, but is not limited thereto. A wearable device (100) is worn on the body of a user (110) (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) and can apply an external force of assistance force and / or resistance force to the movement of the user's (110) body. Assistance force is a force applied in the same direction as the movement of the user's (110) body and represents a force that assists the movement of the user's (110) body. Resistance force is a force applied in the opposite direction to the movement of the user's (110) body and represents a force that hinders the movement of the user's (110) body. The term 'resistance force' may also be referred to as 'exercise load'.

[0031] In one embodiment, the wearable device (100) may operate in a walking assistance mode that assists the walking of a user (110). In the walking assistance mode, the wearable device (100) may assist the walking of the user (110) by applying an assisting force generated from the driving module (120) of the wearable device (100) to the body of the user (110). The wearable device (100) may enable independent walking of the user (110) or enable walking for a long time by assisting the force required for the walking of the user (110), thereby expanding the walking ability of the user (110). The wearable device (100) may also help improve the walking of a pedestrian whose walking habits or walking posture are abnormal.

[0032] In one embodiment, the wearable device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110). In the exercise assistance mode, the wearable device (100) may hinder the movement of the user's (110) body or provide resistance to the movement of the user's (110) body by applying resistance force generated from the drive module (120) to the user's (110) body. If the wearable device (100) is a hip-type wearable device worn on the user's (110) waist (or pelvis) and legs (e.g., thighs), the wearable device (100) may provide an exercise load to the movement of the user's (110) legs while worn on the legs, thereby further enhancing the exercise effect on the user's (110) legs. In one embodiment, the wearable device (100) may apply an assisting force to the user's (110) body to assist the user's (110) exercise. For example, when a person with a disability or an elderly person wants to exercise by wearing a wearable device (100), the wearable device (100) may provide assistive force to help with physical movement during the exercise. In one embodiment, the wearable device (100) may provide assistive force and resistance in combination for exercise segments or time segments, such as providing assistive force in some exercise segments and providing resistance force in other exercise segments.

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

[0034] In various embodiments of the present disclosure, for convenience of explanation, a hip-type wearable device (100) as shown in FIG. 1 is described as an example, but is not limited thereto. As described above, the wearable device (100) may be worn on other body parts (e.g., upper arm, forearm, hand, calf, foot) other than the waist and legs (particularly the thigh), and the shape and configuration of the wearable device (100) may vary depending on the body part on which it is worn.

[0035] According to one embodiment, the wearable device (100) may include a support frame for supporting the body of the user (110) when the wearable device (100) is worn on the body of the user (110) (e.g., leg support frame (50, 55) and waist support frame (20) of FIG. 3), a sensor module for acquiring sensor data containing movement information regarding the body movements of the user (110) (e.g., leg movements, upper body movements) (e.g., sensor module (520) of FIG. 5a), a driving module (120) for generating torque applied to the legs of the user (110) (e.g., driving module (35, 45) of FIG. 3), and a control module (130) for controlling the wearable device (100) (e.g., control module (510) of FIG. 5a and FIG. 5b).

[0036] The sensor module may include an angle sensor (125) and an inertial measurement device (135). The angle sensor (125) may measure the rotation angle of the leg support frame of the wearable device (100) corresponding to the hip joint angle value of the user (110). The rotation angle of the leg support frame measured by the angle sensor (125) may be estimated to be the hip joint angle value (or leg angle value) of the user (110). The angle sensor (125) may include, for example, an encoder, a resolver, a home sensor, and / or a Hall sensor. In one embodiment, the angle sensor (125) may be located near the right hip joint and the left hip joint of the user (110), respectively. The inertial measurement device (135) 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 measuring device (135) can measure the upper body movement value of the user (110) corresponding to the movement value of the waist support frame (or base body (80) in FIG. 3) of the wearable device (100), for example. The movement value of the waist support frame measured by the inertial measuring device (135) can be estimated as the upper body movement value of the user (110).

[0037] In one embodiment, the control module (130) and the inertial measurement device (135) may be placed within the base body of the wearable device (100) (e.g., the base body (80) of FIG. 3). The base body may be positioned at the lumbar region (waist area) of the user (110) while the user (110) is wearing the wearable device (100). The base body may be formed or attached to the outside of the waist support frame of the wearable device (100). The base body may be mounted on the lumbar region of the user (110) to provide cushioning to the user's (110) waist and may support the user's (110) waist together with the waist support frame.

[0038]

[0039] FIG. 2 is a drawing for illustrating an exercise management system including a wearable device and an electronic device according to one embodiment.

[0040] Referring to FIG. 2, the exercise management system (200) may include a wearable device (100) worn on a user's body, an electronic device (210), another wearable device (220), and a server (230). In one embodiment, at least one of these devices (e.g., another wearable device (220) or the server (230)) may be omitted from the exercise management system (200), or one or more other devices (e.g., a dedicated controller device for the wearable device (100)) may be added.

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

[0043] In one embodiment, the wearable device (100) may be used to measure the user's physical ability in conjunction with the electronic device (210). The wearable device (100) may operate in a physical ability measurement mode, which is a mode for measuring the user's physical ability under the control of the electronic device (210), and may transmit sensor data acquired by the user's movement in the physical ability measurement mode to the electronic device (210). The electronic device (210) may estimate the user's physical ability by analyzing the sensor data received from the wearable device (100).

[0044] The electronic device (210) can communicate with the wearable device (100) and can remotely control the wearable device (100) or provide status information to the user regarding the state of the wearable device (100) (e.g., booting state, charging state, sensing state, error state). The electronic device (210) can receive sensor data acquired by the sensors of the wearable device (100) from the wearable device (100) and can estimate the user's physical ability or exercise results based on the received sensor data. In one embodiment, when a user wears the wearable device (100) and exercises, the wearable device (100) can acquire sensor data including user movement information using sensors and transmit the acquired sensor data to the electronic device (210). The electronic device (210) can extract the user's movement value from the sensor data and evaluate the user's exercise motion based on the extracted movement value. The electronic device (210) can provide the user with exercise motion measurement values ​​and exercise motion evaluation information regarding the user's exercise motion through a graphical user interface.

[0045] In one embodiment, the electronic device (210) may execute a program (e.g., an application) for controlling the wearable device (100), and the user may adjust the operation or setting values ​​of the wearable device (100) through the program (e.g., torque intensity output from a driving module (e.g., driving module (35, 45) of FIG. 3), volume of audio output from a sound output module (e.g., sound output module (550) of FIG. 5a and 5b), brightness of a light unit (e.g., light unit (85) of FIG. 3). The program executed on the electronic device (210) may provide a graphical user interface (GUI) for interaction with the user. The electronic device (210) may be a device of various forms. For example, the electronic device (210) may include a portable communication device (e.g., a smartphone), a computer device, an access point, a portable multimedia device, or a home appliance (e.g., a television, an audio device, a projector device), but is not limited to the aforementioned devices.

[0046] According to one embodiment, the electronic device (210) may be connected to a server (230) using short-range wireless communication or cellular communication. The server (230) may receive user profile information of a user using the wearable device (100) from the electronic device (210) and may store and manage the received user profile information. The user profile information may include information on at least one of, for example, name, age, gender, height, weight, or BMI (body mass index). The server (230) may receive exercise history information regarding exercises performed by the user from the electronic device (210) and may store and manage the received exercise history information. The server (230) may provide various exercise programs or physical ability measurement programs that may be provided to the user to the electronic device (210).

[0047] According to one embodiment, the wearable device (100) and / or the electronic device (210) may be connected to another wearable device (220). The other wearable device (220) may be, for example, a wireless earphone (222), a smartwatch (224), smart glasses (226), or a smart ring (228), but is not limited to the aforementioned devices. In one embodiment, the smartwatch (224) may measure a biosignal including a user's heart rate information and transmit the measured biosignal to the electronic device (210) and / or the wearable device (100). The electronic device (210) may estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) based on the biosignal received from the smartwatch (224) and may provide the estimated heart rate information to the user. In one embodiment, the smart ring (226) can measure a biosignal including a user's heart rate information and transmit the measured biosignal to an electronic device (210) and / or a wearable device (100). The electronic device (210) can estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) based on the biosignal received from the smart ring (228) and can provide the estimated heart rate information to the user.

[0048] In one embodiment, user exercise result information, physical ability information, and / or exercise motion evaluation information evaluated by the electronic device (210) may be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). Status information of the wearable device (100) may also be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). In one embodiment, the wearable device (100), the electronic device (210), and the other wearable device (220) may be connected to each other via wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0049] In one embodiment, the wearable device (100) may provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100) according to a control signal received from the electronic device (210). For example, the wearable device (100) may provide visual feedback through a light unit (e.g., the light unit (85) of FIG. 3) and may provide auditory feedback through an acoustic output module (e.g., the acoustic output module (550) of FIG. 5a and FIG. 5b). The wearable device (100) may include a haptic module and may provide tactile feedback in the form of vibration to the user's body through the haptic module. The electronic device (210) may also provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100).

[0050] In one embodiment, the electronic device (210) may present a personalized exercise goal to the user in an exercise assistance mode. The personalized exercise goal may include an exercise volume target value for each type of exercise (e.g., strength training, balance training, aerobic training) that the user intends to perform, determined by the electronic device (210) and / or the server (230). When the server (230) determines the exercise volume target value, the server (230) may transmit information regarding the determined exercise volume target value to the electronic device (210). The electronic device (210) may present the exercise volume target values ​​for the types of strength training, aerobic training, and balance training in a personalized manner according to the exercise program (e.g., squat, split lunge, lunge and knee-up) and / or the user's physical characteristics (e.g., age, height, weight, BMI). The electronic device (210) may display a GUI screen on the display indicating the exercise volume target value for each type of exercise.

[0051] In one embodiment, the electronic device (210) and / or server (230) may include a database storing information on a plurality of exercise programs that can be provided to a user through a wearable device (100). To achieve the user's exercise goals, the electronic device (210) and / or server (230) may recommend an exercise program suitable for the user. The exercise goals may include, for example, at least one of improving muscle strength, improving muscular fitness, improving cardiovascular endurance, improving core stability, improving flexibility, or improving symmetry. The electronic device (210) and / or server (230) may store and manage the exercise programs performed by the user and the results of the exercise programs performed.

[0052]

[0053] FIG. 3 shows a schematic rear view of a wearable device according to one embodiment. FIG. 4 shows a left side view of a wearable device 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 support frame (20), a driving module (35, 45), a leg support frame (50, 55), a thigh fastening part (1, 2), and a waist fastening part (60). The base body (80) may include a lighting unit (85). In one embodiment, at least one of these components (e.g., the lighting unit (85)) may be omitted from the wearable device (100), or one or more other components (e.g., a haptic module) may be added.

[0055] The base body (80) can be positioned on the user's lower back while the user is wearing the wearable device (100). The base body (80) can 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) can be placed over the user's buttocks (hip area) so that the wearable device (100) does not fall downward due to gravity while the user is wearing the wearable device (100). The base body (80) can 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) can be connected to a waist support frame (20). Waist support frame connecting elements (not shown) that can be connected to the waist support frame (20) may be provided at both ends of the base body (80).

[0056] In one embodiment, a lighting unit (85) may be disposed on the outside of a base body (80). The lighting unit (85) may include a light source (e.g., an LED (light emitting diode)). The lighting unit (85) may emit light under the control of a control module (not shown) (e.g., the control module (510) of FIG. 5a and FIG. 5b). According to an embodiment, the control module may control the lighting unit (85) so that visual feedback corresponding to the state of the wearable device (100) may be provided (or output) to the user through the lighting unit (85).

[0057] The waist support frame (20) may extend from both ends of the base body (80). The user's lower back may be accommodated inside the waist support frame (20). The waist support frame (20) may include at least one rigid body beam. Each beam may have a curved shape with a pre-set curvature to surround the user's lower back. A waist fastening part (60) may be connected to the end of the waist support frame (20). A driving module (35, 45) may be connected to the waist support frame (20).

[0058] In one embodiment, a control module, an inertial measurement unit (not shown) (e.g., the inertial measurement unit (135) of FIG. 1, the inertial measurement unit (522) of FIG. 5b), a communication module (not shown) (e.g., the communication module (516) of FIG. 5a and FIG. 5b), and a battery (not shown) may be disposed inside the base body (80). The base body (80) may protect the control module, the inertial measurement unit, the communication module, and the battery. The control module may generate a control signal to control the operation of the wearable device (100). The control module may include a control circuit comprising a processor and memory for controlling the actuators of the driving modules (35, 45). The control module may further include a power supply module (not shown) for supplying power from the battery to each component of the wearable device (100).

[0059] In one embodiment, the wearable device (100) may include a sensor module (not shown) (e.g., sensor module (520) of FIG. 5a) that acquires sensor data from one or more sensors. The sensor module may acquire sensor data that changes according to the user's movement. In one embodiment, the sensor module may acquire sensor data containing information on the user's movement and / or information on the movement of a component of the wearable device (100). The sensor module may include, for example, an inertial measurement device (e.g., inertial measurement device (135) of FIG. 1, inertial measurement device (522) of FIG. 5b) for measuring the user's upper body movement value or the movement value of the waist support frame (20), and an angle sensor (e.g., angle sensor (125) of FIG. 1, first angle sensor (524) and second angle sensor (524-1) of FIG. 5b) for measuring the user's hip joint angle value or the movement value of the leg support frame (50, 55), but is not limited thereto. For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a biosignal sensor, or a proximity sensor.

[0060] The waist fastening part (60) can be connected to the waist support frame (20) and can secure the waist support frame (20) to the user's waist. The waist fastening part (60) may include, for example, a pair of belts.

[0061] The driving module (35, 45) can generate an external force (or torque) applied to the user's body based on a control signal generated by the control module. For example, the driving module (35, 45) can generate an assisting force or a resistance force applied to the user's leg. In one embodiment, the driving module (35, 45) may include a first driving module (45) located at a position corresponding to the user's right hip joint and a second driving module (35) located at a position corresponding to the user's left hip joint. The first driving module (45) may include a first actuator and a first joint member, and the second driving module (35) may include a second actuator and a second joint member. The first actuator may provide power transmitted to the first joint member, and the second actuator may provide power transmitted to the second joint member. The first actuator and the second actuator may each include a motor that generates power (or torque) by receiving power from a battery. When power is supplied and the motor is driven, it may generate a force to assist the user's body movement (assistive force) or a force to hinder body movement (resistance force). In one embodiment, the control module may adjust the voltage and / or current supplied to the motor to control the strength and direction of the force generated by the motor.

[0062] In one embodiment, the first joint member and the second joint member each receive power from the first actuator and the second actuator, respectively, and can apply external force to the user's body based on the received power. The first joint member and the second joint member may each be positioned at a location corresponding to the user's joint. One side of the first joint member may be connected to the first actuator, and the other side may be connected to the first leg support frame (55). The first joint member may be rotated by the power received from the first actuator. An encoder, a resolver, a groove sensor, and / or a Hall sensor may be disposed on one side of the first joint member to function as an angle sensor for measuring the rotation angle of the first joint member (corresponding to the user's joint angle). One side of the second joint member may be connected to the second actuator, and the other side may be connected to the second leg support frame (50). The second joint member can be rotated by power received from the second actuator. An encoder, resolver, groove sensor, and / or Hall sensor capable of operating as an angle sensor for measuring the rotation angle of the second joint member may also be disposed on one side of the second joint member.

[0063] 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 driving module (35, 45) may further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, cable, string, spring, belt, or chain. However, the scope of the embodiments is not limited by the positional relationship between the actuator and the joint member and the power transmission structure described above.

[0064] In one embodiment, the leg support frame (50, 55) can support the user's leg (e.g., thigh) when the wearable device (100) is worn on the user's leg. The leg support frame (50, 55) can transmit power (torque) generated, for example, from the drive module (35, 45) to the user's thigh, and such power can act as an external force applied to the user's leg movement. One end of the leg support frame (50, 55) can be connected to a joint member and rotated, and the other end of the leg support frame (50, 55) is connected to a thigh fastening part (1, 2), so that the leg support frame (50, 55) can transmit power generated from the drive module (35, 45) to the user's thigh while supporting the user's thigh. For example, the leg support frame (50, 55) can push or pull the user's thigh. The leg support frame (50, 55) can extend along the longitudinal direction of the user's thigh. The leg support frame (50, 55) can be folded to wrap around at least a portion of the user's thigh circumference. The leg support frame (50, 55) may include a first leg support frame (55) for supporting the user's right leg and a second leg support frame (50) for supporting the user's left leg.

[0065] The thigh fastening portion (1, 2) is connected to the leg support frame (50, 55) and can secure the leg support frame (50, 55) to the thigh. The thigh fastening portion (1, 2) may include a first thigh fastening portion (2) for securing the first leg support frame (55) to the user's right thigh and a second thigh fastening portion (1) for securing the second leg support frame (50) to the user's left thigh.

[0066] In one embodiment, the first thigh fastening part (2) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (1) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover can apply torque generated by the driving module (35, 45) to the user's thigh. The first cover and the second cover are 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, for example, on the front of the user's thigh. The first cover and the second cover may be positioned along the circumference of the user's thigh. The first cover and the second cover may extend to both sides centered on the other end of the leg support frame (50, 55) and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be connected to the fastening frame, and the other end may be connected to the strap.

[0067] The first fastening frame and the second fastening frame may be 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 leg support frame (50, 55). 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.

[0068] The first strap can wrap around the remaining portion of the user's right thigh that is not covered by the first cover and the first fastening frame, and the second strap can wrap around the remaining portion of the user's left thigh that is not covered by the second cover and the second fastening frame. The first strap and the second strap may include, for example, an elastic material (e.g., a band).

[0069]

[0070] FIGS. 5A and 5B are drawings illustrating the configuration of a control system of a wearable device according to one embodiment.

[0071] Referring to FIG. 5a, a wearable device (100) can be controlled by a control system (500). The control system (500) may include a control module (510), a communication module (516), a sensor module (520), a driving module (530), an input module (540), and an acoustic output module (550). In one embodiment, at least one of these components (e.g., an acoustic output module (550)) may be omitted from the control system (500), or one or more other components (e.g., a haptic module) may be added.

[0072] The drive module (530) may include a motor (534) capable of generating power (e.g., torque) and a motor driver circuit (532) for driving the motor (534). In the embodiment of FIG. 5a, a drive module (530) including one motor driver circuit (532) and one motor (534) is shown, but this is merely an example. Referring to FIG. 5b, as in the control system (500-1) shown in FIG. 5b, the motor driver circuit (532, 532-1) and the motor (534, 534-1) may each be multiple (e.g., two or more). A driving module (530) including a motor driver circuit (532) and a motor (534) may correspond to the first driving module (45) of FIG. 3, and a driving module (530-1) including a motor driver circuit (532-1) and a motor (534-1) may correspond to the second driving module (35) of FIG. 3. The description of each of the motor driver circuit (532) and the motor (534) described below may also apply to the motor driver circuit (532-1) and the motor (534-1) shown in FIG. 5b.

[0073] Returning to FIG. 5a, the sensor module (520) may include a sensor circuit comprising at least one sensor. The sensor module (520) may include sensor data including movement information of a user or movement information of a wearable device (100). The sensor module (520) may transmit the acquired sensor data to a control module (510). The sensor module (520) may include an inertial measurement device (522) and an angle sensor (e.g., a first angle sensor (524), or a second angle sensor (524-1)) as shown in FIG. 5b. The inertial measurement device (522) may measure the upper body movement values ​​of the user. For example, the inertial measurement device (522) may sense acceleration along the X-axis, Y-axis, and Z-axis and angular velocity along the X-axis, Y-axis, and Z-axis according to the user's movement. The inertial measurement device (522) may be used to measure at least one of the forward-backward tilt, left-right tilt, or rotation of the user's body, for example. Additionally, the inertial measuring device (522) can acquire movement values ​​(e.g., acceleration values ​​and angular velocity values) of the waist support frame of the wearable device (e.g., the waist support frame (20) of FIG. 3). The movement values ​​of the waist support frame can correspond to the upper body movement values ​​of the user.

[0074] The angle sensor can measure hip joint angle values ​​according to the user's leg movements. Sensor data that can be measured by the angle sensor may include, for example, hip joint angle values ​​of the right leg, hip joint angle values ​​of the left leg, and information regarding the direction of movement of the legs. For example, the first angle sensor (524) of FIG. 5b can acquire the hip joint angle value of the user's right leg, and the second angle sensor (524-1) can acquire the hip joint angle value of the user's left leg. Each of the first angle sensor (524) and the second angle sensor (524-1) may include, for example, an encoder, a resolver, a home sensor, and / or a Hall sensor. Additionally, the angle sensor can acquire movement values ​​of the leg support frame of the wearable device (100). For example, the first angle sensor (524) can acquire the movement value of the first leg support frame (55), and the second angle sensor (524-1) can acquire the movement value of the second leg support frame (50). The movement value of the leg support frame can correspond to the hip joint angle value.

[0075] In one embodiment, the sensor module (520) may further include at least one of a position sensor for obtaining a position value of a wearable device (100), a proximity sensor for detecting the proximity of an object, a biosignal sensor for detecting a user's biosignal, or a temperature sensor for measuring ambient temperature.

[0076] The input module (540) can receive instructions or data to be used for a component of the wearable device (100) (e.g., processor (512)) from outside the wearable device (100) (e.g., user). The input module (540) may include an input component circuit. The input module (540) may include, for example, a key (e.g., button) or a touch screen.

[0077] The sound output module (550) can output a sound signal to the outside of the wearable device (100). The sound output module (550) can provide auditory feedback to the user. For example, the sound output module (550) may include a speaker that plays a guide sound signal (e.g., driving start sound, motion error notification sound, exercise start notification sound), music content, or a guide voice to audibly inform the user of specific information (e.g., exercise result information, exercise motion evaluation information).

[0078] In one embodiment, the control system (500) may further include a battery (not shown) for supplying power to each component of the wearable device (100). The wearable device (100) may convert the power of the battery to match the operating voltage of each component of the wearable device (100) and supply it to each component.

[0079] The driving module (530) can generate an external force applied to the user's leg under the control of the control module (510). The driving module (530) can generate torque applied to the user's leg based on a control signal generated by the control module (510). The control module (510) can transmit the control signal to the motor driver circuit (532). The motor driver circuit (532) can control the operation of the motor (534) by generating a current signal (or voltage signal) corresponding to the control signal and supplying it to the motor (534). In some cases, the current signal may not be supplied to the motor (534). When the motor (534) is driven by supplying the current signal to the motor (534), it can generate torque for an assisting force to assist the user's leg movement or a resistive force to hinder leg movement.

[0080] The control module (510) controls the overall operation of the wearable device (100) and can generate control signals to control each component (e.g., communication module (516), driving module (530)). The control module (510) may include a processor (512) and a memory (514).

[0081] The processor (512) can, for example, execute software to control at least one other component (e.g., a hardware or software component) of the wearable device (100) connected to the processor (512) and perform various data processing or operations. The software may include an application for providing a GUI. According to one embodiment, as at least part of the data processing or operations, the processor (512) may store instructions or data received from another component (e.g., a communication module (516)) in memory (514), process the instructions or data stored in memory (514), and store the result data after processing in memory (514). According to one embodiment, the processor (512) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can be operated independently or together with it. The auxiliary processor can be implemented separately from the main processor or as part of it.

[0082] The memory (514) can store various data used by at least one component (e.g., processor (512)) of the control module (510). The data may include, for example, software, sensor data, and input or output data for related commands. The memory (514) may include volatile memory or non-volatile memory (e.g., RAM, DRAM, SRAM).

[0083] The communication module (516) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the control module (510) and other components of the wearable device (100) or an external electronic device (e.g., the electronic device (210) of FIG. 2 or another wearable device (220)), and the performance of communication through the established communication channel. The communication module (516) may include a communication circuit for performing communication functions. The communication module (516) may receive a control signal from, for example, an electronic device (e.g., the electronic device (210)) and transmit sensor data acquired by the sensor module (520) to the electronic device. According to one embodiment, the communication module (516) may include one or more communication processors (not shown) that operate independently of the processor (512) and support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (516) may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a GNSS (global navigation satellite system) communication module) and / or a wired communication module. The corresponding communication module among these may communicate with other components of the wearable device (100) and / or external electronic devices through a short-range communication network such as Bluetooth, WiFi (wireless fidelity), or IrDA (infrared data association), or a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., LAN or WAN).

[0084] In one embodiment, the control system (500, 500-1) may further include a haptic module (not shown). The haptic module may provide tactile feedback to the user under the control of the processor (512). The haptic module may convert an electrical signal into a mechanical stimulus (e.g., vibration or movement) or an electrical stimulus that the user can perceive through tactile or kinesthetic senses. The haptic module may include a motor, a piezoelectric element, or an electrical stimulation device. In one embodiment, the haptic module may be located in at least one of a base body (e.g., base body (80)), a first thigh connecting part (2), or a second thigh connecting part (1).

[0085]

[0086] FIG. 6 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0087] Referring to FIG. 6, the wearable device (100) can communicate with an electronic device (210). For example, the electronic device (210) may be a user terminal of a user using the wearable device (100) or a dedicated controller device for the wearable device (100). According to one embodiment, the wearable device (100) and the electronic device (210) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0088] 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).

[0089] In one embodiment, the user may input a command to control the operation of the wearable device (100) (e.g., a command to execute a walking assistance mode, an exercise assistance mode, or a physical ability measurement mode) or change the settings of the wearable device (100) through a GUI screen on the display (212) of the electronic device (210). The electronic device (210) may generate a control command (or control signal) corresponding to the operation control command or setting change command entered by the user and transmit the generated control command to the wearable device (100). The wearable device (100) may operate according to the received control command and transmit the control result according to the control command and / or sensor data measured by the sensor module of the wearable device (100) to the electronic device (210). The electronic device (210) may provide result information (e.g., walking ability information, exercise ability information, exercise movement evaluation information) derived by analyzing the control result and / or sensor data to the user through the GUI screen.

[0090]

[0091] FIG. 7 is a drawing illustrating the configuration of an electronic device according to one embodiment.

[0092] Referring to FIG. 7, the electronic device (210) may include a processor (710), memory (720), communication module (730), display module (740), sound output module (750), and input module (760). In one embodiment, at least one of these components (e.g., sound output module (750)) may be omitted from the electronic device (210), or one or more other components (e.g., sensor module, battery) may be added.

[0093] The processor (710) can control at least one other component (e.g., a hardware or software component) of the electronic device (210) and can perform various data processing or operations. According to one embodiment, as at least part of the data processing or operations, the processor (710) can store commands or data received from another component (e.g., a communication module (730)) in memory (720), process the commands or data stored in memory (720), and store result data in memory (720).

[0094] According to one embodiment, the processor (710) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor that can operate independently or together with it (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor).

[0095] The memory (720) can store various data used by at least one component of the electronic device (210) (e.g., processor (710) or communication module (730)). The data may include, for example, input data or output data for a program (e.g., application) and related instructions. The memory (720) may include at least one instruction executable by the processor (710). The memory (720) may include volatile memory or non-volatile memory.

[0096] The communication module (730) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between an electronic device (210) and another electronic device (e.g., a wearable device (100), another wearable device (220), a server (230)), and the performance of communication through the established communication channel. The communication module (730) may include a communication circuit for performing communication functions. The communication module (730) may include one or more communication processors that operate independently of the processor (710) (e.g., an application processor) and support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (290) may include a wireless communication module (e.g., a Bluetooth communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) or a wired communication module (e.g., a LAN communication module, or a power line communication module) that performs wireless communication. The communication module (730) can, for example, transmit a control command to the wearable device (100) and receive from the wearable device (100) at least one of sensor data containing body movement information of a user wearing the wearable device (100), state data of the wearable device (100), or control result data corresponding to the control command.

[0097] The display module (740) can visually provide information to an external (e.g., user) of the electronic device (210). The display module (740) may include, for example, an LCD or OLED display, a holographic device, or a projector device. The display module (740) may further include a control circuit for controlling the display drive. In one embodiment, the display module (740) may further include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of the force generated by the touch.

[0098] The sound output module (750) can output a sound signal to the outside of the electronic device (210). The sound output module (750) may include a speaker that plays a guide sound signal (e.g., driving start sound, operation error notification sound), music content, or a guide voice based on the state of the wearable device (100). If it is determined that the wearable device (100) is not properly worn on the user's body, for example, the sound output module (750) may output a guide voice to notify the user of the abnormal wear or to induce normal wear. The sound output module (750) may also output a guide voice corresponding to exercise evaluation information or exercise result information that evaluates the user's exercise, for example.

[0099] The input module (760) can receive instructions or data to be used in a component of the electronic device (210) (e.g., processor (710)) from outside the electronic device (210) (e.g., user). The input module (760) may include an input component circuit and may receive user input. The input module (760) may include, for example, a key (e.g., button) or a touch screen.

[0100]

[0101] FIG. 8 illustrates virtual locations of audio outputs based on a user's walking, according to one embodiment.

[0102] Basic audio corresponding to the user's walking cycle (or rhythm) may be output while a user wearing a wearable device (e.g., the wearable device (100) of FIG. 1) is walking or running. According to one embodiment, basic audio may be output through wireless earphones (e.g., the wireless earphones (222) of FIG. 2) that are directly or indirectly connected to the wearable device. The wireless earphones may receive a basic audio signal from the wearable device or electronic device (e.g., the electronic device (210) of FIG. 2) that are directly or indirectly connected, and may output basic audio based on the received audio signal. For example, a basic audio signal may be generated using a head-related transfer function (HRTF) so that it feels as though audio is occurring at a virtual location corresponding to the position of the sole of the user's leg. The basic audio may be a non-verbal sound. For example, the non-verbal sound may be a sound effect.

[0103] For example, a first basic audio (811) may be output in response to a first time when the user's right leg touches the ground, and then a second basic audio (812) may be output in response to a second time when the right leg touches the ground. It may also be configured so that only the basic audio corresponding to a preset leg among the first basic audio (811) and the second basic audio (812) is output. For example, the first basic audio (811) may represent "left foot" and the second basic audio (812) may represent "right foot". For example, the first basic audio (811) may represent "one" and the second basic audio (812) may represent "two". For example, the first basic audio (811) may represent the first syllable of a continuous two-syllable sound and the second basic audio (812) may represent the remaining syllable. For example, the first basic audio (811) and the second basic audio (812) may represent increasing step counts.

[0104] According to one embodiment, when an exercise goal is set for a user, an additional audio signal related to the exercise goal is generated, and the generated additional audio signal may be output through wireless earphones. For example, the exercise goal may be a target walking speed to be achieved. If the current walking speed is slower than the target walking speed, additional audio may be output at a determined virtual location so that the user can audibly perceive how slow the current walking speed is. For example, a first additional audio (813) may be output in response to the output of a first basic audio (811), and then a second additional audio (823) may be output in response to the output of a second basic audio (821). It may also be configured so that only the additional audio corresponding to a preset leg among the first additional audio (813) and the second basic audio (823) is output.

[0105] According to one embodiment, the first virtual location of the first additional audio (813) or the second virtual location of the second additional audio (823) may be determined based on the difference between the current walking speed and the target walking speed. For example, the greater the difference between the current walking speed and the target walking speed, the further the first virtual location may be determined to be from the user. For example, if the current walking speed is faster than the target walking speed, the first virtual location may be determined to be behind the user. For example, if the current walking speed is slower than the target walking speed, the first virtual location may be determined to be in front of the user.

[0106] A method for outputting audio having a virtual position as feedback to the user's movement is described in detail below with reference to FIGS. 9 to 19.

[0107]

[0108] FIG. 9 is a flowchart of a method for outputting audio according to one embodiment.

[0109] In the following embodiments, each operation may be performed sequentially, but is not necessarily performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel.

[0110] The following operations 910 to 990 may be performed by an electronic device (e.g., the wearable device (100) of FIG. 1 or the electronic device (210) of FIG. 2). The electronic device may include at least one processor (e.g., the processor (512) of FIG. 5a or the processor (710) of FIG. 7) and a memory for storing instructions (e.g., the memory (514) of FIG. 5a or the memory (720) of FIG. 7). For example, the electronic device may be a user terminal physically separated from the wearable device (100). For example, the electronic device may be a control module included in the wearable device (100) (e.g., the control module (130) of FIG. 1, the control module (510) of FIG. 5a and FIG. 5b).

[0111] According to one embodiment, when the electronic device is a user terminal, a wireless connection can be established between the electronic device and the wearable device (100) as the power of the wearable device (100) is turned on.

[0112] In operation 910, the electronic device may obtain an exercise goal for a user wearing a wearable device. For example, the exercise goal may include a target walking speed. According to one embodiment, the target walking speed may be determined based on an exercise program set in the electronic device (or, wearable device (100)). For example, the exercise program may be a walking exercise program. At least one of the target distance, target time, target number of steps, target minimum heart rate, exercise duration, walking course, and target average speed of the walking exercise program may be set by the user, the electronic device, or a server (e.g., the server (230) of FIG. 2).

[0113] According to one embodiment, the target walking speed may be determined based on the current position of the electronic device or wearable device. For example, a first target walking speed set for a first partial walking course corresponding to the current position among the entire walking course may be determined as the target walking speed.

[0114] According to one embodiment, the exercise goal can be re-determined based on the user's current walking speed after the movement 930 is performed.

[0115] In operation 920, the electronic device may acquire sensor data generated by an angle sensor of the wearable device (100) (e.g., angle sensor (125) of FIG. 1, first angle sensor (524) or second angle sensor (524-1) of FIG. 5b). For example, the angle sensor may include a first angle sensor (524) and a second angle sensor (524-1). The wearable device (100) may periodically transmit the sensor data generated by the angle sensor to the electronic device.

[0116] According to one embodiment, the electronic device may further acquire at least one of acceleration data and angular velocity data generated by an inertial measuring device of the wearable device (100) (e.g., inertial measuring device (135) of FIG. 1, inertial measuring device (522) of FIG. 5b).

[0117] In operation 930, the electronic device can calculate the current walking speed of a user wearing a wearable device based on sensor data. For example, the user's current walking speed may be determined based on the amount of change in angle and the user's height (or leg length). For example, the user's current walking speed may be determined using the global positioning system (GPS) information of the wearable device (or electronic device).

[0118] In operation 940, the electronic device can calculate the difference between the current walking speed and the target walking speed.

[0119] In operation 950, the electronic device may use a head-related transfer function (HRTF) to generate an audio signal corresponding to the difference between the current walking speed and the target walking speed. For example, the audio signal may correspond to audio generated at a first virtual location having a first distance and a first direction from the user's location. The first distance may be determined to be further from the user as the difference between the speeds increases. For example, the first distance may be determined based on the user's current stride. The first direction may correspond to the user's walking path (e.g., the direction in front of the user's torso or the expected walking path). The electronic device may use the HRTF to generate an audio signal so that the user perceives the audio as having originated at the first virtual location. For example, the first virtual location may correspond to the ground in front. The user may perceive a plausible illusional sound image through the audio. For example, the audio signal may be generated based on at least one of an interaural time difference (ITD) and an interaural level difference (ILD). The output audio can be generated to have a first sound amplitude and a first frequency component corresponding to a first distance.

[0120] According to one embodiment, the electronic device receives sensing data regarding the posture of the wireless earphones from the wireless earphones and can determine the user's head posture based on the sensing data. The electronic device can periodically update the head posture. The electronic device can generate an audio signal such that audio output based on the user's head posture can represent a first virtual position.

[0121] In operation 960, the electronic device can determine a first time when the first leg of a user wearing the wearable device (100) touches the ground based on sensor data. For example, the electronic device can determine an event in which the hip joint angle of the first leg has a maximum angle forward, and determine the first time based on the time when the event occurred. For example, based on the current walking speed, the time between the time when the event occurred and the time when the first leg touches the ground can be determined as a corresponding time that appeared in the previous walking cycle. For example, based on the time when the event occurred and the current walking speed, the time when the first leg touches the ground from the time when the event occurred can be determined to correspond to the statistical time during which the walking cycle proceeds. For example, the first time can be determined based on acceleration data from an inertial measurement device (e.g., inertial measurement device (135) of FIG. 1, inertial measurement device (522) of FIG. 5b) that appears due to the impact of the first leg touching the ground.

[0122] In operation 970, the electronic device may determine a second time at which audio is output based on a first time. For example, the first time may be the same as the second time. For example, if the current walking speed is faster than the target walking speed, the second time may be slower than the first time. For example, if the current walking speed is slower than the target walking speed, the second time may be faster than the first time.

[0123] According to one embodiment, even if the current walking speed is not the same as the target walking speed, the first time and the second time may be the same.

[0124] According to one embodiment, the difference between the first time and the second time may be determined based on the difference between the current walking speed and the target walking speed. For example, the greater the difference between the current walking speed and the target walking speed, the greater the difference between the first time and the second time.

[0125] In operation 980, the electronic device may output basic audio by outputting a basic audio signal through an external electronic device at a first time. The basic audio signal may be pre-generated to have a basic virtual position. The basic virtual position may correspond to the position of the sole of the user's first leg. The external electronic device may receive the basic audio signal from the electronic device and output basic audio based on the basic audio signal. For example, the basic audio may be a non-verbal sound (e.g., a sound effect).

[0126] In operation 990, the electronic device may output audio by outputting an audio signal through an external electronic device at a second time. The external electronic device may receive an audio signal from the electronic device and output audio based on the audio signal. For example, the audio may be a non-verbal sound different from the basic audio. The audio signal may be determined based on the difference between the current walking speed and the target walking speed. A method for generating an audio signal is described in detail below with reference to FIG. 10.

[0127] With reference to FIG. 9, it is illustrated that operations 980 and 990 are performed sequentially, but if the first time is earlier than the second time, operation 980 may be performed before operation 990 is performed, if the first time is the same as the second time, operations 980 and 990 may be performed simultaneously, and if the first time is later than the second time, operation 990 may be performed before operation 980 is performed. According to one embodiment, if the first time and the second time are the same, operation 980 may not be performed, and only operation 990 may be performed.

[0128] According to one embodiment, when the first time and the second time are the same, a single audio signal may be generated so that a basic audio having a basic virtual position and an audio having a first virtual position are output simultaneously.

[0129] According to one embodiment, an audio signal may be generated so that one audio is output when the first time and the second time are the same and the difference between the current walking speed and the target walking speed corresponds to a first threshold range. For example, the one audio may be a cheerful sound that audibly indicates that the user's walking corresponds to the target. For example, the first threshold range may be 10% and is not limited to the described embodiments. For example, the difference between the current walking speed and the target walking speed corresponding to a first threshold range may mean a degree to which they can be recognized as substantially the same speeds.

[0130] The user can recognize that they need to increase their current walking speed if audio corresponding to the target walking speed is generated from the front. The user can recognize that they need to decrease their current walking speed if audio corresponding to the target walking speed is generated from the rear. The user can recognize that they need to maintain their current walking speed if audio corresponding to a cheerful sound is generated from beneath their feet.

[0131]

[0132] FIG. 10 is a flowchart of a method for generating an audio signal based on a first difference between a current walking speed and a target walking speed, according to one embodiment.

[0133] In the following embodiments, each operation may be performed sequentially, but is not necessarily performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel.

[0134] According to one embodiment, the following operations 1010 to 1050 may be performed by an electronic device (e.g., the wearable device (100) of FIG. 1 or the electronic device (210) of FIG. 2). For example, operation 1010 may be performed after operation 940 described above with reference to FIG. 9 has been performed. Operations 1010 to 1050 may be associated with operation 950 described above with reference to FIG. 9. For example, operation 950 may include operations 1010 to 1050.

[0135] In operation 1010, the electronic device may determine whether the difference between the current walking speed and the target walking speed (hereinafter, the first difference) corresponds to a first threshold range. For example, the first threshold range may be 5% and is not limited to the described embodiments. For example, the first difference corresponding to the first threshold range may mean a degree to which they can be recognized as substantially the same speeds.

[0136] If the first difference corresponds to the first threshold range, operation 1020 may be performed. If the first difference does not correspond to the first threshold range, operation 1030 may be performed.

[0137] In operation 1020, the electronic device may generate an audio signal such that the audio corresponds to the first audio when the first difference corresponds to the first threshold range. For example, the first audio may be a cheerful sound. The audio signal corresponding to the first audio may have a first virtual position corresponding to the position of the sole of the user's leg (e.g., under the foot). The first virtual position may have a first distance and a first direction. A method for outputting the first audio is described in detail below with reference to FIG. 11.

[0138] In operation 1030, the electronic device can determine whether the current walking speed is faster than the target walking speed. If the current walking speed is faster than the target walking speed, operation 1040 may be performed. If the current walking speed is slower than the target walking speed, operation 1050 may be performed.

[0139] In operation 1040, the electronic device may generate an audio signal such that the audio corresponds to the second audio when the current walking speed is faster than the target walking speed. For example, the second audio may be louder than the sound volume of the primary audio. The second audio may have a lower frequency range than the primary frequency range of the primary audio. The audio signal corresponding to the second audio may have a second virtual location having a second distance and a second direction from the user's location. The second direction may be behind the user. A method for outputting the second audio is described in detail below with reference to FIG. 12.

[0140] In operation 1050, the electronic device may generate an audio signal such that the audio corresponds to a third audio when the current walking speed is slower than the target walking speed. For example, the third audio may be louder than the sound volume of the basic audio. The third audio may have a lower frequency range than the basic frequency range of the basic audio. The audio signal corresponding to the third audio may have a third virtual location having a third distance and a third direction from the user's location. The third direction may be in front of the user. A method for outputting the third audio is described in detail below with reference to FIG. 13.

[0141]

[0142] FIG. 11 illustrates a method for outputting a first audio when the difference between the current walking speed and the target walking speed corresponds to a first threshold range, according to one embodiment.

[0143] According to one embodiment, if the first time at which the basic audio (1101) is output and the second time at which the audio (1102) is output are the same, and the difference between the current walking speed and the target walking speed (e.g., the first difference) corresponds to a first threshold range, the basic audio (1101) and the audio (1102) may be output simultaneously. For example, the first virtual position (1100) of the basic audio (1101) and the audio (1102) may correspond to the position of the sole of the user's leg. The first virtual position (1100) may be determined based on the user's height and the user's current stride. For example, an electronic device (e.g., the wearable device (100) of FIG. 1 or the electronic device (210) of FIG. 2) may determine the first virtual position (1100) based on half (a1) of the current stride and the user's height. The electronic device can use HRTF to generate a basic audio having a first virtual position (1100) and an audio signal corresponding to the audio.

[0144] According to one embodiment, if the first time at which the basic audio (1101) is output and the second time at which the audio (1102) is output are the same, and the difference between the current walking speed and the target walking speed (e.g., the first difference) corresponds to the first threshold range, the basic audio (1101) is not output, and an audio signal may be generated such that only the first audio (1103) of the operation 1020 described above with reference to FIG. 10 is output. For example, the first audio (1103) may be a cheerful sound.

[0145]

[0146] FIG. 12 illustrates a method for outputting a second audio when the current walking speed and the target walking speed do not correspond to a first threshold range, according to one embodiment, and the current walking speed is faster than the target walking speed.

[0147] According to one embodiment, if the first time at which the basic audio (1201) is output and the second time at which the audio (1211) is output are the same, and the difference between the current walking speed and the target walking speed (e.g., the first difference) does not correspond to the first threshold range, the basic audio (1201) and the audio (1211) may be output simultaneously. For example, the first virtual position (1200) of the basic audio (1201) may correspond to the position of the sole of the user's leg. For example, the second virtual position (1210) of the audio (1211) may have a second distance and a second direction. The second distance may be determined based on an arbitrary distance (a0) from the user and the user's height. For example, an arbitrary distance (a0) from the user may be pre-set. For example, an arbitrary distance (a0) from the user may be determined to be proportional to the first difference. If the current walking speed is faster than the target walking speed, audio (1211) can be output to the rear of the user to slow down the user's walking speed. The electronic device can use HRTF to generate an audio signal corresponding to audio having a second virtual position (1210) (e.g., second audio).

[0148] According to one embodiment, if the first time at which the basic audio (1201) is output and the second time at which the audio (1211) is output are not the same, the basic audio (1201) may be output at the first time and the audio (1211) may be output at the second time. For example, if the basic audio (1201) is output before the audio (1211), the user may perceive that the current walking speed is fast.

[0149]

[0150] FIG. 13 illustrates a method for outputting a third audio when the current walking speed and the target walking speed do not correspond to a first threshold range, according to one embodiment, and the current walking speed is slower than the target walking speed.

[0151] According to one embodiment, if the first time at which the basic audio (1301) is output and the second time at which the audio (1311) is output are the same, and the difference between the current walking speed and the target walking speed (e.g., the first difference) does not correspond to the first threshold range, the basic audio (1301) and the audio (1311) may be output simultaneously. For example, the first virtual position (1300) of the basic audio (1301) may correspond to the position of the sole of the user's leg. For example, the third virtual position (1310) of the audio (1311) may have a third distance and a third direction. The third distance may be determined based on an arbitrary distance (a2) from the user and the user's height. For example, an arbitrary distance (a2) from the user may be pre-set. For example, an arbitrary distance (a2) from the user may be determined to be proportional to the first difference. If the current walking speed is slower than the target walking speed, audio (1311) can be output in front of the user to slow down the user's walking speed. The electronic device can use HRTF to generate an audio signal corresponding to audio having a third virtual position (1310) (e.g., third audio).

[0152] According to one embodiment, if the first time at which the basic audio (1301) is output and the second time at which the audio (1311) is output are not the same, the basic audio (1301) may be output at the first time and the audio (1311) may be output at the second time. For example, if the audio (1311) is output before the audio (1301), the user may perceive that the current walking speed is slow.

[0153]

[0154] FIG. 14 illustrates a method for calculating the distance to a virtual position of audio to be output based on current walking acceleration according to one embodiment.

[0155] In the following embodiments, each operation may be performed sequentially, but is not necessarily performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel.

[0156] According to one embodiment, the following operations 1410 and 1420 may be performed by an electronic device (e.g., the wearable device (100) of FIG. 1 or the electronic device (210) of FIG. 2). For example, operation 1410 may be performed after operation 940 described above with reference to FIG. 9 has been performed. Operations 1410 and 1420 may be associated with operation 950 described above with reference to FIG. 9. For example, operation 950 may include operations 1410 and 1420.

[0157] In operation 1410, the electronic device can calculate the user's current walking acceleration based on sensor data of the wearable device (100). For example, the current walking acceleration can be calculated based on the amount of change in walking speed. For example, the user's current walking acceleration can be calculated based on acceleration data from an inertial measurement device (e.g., the inertial measurement device (135) of FIG. 1, the inertial measurement device (522) of FIG. 5b).

[0158] In operation 1420, the electronic device can calculate a first distance of a first virtual position of the audio based on the current walking acceleration, the current walking speed, and the target walking speed. For example, if the current walking speed is slower than the target walking speed and the current walking acceleration is increasing, the electronic device can calculate how many walking cycles after which the future walking speed corresponds to the target walking speed. For example, if it is calculated that the future walking speed corresponds to the target walking speed after three walking cycles, the first distance of the first virtual position can be determined based on three times the current stride length. If the user maintains the current walking state for three walking cycles, the current walking speed and the target walking speed may correspond after three steps. When the current walking speed and the target walking speed correspond, a cheerful sound may be output.

[0159]

[0160] FIG. 15 is a flowchart of a method for outputting audio according to one embodiment.

[0161] In the following embodiments, each operation may be performed sequentially, but is not necessarily performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel.

[0162] The following operations 1510 to 1570 may be performed by an electronic device (e.g., the wearable device (100) of FIG. 1 or the electronic device (210) of FIG. 2). The electronic device may include at least one processor (e.g., the processor (512) of FIG. 5a or the processor (710) of FIG. 7) and a memory for storing instructions (e.g., the memory (514) of FIG. 5a or the memory (720) of FIG. 7). For example, the electronic device may be a user terminal physically separated from the wearable device (100). For example, the electronic device may be a control module included in the wearable device (100) (e.g., the control module (130) of FIG. 1, the control module (510) of FIG. 5a and FIG. 5b).

[0163] According to one embodiment, when the electronic device is a user terminal, a wireless connection can be established between the electronic device and the wearable device (100) as the power of the wearable device (100) is turned on.

[0164] In operation 1510, the electronic device may obtain an exercise goal for a user wearing a wearable device. For example, the exercise goal may include a target walking speed. The description of operation 1510 may be similarly applied to the description of operation 910 described above with reference to FIG. 9.

[0165] According to one embodiment, the exercise goal can be re-determined based on the user's current walking speed after the movement 1530 is performed.

[0166] In operation 1520, the electronic device may acquire sensor data generated by an angle sensor of the wearable device (100) (e.g., angle sensor (125) of FIG. 1, first angle sensor (524) or second angle sensor (524-1) of FIG. 5b). The description of operation 1520 may be similarly applied to the description of operation 920 described above with reference to FIG. 9.

[0167] In operation 1530, the electronic device can calculate the current walking speed of a user wearing a wearable device based on sensor data. The description of operation 1530 can be similarly applied to the description of operation 930 described above with reference to FIG. 9.

[0168] In operation 1540, the electronic device can calculate the difference between the current walking speed and the target walking speed.

[0169] In operation 1550, the electronic device may use HRTF to generate an audio signal corresponding to the difference between the current walking speed and the target walking speed. The audio signal may correspond to audio generated at a first virtual location having a first distance and a first direction from the user's location. The description of operation 1550 may be similarly applied to the description of operation 950 described above with reference to FIG. 9.

[0170] In operation 1560, the electronic device can determine a first time when the first leg of a user wearing a wearable device touches the ground based on sensor data. The description of operation 1560 can be similarly applied to the description of operation 960 described above with reference to FIG. 9.

[0171] In operation 1570, the electronic device may output audio by outputting an audio signal through an external electronic device based on a first time. The external electronic device may receive an audio signal from the electronic device and output audio based on the audio signal. For example, the audio may be a non-verbal sound different from the basic audio. The audio signal may be determined based on the difference between the current walking speed and the target walking speed. The description of the audio signal and the audio may be similarly applied to the description of the method for generating the audio signal described above with reference to FIG. 10 and the method for outputting the audio described above with reference to FIG. 11.

[0172] According to one embodiment, even if the current walking speed is not the same as the target walking speed, the time at which audio is output may be the first time.

[0173] According to one embodiment, the time at which audio is output may be a second time different from the first time. For example, if the current walking speed is faster than the target walking speed, the second time may be slower than the first time. For example, if the current walking speed is slower than the target walking speed, the second time may be faster than the first time. The difference between the first time and the second time may be determined based on the difference between the current walking speed and the target walking speed. For example, the greater the difference between the current walking speed and the target walking speed, the greater the difference between the first time and the second time.

[0174]

[0175] FIG. 16 illustrates a configuration diagram of a system including a wearable device and an external wearable device according to one embodiment.

[0176] According to one embodiment, the system may include a wearable device (100) and an external wearable device (1600). The wearable device (100) may establish a wireless connection with a wireless earphone (222). The wearable device (1600) may establish a wireless connection with a wireless earphone (1610). The wearable device (100) and the external wearable device (1600) may be connected to each other via wireless communication. For example, if the wearable device (100) and the external wearable device (1600) are located in close proximity, a short-range wireless connection may be established between the wearable device (100) and the external wearable device (1600). For example, if the wearable device (100) and the external wearable device (1600) are located remotely, a wireless connection between the wearable device (100) and the external wearable device (1600) can be established via an internet network.

[0177] The wearable device (100) receives from the external wearable device (1600) the time when the leg of the user of the external wearable device (1600) (e.g., a second user) touches the ground, and can output target audio for the walking cycle of the user of the external wearable device (1600) at said time through wireless earphones (222). The target audio for the walking cycle of the user of the wearable device (1600) may have a virtual location corresponding to the location of the external wearable device (1600). The user of the wearable device (1600) (e.g., a first user) can perceive the location and walking rhythm of the second user through the target audio. The first user can coordinate the walking rhythm (or walking speed) with the second user through the target audio.

[0178] Below, with reference to FIG. 17, an audio output method performed by a wearable device (100) is described in detail.

[0179]

[0180] FIG. 17 is a flowchart of a method for outputting audio when a wearable device establishes a connection with an external wearable device, according to one embodiment.

[0181] In the following embodiments, each operation may be performed sequentially, but is not necessarily performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel.

[0182] The following operations 1710 to 1780 may be performed by a wearable device (100). The wearable device (100) may include a processor (512) and a memory (514) for storing instructions.

[0183] In operation 1710, the wearable device (100) may acquire sensor data generated by the angle sensor of the wearable device (100) (e.g., the angle sensor (125) of FIG. 1, the first angle sensor (524) of FIG. 5b, or the second angle sensor (524-1)). For example, the exercise goal may include a target walking speed. The description of operation 1710 may be similarly applied to the description of operation 920 described above with reference to FIG. 9.

[0184] In operation 1720, the wearable device (100) can determine a first time when the first leg of a user wearing the wearable device (100) touches the ground based on sensor data. The description of operation 1720 may be similarly applied to the description of operation 960 described above with reference to FIG. 9.

[0185] In operation 1730, the wearable device (100) can establish a connection with an external wearable device (1600). For example, if the wearable device (100) and the external wearable device (1600) are located close to each other, the wearable device (100) can establish a short-range wireless connection with the external wearable device (1600).

[0186] In operation 1740, the wearable device (100) can obtain the walking cycle of the external wearable device (1600) and the relative position with respect to the external wearable device (1600).

[0187] In operation 1750, the wearable device (100) may determine a second time when the leg of the user of the external wearable device (1600) (e.g., a second user) touches the ground based on the walking cycle of the external wearable device (1600). Although the wearable device (100) is illustrated and described as determining the second time based on the walking cycle of the external wearable device (1600), an embodiment in which the wearable device (100) receives information about the second time from the external wearable device (1600) may also be possible.

[0188] In operation 1760, the wearable device (100) can determine whether the first time and the second time correspond. For example, if the difference between the first time and the second time is such that they can be recognized as substantially the same speeds, the first time and the second time may be determined to correspond.

[0189] If the first time and the second time do not correspond, operations 1772, 1774, and 1776 may be performed. If the first time and the second time correspond, operation 1780 may be performed.

[0190] In operation 1772, the wearable device (100) may output a first audio signal at a first time by outputting the first audio signal through an external electronic device (e.g., wireless earphones (222) of FIG. 2). The first audio signal corresponds to a basic audio signal, and the first audio may correspond to the basic audio.

[0191] In operation 1774, the wearable device (100) can generate a second audio signal corresponding to a relative position with respect to an external wearable device (1600) using HRTF. For example, the second audio signal may have a virtual position corresponding to the position of the external wearable device (1600).

[0192] In operation 1776, the wearable device (100) can output a second audio signal through an external electronic device at a second time.

[0193] In operation 1780, the wearable device (100) may output a third audio signal by outputting a third audio signal through an external electronic device at the first time when the first time and the second time correspond. For example, the third audio may be a cheerful sound.

[0194]

[0195] FIG. 18 illustrates a method for outputting audio of a user's exercise posture according to one embodiment.

[0196] According to one embodiment, an electronic device (e.g., the wearable device (100) of FIG. 1 or the electronic device (210) of FIG. 2) can provide feedback on the exercise posture to the user through an auditory guide while the user wearing the wearable device (100) performs an exercise program.

[0197] The electronic device can determine the user's exercise posture based on sensor data received from the wearable device (100). For example, if the user is performing a squat, the electronic device can generate feedback audio by comparing the user's current exercise posture with a preset target posture for the squat. The electronic device can generate a feedback audio signal to have a virtual position corresponding to the body part to be feedbacked. The electronic device can output the feedback audio through an external electronic device (e.g., wireless earphones (222) of FIG. 2).

[0198] For example, if the user's gaze needs to be corrected, a sound such as "Look straight ahead, not down" can be output as feedback audio. The above sound may have a virtual position where the user's gaze should be located.

[0199] For example, if the user's back posture needs to be corrected, a sound saying "Do not bend your back, keep it straight" may be output as feedback audio. The above sound may have a virtual location corresponding to the back of the user.

[0200] For example, if the user's buttock posture needs to be corrected, a sound saying "Feel more stimulation in your buttocks" can be output as feedback audio. The above sound may have a virtual location corresponding to the back of the user's buttocks.

[0201] For example, if the user's knee posture needs to be corrected, a sound saying "Try bending your left knee a little more" can be output as feedback audio. The above sound may have a virtual position corresponding to the front of the user's left knee.

[0202] For example, if the user's stride needs to be corrected, a sound saying "Try widening your stride" can be output as feedback audio. The above sound may have a virtual location corresponding to the area below the user.

[0203]

[0204] FIG. 19 illustrates a method for outputting audio based on the difference between a target position and a current position according to one embodiment.

[0205] According to one embodiment, when a target location for walking is set, the audio output may vary based on the distance between the user's current location and the target location of the wearable device (100).

[0206] For example, audio (1912 or 1922) may be output based on the distance (1911 or 1921) between the user's current location (1910 or 1920) and the target location. The audio (1912) for the current location (1910) may include information about the distance (1911) or a cheering comment. As the target location gets closer, the sound of the output audio may become louder. If the user's current location (1930) corresponds to the target location, audio (1931) may be output. The audio (1931) may be a comment celebrating the achievement of the goal.

[0207] According to one embodiment, when the accumulated number of steps (or walking distance, walking time) reaches a preset number of steps, audio corresponding to a cheerful sound may be output. The audio may be output periodically (e.g., every 10 steps).

[0208] According to one embodiment, the wearable device (100) may include one or more cameras. For example, a first camera may be positioned to photograph the front of the user, and a second camera may be positioned to photograph the rear of the user. The wearable device (100) (or the electronic device (210) of FIG. 2) may detect objects around the wearable device (100) based on images captured using one or more cameras. The detected objects may be preset objects (e.g., people, bicycles, and vehicles). The wearable device (100) may generate notification audio to have a virtual location corresponding to the location of the detected objects. The wearable device (100) may generate notification audio through an external electronic device (e.g., the wireless earphone (222) of FIG. 2).

[0209]

[0210] According to one embodiment, an electronic device (100; 210) comprises at least one processor (512; 710) including a processing circuit, and a memory (514; 720) including one or more storage media for storing instructions, and when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) enables: to acquire sensor data generated by an angle sensor (125; 524; 524-1) of the wearable device (100) from the wearable device (100), to calculate the current walking speed of a user wearing the wearable device (100) based on the sensor data, to calculate the difference between the current walking speed and the target walking speed, to generate an audio signal corresponding to the difference using HRTF - the audio signal corresponds to audio generated at a first virtual location having a first distance and a first direction from the user's location -, to determine a first time when the user's first leg touches the ground based on the sensor data, and a first Audio can be output by outputting an audio signal through an external electronic device (222) based on the time.

[0211] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to: determine whether the difference corresponds to a first threshold range, and if the difference corresponds to a first threshold range, generate an audio signal such that the audio corresponds to the first audio.

[0212] According to one embodiment, if the difference corresponds to a first threshold range, the first virtual position may correspond to the position of the sole of the first leg.

[0213] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be made to output a first audio at a first time when the difference corresponds to a first threshold range.

[0214] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to: determine whether the current walking speed is faster than the target walking speed if the difference does not correspond to the first threshold range, and if the current walking speed is faster than the target walking speed, generate an audio signal such that the audio corresponds to the second audio.

[0215] According to one embodiment, if the current walking speed is faster than the target walking speed, the first virtual position can correspond to the user's rear position.

[0216] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to: output a second audio at a second time later than the first time calculated based on the first time, if the current walking speed is faster than the target walking speed.

[0217] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to: determine whether the current walking speed is faster than the target walking speed if the difference does not correspond to the first threshold range, and if the current walking speed is slower than the target walking speed, generate an audio signal such that the audio corresponds to the third audio.

[0218] According to one embodiment, if the current walking speed is slower than the target walking speed, the first virtual position can correspond to the user's forward position.

[0219] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to: output a third audio at a third time that is earlier than the first time calculated based on the first time, if the current walking speed is slower than the target walking speed.

[0220] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to: calculate the user's current walking acceleration based on sensor data, and calculate a first distance based on the current walking acceleration, current walking speed, and target walking speed.

[0221] According to one embodiment, the target walking speed can be determined based on an exercise program.

[0222] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be made to output basic audio by outputting a basic audio signal through an external electronic device (222) at a first time.

[0223] An audio output method performed by an electronic device (100; 210) according to one embodiment may include: an operation (1520) of acquiring sensor data generated by an angle sensor (125; 524; 524-1) of the wearable device (100) from the wearable device (100); an operation (1530) of calculating the current walking speed of a user wearing the wearable device (100) based on the sensor data; an operation (1540) of calculating the difference between the current walking speed and the target walking speed; an operation (1550) of generating an audio signal corresponding to the difference using HRTF - the audio signal corresponds to audio generated at a first virtual location having a first distance and a first direction from the user's location - an operation (1560) of determining a first time when the user's first leg touches the ground based on the sensor data; and an operation (1570) of outputting audio by outputting the audio signal through an external electronic device (222) based on the first time.

[0224] According to one embodiment, a computer program stored on a computer-readable recording medium may be provided to be combined with hardware to execute the above-mentioned audio output method.

[0225] According to one embodiment, an electronic device (100; 210) comprises at least one processor (512; 710) including a processing circuit, and a memory (514; 720) including one or more storage media for storing instructions, and when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) enables: to acquire sensor data generated by an angle sensor (125; 524; 524-1) of the wearable device (100) from the wearable device (100), to calculate the current walking speed of a user wearing the wearable device (100) based on the sensor data, to calculate the difference between the current walking speed and the target walking speed, to generate an audio signal corresponding to the difference using HRTF - the audio signal corresponds to audio generated at a first virtual location having a first distance and a first direction from the user's location -, to determine a first time when the user's first leg touches the ground based on the sensor data, and a first Basic audio can be output by outputting a basic audio signal through an external electronic device (222) at a given time, and audio can be output by outputting an audio signal through an external electronic device (222) at a second time calculated based on a first time.

[0226] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to: determine whether the difference corresponds to a first threshold range, and if the difference corresponds to a first threshold range, generate an audio signal such that the audio corresponds to the first audio.

[0227] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to: determine whether the current walking speed is faster than the target walking speed if the difference does not correspond to the first threshold range, and if the current walking speed is faster than the target walking speed, generate an audio signal such that the audio corresponds to the second audio.

[0228] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) is made to: generate an audio signal such that the audio corresponds to a third audio when the current walking speed is slower than the target walking speed, and when the current walking speed is slower than the target walking speed, the first virtual position may correspond to the user's forward position.

[0229] According to one embodiment, when instructions are executed individually or collectively by at least one processor (512; 710), the electronic device (100; 210) may be configured to: calculate the user's current walking acceleration based on sensor data, and calculate a first distance based on the current walking acceleration, current walking speed, and target walking speed.

[0230]

[0231] 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.

[0232] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or command the processing unit independently or collectively. Software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave 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 may be stored or executed in a distributed manner. Software and data may be stored on computer-readable recording media.

[0233] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either alone or in combination, and the program instructions recorded on the medium may be those specifically designed and configured for the embodiment or those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0234] 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.

[0235] Although the embodiments described above have been explained with reference to limited drawings, those skilled in the art can apply various technical modifications and variations based thereon. For example, appropriate results can be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents.

[0236] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

1. In an electronic device (100; 210), At least one processor (512; 710) including a processing circuit; and It includes a memory (514; 720) comprising one or more storage media for storing instructions, and When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: Sensor data generated by the angle sensor (125; 524; 524-1) of the wearable device (100) is obtained from the wearable device (100), and Based on the sensor data above, the current walking speed of the user wearing the wearable device (100) is calculated, and Calculate the difference between the current walking speed and the target walking speed mentioned above, and An audio signal corresponding to the above difference is generated using an HRTF (head related transfer function) - the audio signal corresponds to audio generated at a first virtual location having a first distance and a first direction from the user's location -, Based on the above sensor data, a first time when the user's first leg touches the ground is determined, and The audio is output by outputting the audio signal through an external electronic device (222) based on the first time point. making, Electronic device (100; 210).

2. In Paragraph 1, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: Determining whether the above difference corresponds to a first threshold range, When the above difference corresponds to a first threshold range, the audio signal is generated so that the audio corresponds to the first audio. making, Electronic device (100; 210).

3. In Paragraph 1 or 2, If the above difference corresponds to the above first threshold range, the above first virtual position corresponds to the position of the sole of the above first leg, Electronic device (100; 210).

4. In paragraphs 1 through 3, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: If the above difference corresponds to the above first threshold range, output the first audio at the above first time. making, Electronic device (100; 210).

5. In any one of paragraphs 1 through 4, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: If the above difference does not correspond to the above first threshold range, determine whether the current walking speed is faster than the target walking speed, and If the current walking speed is faster than the target walking speed, generate the audio signal so that the audio corresponds to the second audio. making, Electronic device (100; 210).

6. In any one of paragraphs 1 through 5, If the current walking speed is faster than the target walking speed, the first virtual position corresponds to the rear position of the user. Electronic device (100; 210).

7. In paragraphs 1 through 3, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: If the current walking speed is faster than the target walking speed, the second audio is output at a second time later than the first time calculated based on the first time. making, Electronic device (100; 210).

8. In any one of paragraphs 1 through 7, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: If the above difference does not correspond to the above first threshold range, determine whether the current walking speed is faster than the target walking speed, and If the current walking speed is slower than the target walking speed, generate the audio signal so that the audio corresponds to the third audio. making, Electronic device (100; 210).

9. In any one of paragraphs 1 through 8, If the current walking speed is slower than the target walking speed, the first virtual position corresponds to the user's forward position. Electronic device (100; 210).

10. In paragraphs 1 through 9, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: If the current walking speed is slower than the target walking speed, the third audio is output at a third time that is earlier than the first time calculated based on the first time. making, Electronic device (100; 210).

11. In any one of paragraphs 1 through 10, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: Calculate the user's current walking acceleration based on the above sensor data, and Calculate the first distance based on the current walking acceleration, the current walking speed, and the target walking speed. making, Electronic device (100; 210).

12. In any one of paragraphs 1 through 11, The above target walking speed is determined based on the exercise program, Electronic device (100; 210).

13. In any one of paragraphs 1 through 12, When the above instructions are executed individually or collectively by the at least one processor (512; 710), the electronic device (100; 210) is caused to: By outputting a basic audio signal through the external electronic device (222) at the first time, the basic audio is output. making, Electronic device (100; 210).

14. An audio output method performed by an electronic device (100; 210), An operation (1520) of acquiring sensor data generated by an angle sensor (125; 524; 524-1) of the wearable device (100) from the wearable device (100); An operation (1530) of calculating the current walking speed of a user wearing the wearable device (100) based on the sensor data above; The operation of calculating the difference between the current walking speed and the target walking speed (1540); Operation (1550) of generating an audio signal corresponding to the difference using an HRTF (head related transfer function) - the audio signal corresponds to audio generated at a first virtual location having a first distance and a first direction from the user's location -; An operation (1560) for determining a first time when the user's first leg touches the ground based on the sensor data above; and The operation (1570) of outputting the audio by outputting the audio signal through an external electronic device (222) based on the first time above including, Audio output method.

15. A computer program stored on a computer-readable recording medium in combination with hardware to execute the method of claim 14.

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