Wearable device having function of preventing malfunction of circuit, operating method thereof and energy management device

Abstract

This wearable device may comprise: an electrical energy supply circuit; a motor for generating torque on the basis of output electrical energy or generating a back electromotive force induced by a leg movement of a user wearing the wearable device; a torque transmission frame; an electrical energy consumption circuit which is electrically connected to the motor and which consumes, when activated, at least a portion of electrical energy generated by the motor; and one or more processors. When at least one from among output voltage of the motor, output current of the electrical energy supply circuit, and input current of the electrical energy consumption circuit satisfies a set condition, the one or more processors can control that the supply of the electrical energy from the electrical energy supply circuit to the motor is cut off.

Description

Wearable device equipped with a function to prevent circuit malfunction, method of operation thereof, and energy management device

[0001] Specific embodiments relate to a wearable device having a function to prevent circuit malfunction, a method of operating the same, and an energy management device.

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

[0003] The means for resolving this problem is provided to introduce, in a simplified form, some of the concepts described in detail in the detailed description below. The means for resolving this problem is not intended to identify the primary or essential features of the claimed configuration, nor is it intended to assist in determining the scope of the claimed configuration.

[0004] A wearable device according to one embodiment may include a battery, an electrical energy supply circuit that outputs at least one of electrical energy of the battery and electrical energy flowing into the wearable device from the outside, a motor that generates torque based on the output electrical energy or generates a voltage of back electromotive force induced by the leg movement of a user wearing the wearable device, a torque transmission frame for transmitting the generated torque to the user's leg, an electrical energy consumption circuit that is electrically connected to the motor and consumes at least a portion of the electrical energy generated by the motor when activated, and one or more processors. The one or more processors may be controlled individually or collectively to cut off the supply of electrical energy from the electrical energy supply circuit to the motor when at least one of the output voltage of the motor, the output current of the electrical energy supply circuit, and the input current of the electrical energy consumption circuit satisfies a set condition.

[0005] An energy management device according to one embodiment may include a battery, an electrical energy supply circuit that outputs at least one of electrical energy of the battery and electrical energy flowing into the energy management device from the outside, a motor that generates torque based on the output electrical energy, an electrical energy consumption circuit that is electrically connected to the motor and consumes at least a portion of the electrical energy generated by the motor when activated, and one or more processors. The one or more processors may be controlled individually or collectively to cut off the supply of electrical energy from the electrical energy supply circuit to the motor when at least one of the output voltage of the motor, the output current of the electrical energy supply circuit, and the input current of the electrical energy consumption circuit satisfies a set condition.

[0006] A method of operation of a wearable device including a battery, an electric energy supply circuit, and an electric energy consumption circuit according to one embodiment may include: supplying electric energy of the battery or electric energy flowing into the wearable device from the outside to a motor of the wearable device through the electric energy supply circuit; consuming at least a portion of the electric energy delivered from the motor using the electric energy consumption circuit when a condition of the electric energy consumption circuit is satisfied based on the electric energy generated by the motor; and cutting off the supply of electric energy from the electric energy supply circuit to the motor when at least one of the output voltage of the motor, the output current of the electric energy supply circuit, and the input current of the electric energy consumption circuit satisfies a set condition.

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

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

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

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

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

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

[0013] FIG. 6 is a block diagram illustrating the configurations of an energy management device according to various embodiments.

[0014] FIG. 7 is a diagram illustrating a control process to prevent malfunction of an electrical energy consumption circuit according to various embodiments.

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

[0016] FIG. 9 is a diagram illustrating the consumption of electrical energy by an electrical energy consumption circuit according to various embodiments.

[0017] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Accordingly, actual implementations are not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or substitutions included in the technical concept described by the embodiments.

[0018] The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, terms such as "comprising" or "having" are intended to specify the existence of the described features, numbers, steps, actions, components, parts, or combinations thereof, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0019] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this specification.

[0020] Specific embodiments will be described in detail below with reference to the accompanying drawings. In the description with reference to the accompanying drawings, identical components are given the same reference numeral regardless of the drawing number, and redundant descriptions thereof will be omitted.

[0021]

[0022] FIG. 1 is a drawing for illustrating an overview of a wearable device worn on a user's body according to various embodiments.

[0023] Referring to FIG. 1, in one embodiment, the wearable device (100) may be a device worn on the body of a user (110) to assist the user (110) in walking, exercising, and / or working. The wearable device (100) may also be used to measure the physical abilities of the user (110) (e.g., walking ability, exercise ability, exercise posture). In the embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking aid', or 'exercise aid'. The user (110) may be a person who wears the wearable device (100) and performs walking, exercising, or working.

[0024] A wearable device (100) is worn on the body of a user (110) (e.g., lower body (legs, ankles, knees, etc.) and / or upper body (torso, arms, wrists, etc.)) and can apply an external force of assistance force and / or resistance force to the movement of the user's (110) body. Assistance force is a force 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'.

[0025] In one embodiment, the wearable device (100) may operate in a walking assistance mode that assists the walking of a user (110). In the walking assistance mode, the wearable device (100) may assist the walking of the user (110) by applying an assisting force generated from a driving module including a motor of the wearable device (100) to the body of the user (110). The wearable device (100) may 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 user whose walking habits or walking posture are abnormal.

[0026] In one embodiment, the wearable device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110) or to provide the user (110) with various exercise experiences. The exercise assistance mode may include a resistance mode and an assistance mode. The resistance mode of the exercise assistance mode represents a mode that hinders the user (110)'s body movements or provides resistance to the user (110)'s body movements by applying resistance force generated from the driving module (120) to the user (110)'s body. If the wearable device (100) is a hip-type wearable device worn on the user (110)'s waist (or pelvis) and legs (e.g., thighs), the wearable device (100) may further enhance the exercise effect on the user (110)'s legs by providing an exercise load to the user's (110) leg movements while worn on the legs in resistance mode. The assist mode of the exercise assistance mode represents a mode in which an assisting force is applied to the user's (110) body to assist the user's (110) body movements. In the assist mode, an assisting force, which is a force in the same direction as the body movements, is provided to the user (110). For example, when a disabled person or an elderly person wears the wearable device (100) and exercises, the wearable device (100) can provide an assisting force to help with body movements. In the assist mode, the wearable device (100) can provide a force in the same direction as the user's (110) leg movements, and the user (110) can perform exercises with less force through the force provided by the wearable device (100). In an exercise program performed using the wearable device (100), the resistance mode and the assist mode may be operated in combination. For example, the wearable device (100) may provide the assisting force and the resistance force in combination for exercise segments or time segments, such as providing the assisting force in some exercise segments and the resistance force in other exercise segments.

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

[0028] In one embodiment, the wearable device (100) may operate in a physical ability measurement mode to measure the physical ability of a user (110). The wearable device (100) may measure the movement information of the user (110) using a sensor (e.g., angle sensor (125)) and an inertial measurement unit (IMU) (135)) provided in the wearable device (100) while the user (110) is walking and / or exercising, and may evaluate the physical ability of the user (110) based on the measured movement information. For example, walking indicators (e.g., number of steps, total walking distance, stride length) or exercise ability indicators (e.g., muscle strength, exercise endurance, posture balance) of the user (110) may be estimated through the movement information of the user (110) measured by the wearable device (100).

[0029] In certain embodiments, for convenience of explanation, a hip-type wearable device (100) as illustrated in FIG. 1 is described as an example, but is not limited thereto. As described above, the wearable device (100) may also be worn on other body parts other than the waist and thighs (e.g., upper arm, forearm, hand, calf, or foot). The shape and configuration of the wearable device (100) may vary depending on the body part on which it is worn.

[0030]

[0031] FIG. 2 is a drawing for explaining an exercise assistance system according to various embodiments.

[0032] Referring to FIG. 2, the exercise assistance system (200) may include a wearable device (100), an electronic device (210), another wearable device (220), and a server (230). In the exercise assistance system (200), at least one of the remaining devices other than the wearable device (100) (e.g., electronic device (210), another wearable device (220), or server (230)) may be omitted, or one or more other devices (e.g., a dedicated controller device for the wearable device (100)) may be added.

[0033] 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.

[0034] In one embodiment, the wearable device (100) may apply to the user's body by generating a resistance force to hinder the user's body movement and / or an assisting force to help the user's body movement in order to enhance the user's exercise effect in exercise assistance mode. In exercise assistance mode, the user may select an exercise program to be performed using the wearable device (100) via an electronic device (210) (e.g., aerobic exercise such as power walking and outdoor walking, strength exercise such as squats, split lunges, dumbbell squats and lunges and knee ups, stretching, posture balancing exercises, or any combination thereof) and / or an exercise intensity applied to the exercise program. The wearable device (100) may control the driving module of the wearable device (100) according to the exercise program and / or exercise intensity selected by the user. For example, the wearable device (100) may adjust the strength of the resistance force and / or assisting force generated through the driving module according to the exercise intensity selected by the user. The wearable device (100) can control the drive module to generate resistance corresponding to the exercise intensity selected by the user. As the exercise intensity increases, the magnitude of the resistance applied to the user can also increase.

[0035] In one embodiment, the wearable device (100) may be used to measure a user's physical ability (e.g., walking ability) in conjunction with an electronic device (210). The wearable device (100) may operate in a physical ability measurement mode, which is a mode for measuring a user's physical ability under the control of the electronic device (210), and may transmit sensor data including movement information of the wearable device (100) according to the user's physical movement in the physical ability measurement mode to the electronic device (210). The electronic device (210) may analyze the sensor data received from the wearable device (100) to evaluate the user's physical ability and provide the evaluation result to the user.

[0036] The wearable device (100) can transmit sensor data measured through an angle sensor and / or inertial sensor and device information of the wearable device (100) (e.g., charging status information, operation mode information, setting information) to an electronic device (210) and / or a server (230), and can receive a control signal from the electronic device (210) and / or the server (230) to control the operation of the wearable device (100).

[0037] The electronic device (210) can communicate with the wearable device (100) via wireless communication (e.g., Bluetooth communication) or wired communication, and can remotely control the wearable device (100) or provide status information to the user regarding the status of the wearable device (100) (e.g., booting status, charging status, exercise program operation status, error status). The electronic device (210) can recommend an exercise program using the wearable device (100) to the user and can analyze the exercise performed by the user. The electronic device (210) can receive sensor data acquired by the sensors (e.g., angle sensor, inertial sensor) of the wearable device (100) from the wearable device (100), and can estimate the user's current exercise status, exercise results, exercise posture, and / or physical ability based on the received sensor data. The electronic device (210) can provide the user with the user's estimated current exercise state, exercise results, exercise posture and / or physical ability through a graphical user interface (GUI).

[0038] In one embodiment, a user may run a program (e.g., an application) on an electronic device (210) to control the wearable device (100), and through the program, the user may adjust the operation or setting values ​​of the wearable device (100) (e.g., torque intensity output from the motor of the drive module, volume of audio output from the sound output circuit (e.g., sound output circuit (550) of FIG. 5), and brightness of the lighting module (e.g., lighting module (85) of FIG. 3). The program running on the electronic device (210) may provide a graphical user interface for interaction with the user. The electronic device (210) may be a device of various forms. For example, the electronic device (210) may include a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, or a home appliance (e.g., a television, an audio device, a projector device), but is not limited to the aforementioned devices.

[0039] According to one embodiment, an electronic device (210) may be connected to a server (230) using short-range wireless communication or cellular communication. The server (230) may receive user profile information of a user using the wearable device (100) from the electronic device (210) and may store and manage the received user profile information. The user profile information may include information on at least one of, for example, name, age, gender, height, weight, medical history, or BMI (body mass index). The server (230) may receive exercise history information regarding exercises performed by the user from the electronic device (210) and may store and manage the received exercise history information. The server (230) may provide various exercise programs or physical ability measurement programs that may be provided to the user to the electronic device (210). In one embodiment, the server (230) may be connected to the wearable device (100). The server (230) can receive sensor data measured by the wearable device (100) from the wearable device (100) and can transmit control signals and / or exercise program-related data to the wearable device (100) to control the operation of the wearable device (100). In one embodiment, the server (230) may be a cloud server.

[0040] According to one embodiment, a wearable device (100) and / or an electronic device (210) may be connected directly or indirectly to another wearable device (220). User exercise result information, physical ability information, and / or exercise motion evaluation information determined by the electronic device (210) may be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). Status information of the wearable device (100) may also be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). In one embodiment, the wearable device (100), the electronic device (210), and the other wearable device (220) may be connected to each other via wireless communication (e.g., Bluetooth communication, Wi-Fi communication). Other wearable devices (220) may be, for example, wireless earphones (222), a smartwatch (or a watch-type wearable device) (224) or smart glasses (a wearable device in the form of glasses or goggles) (226), but are not limited to the aforementioned devices.

[0041] In one embodiment, the wireless earphone (222) is wirelessly connected to the electronic device (210) and / or the wearable device (100) to output a guide voice, music, and / or sound effects related to an exercise program. The wireless earphone (222) can provide the user with a guide voice for providing information related to the exercise program (e.g., an introduction to the exercise program, remaining exercise time) and / or a guide voice for real-time exercise coaching. The wireless earphone (222) may include a microphone, and the microphone may receive voice input from the user. Voice input received through the microphone may be transmitted to the electronic device (210), and voice recognition for the voice input may be performed on the electronic device (210).

[0042] In one embodiment, the smartwatch (224) may include a biosensor (e.g., heart rate sensor, electromyograph sensor) that measures a biosignal including a user's heart rate information, and may transmit the biosignal measured through the biosensor to an electronic device (210) and / or a wearable device (100). The electronic device (210) may estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) and / or electromyograph information based on the biosignal received from the smartwatch (224), for example, and may provide the estimated heart rate information and / or electromyograph information to the user.

[0043] In one embodiment, the smartwatch (224) may include an inertial sensor for measuring user movement information and / or a position sensor for measuring user location information, and may transmit the user movement information and / or location information to an electronic device (210) and / or a wearable device (100). The smartwatch (224) may include a communication circuit (e.g., a short-range communication circuit) for communicating with other devices (e.g., electronic device (210), wearable device (100)).

[0044] In one embodiment, the smart glasses (226) can provide information to the user through a glass-shaped display. For example, the smart glasses (226) can output information such as current exercise speed, target exercise speed, current exercise amount achieved, exercise performance time, and / or biometric information through the display in exercise mode. Additionally, the smart glasses (226) can output a screen to guide the user on an exercise path.

[0045]

[0046] FIG. 3 shows a rear schematic view of a wearable device according to various embodiments. FIG. 4 shows a left side view of a wearable device worn on a user's body according to various embodiments.

[0047] Referring to FIGS. 3 and 4, a wearable device (100) according to one embodiment may include a base body (80), a waist support frame (20), a driving module (35, 45), a torque transmission frame (50, 55), a thigh fastening part (1, 2), and a waist fastening part (60). In one embodiment, at least one of these components may be omitted from the wearable device (100), or one or more other components may be added.

[0048] The base body (80) may be positioned on the user's lower back while the user is wearing the wearable device (100). The base body (80) may be mounted on the user's lower back to provide cushioning to the user's waist and to support the user's waist. The base body (80) may be placed over the user's buttocks (hip area) to prevent the wearable device (100) from falling downward due to gravity while the user is wearing the wearable device (100), or to reduce the possibility of it falling off. The base body (80) may distribute a portion of the weight of the wearable device (100) to the user's waist while the user is wearing the wearable device (100). The base body (80) may be connected directly or indirectly to the waist support frame (20). Both ends of the base body (80) may be provided with waist support frame connecting elements (not shown) that can be connected directly or indirectly to the waist support frame (20).

[0049] In one embodiment, at least one of a processor (e.g., processor (512) of FIG. 5), a battery (e.g., battery (565) of FIG. 5), a power management integrated circuit (PMIC) that converts the power of the battery to match the operating voltage of each component of the wearable device (100) and supplies it to each component, a memory (e.g., memory (514) of FIG. 5), an inertial sensor (e.g., inertial sensor (522) of FIG. 5), a communication circuit (e.g., communication circuit (516) of FIG. 5), an acoustic output circuit (e.g., acoustic output circuit (550) of FIG. 5), or a haptic circuit (e.g., haptic circuit (560) of FIG. 5) may be located inside the base body (80). The base body (80) can protect the components placed inside.

[0050] In one embodiment, a display (not shown) may be provided on the outer surface of the base body (80). The display may provide various visual information related to the wearable device (100) (e.g., status information of the wearable device (100)) and a screen for a user interface.

[0051] The waist support frame (20) can support the user's body (e.g., waist) when the wearable device (100) is worn on the user's body. The waist support frame (20) may extend from both ends of the base body (80). The user's lower back may be accommodated within the waist support frame (20). The waist support frame (20) may include at least one rigid body beam. Each beam may have a curved shape with a pre-set curvature to surround the user's lower back. A waist fastening part (60) may be directly or indirectly connected to the ends of the waist support frame (20). A driving module (35, 45) may be directly or indirectly connected to the waist support frame (20).

[0052] In one embodiment, the wearable device (100) may include a sensor circuit comprising one or more sensors. The sensor circuit may include one or more sensors that acquire sensor data containing information on the movement of a user and / or information on the movement of a component of the wearable device (100). For example, one or more sensors may include, but are not limited to, an inertial sensor (e.g., inertial sensor (522) of FIG. 5) for measuring the movement of the user's pelvis or the movement of the waist support frame (20) and / or an angle sensor (e.g., first angle sensor (524) and second angle sensor (524-1) of FIG. 5) for measuring the angle of the user's hip joint or the angle of the torque transfer frame (e.g., first angle sensor (524) and second angle sensor (524-1) of FIG. 5)). The angular velocity of the user's hip joint or the angular velocity of the torque transfer frame may be determined by differentiating the angle of the user's hip joint or the angle of the torque transfer frame measured by the angle sensor.

[0053] In one embodiment, one or more sensors may further include at least one of a position sensor, a torque sensor, a pressure sensor, a temperature sensor, a biosignal sensor (e.g., a heart rate sensor, an electrocardiogram sensor), a distance sensor, or a proximity sensor.

[0054] The waist fastening portion (60) can be directly or indirectly connected to the waist support frame (20) and can secure the waist support frame (20) to the user's waist. The waist fastening portion (60) may include, for example, a pair of belts.

[0055] The first drive module (45) and the second drive module (35) can generate an external force (or torque) applied to the user's body based on a control signal generated by a processor. For example, the first drive module (45) and the second drive module (35) can generate an assistive force or resistance force applied to the user's legs. In one embodiment, the first drive module (45) may be located at a position corresponding to the user's right hip joint, and the second drive module (35) may be located at a position corresponding to the user's left hip joint. The first drive module (45) can generate torque to move (or rotate) the first torque transmission frame (55) in the forward or backward direction of the wearable device (100). The second drive module (35) can generate torque to move (or rotate) the second torque transmission frame (50) in the forward or backward direction of the wearable device (100). The forward direction is the direction corresponding to the user's front direction or the flexion movement of the leg, and the rear direction may be the direction corresponding to the user's back direction or the extension movement of the leg.

[0056] The first driving module (45) may include a first actuator and a first joint member, and the second driving module (35) may include a second actuator and a second joint member. The first actuator may provide power transmitted to the first joint member, and the second actuator may provide power transmitted to the second joint member. The first actuator and the second actuator may each include a motor that generates power (or torque) by receiving power from a battery. When power is supplied and the motor is driven, it may generate a force (assistive force) to assist the user's body movement or a force (resistance force) to hinder body movement. In one embodiment, the processor may adjust the voltage and / or current supplied to the motor to control the strength and direction of the force generated by the motor.

[0057] In one embodiment, the first joint member and the second joint member each receive power from the first actuator and the second actuator, respectively, and can apply external force to the user's body based on the received power. The first joint member and the second joint member may each be positioned at a location corresponding to the user's joint. One side of the first joint member may be directly or indirectly connected to the first actuator, and the other side may be directly or indirectly connected to the first torque transmission frame (55). The first joint member may be rotated by the power received from the first actuator. An encoder or a Hall sensor capable of operating as an angle sensor for measuring the rotation angle (corresponding to the user's joint angle) of the first joint member or the first torque transmission frame (55) may be disposed on one side of the first joint member. One side of the second joint member may be connected to the second actuator, and the other side may be connected to the second torque transmission frame (50). The second joint member can be rotated by power received from the second actuator. An encoder or Hall sensor capable of operating as an angle sensor for measuring the rotation angle of the second joint member or the second torque transmission frame (50) may also be disposed on one side of the second joint member.

[0058] In one embodiment, the first actuator may be positioned on the side of the first joint member, and the second actuator may be positioned on the side of the second joint member. The rotation axis of the first actuator and the rotation axis of the first joint member may be positioned so as to be spaced apart from each other, and the rotation axis of the second actuator and the rotation axis of the second joint member may also be positioned so as to be spaced apart from each other. However, this is not limited thereto, and the actuator and the joint member may share a rotation axis. In one embodiment, each actuator may be positioned spaced apart from the joint member. In this case, the first drive module (45) and the second drive module (35) may each further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, cable, string, spring, belt, or chain. However, the scope of the embodiments is not limited by the positional relationship between the actuator and the joint member and the power transmission structure described above.

[0059] In one embodiment, the first torque transmission frame (55) and the second torque transmission frame (50) can each transmit torque generated by the first driving module (45) and the second driving module (35) to the user's body (e.g., leg) when the wearable device (100) is worn on the user's leg. The transmitted torque can act as an external force applied to the user's leg movement. One end of each of the first torque transmission frame (55) and the second torque transmission frame (50) can be rotated by being connected directly or indirectly to a joint member. As the other end of each of the first torque transmission frame (55) and the second torque transmission frame (50) is connected directly or indirectly to the first thigh fastening part (2) and the second thigh fastening part (1), the first torque transmission frame (55) and the second torque transmission frame (50) can transmit torque generated by the first driving module (45) and the second driving module (35) to the user's thigh while supporting the user's thigh. For example, the first torque transmission frame (55) and the second torque transmission frame (50) can push or pull the user's thigh. The first torque transmission frame (55) and the second torque transmission frame (50) can extend along the longitudinal direction of the user's thigh and can be folded to wrap around at least a portion of the user's thigh circumference. The first torque transmission frame (55) may be a torque transmission frame for transmitting torque to the user's right leg, and the second torque transmission frame (50) may be a torque transmission frame for transmitting torque to the user's left leg.

[0060] The first thigh fastening part (2) and the second thigh fastening part (1) are each directly or indirectly connected to the first torque transmission frame (55) and the second torque transmission frame (50), respectively, and can fasten the wearable device (100) to the user's leg (especially the thigh). The first thigh fastening part (2) is a thigh fastening part for fastening the first torque transmission frame (55) to the user's leg (e.g., right thigh), and the second thigh fastening part (1) may be a thigh fastening part for fastening the second torque transmission frame (50) to the user's leg (e.g., left thigh).

[0061] In one embodiment, the first thigh fastening part (2) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (1) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover can each apply torque generated from the first driving module (45) and the second driving module (35) to the user's thigh. The first cover and the second cover are each positioned on one side of the user's thigh to push or pull the user's thigh. The first cover and the second cover may be positioned along the circumference of the user's thigh. The first cover and the second cover may each extend to both sides centered on the other end of the first torque transmission frame (55) and the second torque transmission frame (50), and may include a curved surface corresponding to the user's thigh. One end of each of the first cover and the second cover may be directly or indirectly connected to the first fastening frame and the second fastening frame. The other end of each of the first cover and the second cover may be directly or indirectly connected to the first strap and the second strap.

[0062] The first fastening frame and the second fastening frame are positioned to wrap around, for example, at least a portion of the circumference of the user's thigh, thereby preventing the user's thigh from coming off the wearable device (100) or reducing the likelihood of it coming off. The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

[0063] 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).

[0064]

[0065] FIG. 5 is a diagram illustrating the configurations of the electronic systems of a wearable device according to various embodiments.

[0066] Referring to FIG. 5, the electronic system of the wearable device (100) may include a control circuit (510), a communication circuit (516), one or more sensors (e.g., an inertial sensor (522), a first angle sensor (524), a second angle sensor (524-1)), a driving module (530, 530-1), an input circuit (540), an acoustic output circuit (550), and a haptic circuit (560). At least one of the described components (e.g., an input circuit (540), an acoustic output circuit (550), a haptic circuit (560)) may be omitted from the electronic system, or one or more other components (e.g., a display circuit for a display, a lighting circuit for driving a lighting module (85), or a power management integrated circuit) may be added.

[0067] The driving module (530) includes a motor (534) and a motor driver circuit (532) for driving the motor (534), and the driving module (530-1) may include a motor (534-1) and a motor driver circuit (532-1) for driving the motor (534-1). In the embodiment of FIG. 5, the driving module is shown as having two parts, but this is merely an example. In certain embodiments, the driving module may be one or three or more parts. The driving module (530) including the motor driver circuit (532) and the motor (534) may correspond to the first driving module (45) of FIG. 3, and the driving module (530-1) including the motor driver circuit (532-1) and the motor (534-1) may correspond to the second driving module (35) of FIG. 3.

[0068] One or more sensors may include a sensor that acquires sensor data (or sensing value). One or more sensors may transmit the acquired sensor data to a control circuit (510). One or more sensors may acquire sensor data including movement information of the wearable device (100) caused by the movement of a user wearing the wearable device (100). One or more sensors may include, for example, an inertial sensor (522) for acquiring sensor data including movement information of the wearable device (100) corresponding to the movement of the user's waist or torso, and / or an angle sensor (e.g., a first angle sensor (524) and / or a second angle sensor (524-1)) for acquiring sensor data including movement information of the wearable device (100) corresponding to the movement of the user's legs. Each of these sensors may exist in multiple numbers, and some may be omitted.

[0069] The inertial sensor (522) can measure the movement of the user's body. The inertial sensor (522) can sense acceleration, angular velocity, and rotation angles (e.g., roll, pitch, yaw) along the X-axis, Y-axis, and Z-axis according to the user's movement. The inertial sensor (522) can measure, for example, the movement of the user's pelvis. The inertial sensor (522) can measure anterior-posterior tilt of the user's pelvis, lateral tilt of the pelvis, and rotation of the pelvis. The roll, pitch, and yaw measured by the inertial sensor (522) can correspond to any one of the anterior-posterior tilt, lateral tilt, and rotation of the pelvis. The movement of the user's pelvis can correspond to the movement of the waist support frame (e.g., the waist support frame (20) of FIG. 3) of the wearable device (100). In one embodiment, the inertial sensor (522) may be located on a printed circuit board within the base body of the wearable device (100) (e.g., the base body (80) of FIG. 3) and may measure the tilt and / or acceleration of the wearable device (100) indicating the degree of tilt of the wearable device (100).

[0070] In one embodiment, the first angle sensor (524) and the second angle sensor (524-1) can measure the hip joint angle according to the user's leg movement. The first angle sensor (524) can sense the hip joint angle of the user's right leg, and the second angle sensor (524-1) can sense the hip joint angle of the user's left leg. Each of the first angle sensor (524) and the second angle sensor (524-1) may include, for example, an encoder and / or a Hall sensor. The hip joint angle of the right leg sensed by the first angle sensor (524) corresponds to the movement (e.g., angle) of the first torque transmission frame of the wearable device (e.g., the first torque transmission frame (55) of FIG. 3), and the hip joint angle of the left leg sensed by the second angle sensor (524-1) corresponds to the movement (e.g., angle) of the second torque transmission frame of the wearable device (e.g., the second torque transmission frame (50) of FIG. 3).

[0071] In one embodiment, the first angle sensor (524) and the second angle sensor (524-1) may be angle sensors that sense the knee joint angle or ankle joint angle according to the user's leg movement.

[0072] In one embodiment, one or more sensors may further include a torque sensor for sensing a torque value, a position sensor for obtaining a position value of a wearable device (100), a proximity sensor for detecting proximity of an object, a biosignal sensor for detecting a user's biosignal, a distance sensor for measuring the distance to an object, a pressure sensor for measuring a pressure value, and / or a temperature sensor for measuring an ambient temperature.

[0073] The input circuit (540) can receive instructions or data to be used for a component of the wearable device (100) (e.g., processor (512)) from outside the wearable device (100) (e.g., user). The input circuit (540) may include, for example, a key (e.g., button) and / or a touch screen.

[0074] The acoustic output circuit (550) can output an acoustic signal to the outside of the wearable device (100). The acoustic output circuit (550) may include a speaker that outputs a guide acoustic signal (e.g., drive start sound, operation error notification sound), music content, and / or guide voice.

[0075] The driving module (530, 530-1) can generate an external force applied to the user's leg under the control of the control circuit (510). The driving module (530, 530-1) is located at a position corresponding to the user's hip joint and can generate torque applied to the user's leg based on a control signal generated by the control circuit (510). The control circuit (510) can transmit the control signal to the motor driver circuit (532, 532-1), and the motor driver circuit (532, 532-1) can control the operation of the motor (534, 534-1) (e.g., the motor (720) of FIG. 7) by generating a current signal (or voltage signal) corresponding to the control signal and supplying it to the motor (534, 534-1). Depending on the control signal, the current signal may not be supplied to the motor (534, 534-1). The motor driver circuit (532, 532-1) can convert a direct current (DC) voltage supplied from a battery into an alternating current (AC) voltage and supply it to the motor (534, 534-1). One or more motors (e.g., motor (534), motor (534-1)) included in the wearable device (100) can generate torque under the control of the processor (512). When the motor (534, 534-1) is driven by supplying a current signal to the motor (534, 534-1), it can generate an assisting force to assist the user's leg movements or a resistive force to hinder leg movements. The motor (534; 534-1) can generate torque based on electrical energy supplied from the battery. The motor (534; 534-1) may be, for example, a brushless DC (BLDC) motor or a permanent magnet synchronous motor (PMSM).

[0076] The control circuit (510) controls the overall operation of the wearable device (100) and can generate control signals to control each component of the wearable device (100). The control circuit (510) may include a processor (512) (e.g., the processor (730) of FIG. 7) and a memory (514). The processor (512) and the memory (514) may constitute a micro controller unit (MCU).

[0077] The processor (512) can execute software to control at least one other component (e.g., hardware or software component) of the wearable device (100) that is directly or indirectly connected to the processor (512), and can perform various data processing or operations. For example, the processor (512) can control the operation of the motor (534, 534-1). As at least part of the data processing or operations, the processor (512) can store instructions or data received from another component (e.g., communication circuit (516)) in memory (514), process the instructions or data stored in memory (514), and store the resulting data after processing in memory (514). The processor (512) may include one or more processors, and the operations of the wearable device (100) described in this disclosure may be performed by a single processor or by a combination of multiple processors.

[0078] According to one embodiment, the processor (512) may include at least one of a main processor (e.g., a central processing unit (CPU) or an application processor) and / or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or together with the main processor. The processor (512) may also be implemented as a system on chip (SoC) or an integrated circuit (IC) that performs processing. The auxiliary processor may be implemented separately from the main processor or as part thereof.

[0079] In this disclosure, each ‘processor’ may include a processing circuit or a plurality of processors. For example, as used in this disclosure including in the claims, the term ‘processor’ may include various processing circuits including one or more processors, wherein one or more processors may be configured to perform various functions described in this disclosure in an individually and / or collectively distributed manner. Where in this disclosure, ‘processor,’ ‘at least one processor,’ and ‘one or more processors’ are described as being configured to perform a plurality of functions, these terms include, but are not limited to, for example, a situation where one processor performs some of the cited functions and another processor performs other of the cited functions, and a situation where a single processor can perform all of the cited functions. Additionally, one or more processors may include a combination of processors performing various cited / disclosed functions in a distributed manner, for example. One or more processors may execute instructions to achieve or perform various functions.

[0080] Memory (514) may store data used by at least one component of the wearable device (100) (e.g., processor (512)). The data may include, for example, input or output data for software, related instructions, sensor data, and data regarding a motor control program. Memory (514) may store at least one instruction executable by the processor (512). Memory (514) may include one or more memories, and instructions for controlling the processor (512) to perform operations of the wearable device (100) described in this disclosure may be stored in one memory or divided and stored in multiple memories. Memory (514) may include volatile memory or non-volatile memory. When instructions are executed individually or collectively by one or more processors (512), the wearable device (100) may be made to perform one or more operations of the wearable device (100) described in the present disclosure.

[0081] The communication circuit (516) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the control circuit (510) and other components of the wearable device (100) or an external electronic device (e.g., the electronic device (210) of FIG. 2 or another wearable device (220)), and the performance of communication through the established communication channel. The communication circuit (516) may communicate with, for example, an electronic device (e.g., the electronic device (210) of FIG. 2). According to one embodiment, the communication circuit (516) may include one or more communication processors that operate independently of the processor (512) and support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication circuit (516) may include a wireless communication circuit (e.g., a cellular communication circuit, a short-range wireless communication circuit, or a GNSS (global navigation satellite system) communication circuit) and / or a wired communication circuit. The wireless communication circuit can communicate with other components of the wearable device (100) and / or external devices via, for example, Bluetooth, WiFi (wireless fidelity), IrDA (infrared data association), legacy cellular networks, 5G networks, next-generation communication networks, the Internet, or computer networks (e.g., LAN (local area network) or WAN (wide area network)).

[0082] The haptic circuit (560) can provide haptic feedback to a user under the control of the processor (512). The haptic circuit (560) may include one or more haptic actuators. The haptic actuators may include, for example, piezo actuators, bander type actuators, and / or vibration motor-based actuators. There may be one or more haptic actuators. In one embodiment, the haptic actuators may be located in at least one of the base body of the wearable device (100), a torque transmission frame (e.g., the first torque transmission frame (55) and the second torque transmission frame (50) of FIG. 3), and a thigh fastener (e.g., the first thigh fastener (2) and the second thigh fastener (1) of FIG. 3).

[0083] In one embodiment, the electronic system may include an energy management circuit (575). The energy management circuit (575) may be a circuit that monitors the state (e.g., battery charge level, voltage, current, temperature) of a battery (565) (e.g., battery (710) in FIG. 7) and controls the power supply from the battery (565) and the charging of the battery (565). The energy management circuit (575) may also manage electrical energy supplied to the wearable device (100) from an external power source located outside the wearable device (100). The energy management circuit (575) may be controlled by one or more processors (512).

[0084] The energy management circuit (575) may include a battery (565) for supplying power to each component of the wearable device (100), an electric energy supply circuit (585) (e.g., the electric energy supply circuit (740) of FIG. 7) and an electric energy consumption circuit (595) (e.g., the electric energy consumption circuit (760) of FIG. 7). The battery (565) may be a secondary battery (e.g., a lithium-ion (Li-ion) battery) that can be used by charging or discharging electric energy.

[0085] The electric energy supply circuit (585) can output at least one of the electric energy of the battery (565) and the electric energy flowing into the wearable device (100) from an external source (e.g., adapter, external battery, portable battery). The electric energy supply circuit (585) may include a power management integrated circuit (PMIC) (not shown) that controls the power supply from the battery (565). The power management integrated circuit can convert the power of the battery (565) to match the operating voltage of each component of the wearable device (100) and supply it to each component. The power management integrated circuit can charge the battery (565) using power supplied from an external power source. The power management integrated circuit can measure the state of the battery (e.g., state of charge, state of health, voltage, current, overcharge, overdischarge, overheating, short circuit, swelling).

[0086] The motor (534, 534-1) can generate torque based on electrical energy output from the electrical energy supply circuit (585). The torque transmission frame of the wearable device (100) (e.g., the first torque transmission frame (55), the second torque transmission frame (50) of FIG. 3) can transmit the torque generated by the motor (534, 534-1) to the user's leg.

[0087] In one embodiment, the motor (534-534-1) may generate a voltage of back EMF induced by the leg movement of a user wearing the wearable device (100). In an electrical component having inductance, such as the motor (534, 534-1), a back EMF, which is an electromotive force generated in the opposite direction to the power supply voltage, may be generated. For example, when the rotor of the motor (534) rotates as the user moves their leg while wearing the wearable device (100), a voltage corresponding to the back EMF may be generated in the three-phase winding of the motor (534). When the user walks or exercises while wearing the wearable device (100), the motor (534, 534-1) operates in accordance with the user's leg movement pattern, and the rotation direction of the rotation axis of the motor (534, 534-1) may change periodically. When the wearable device (100) operates in a mode that generates resistance (e.g., resistance mode of an exercise assistance mode), the rotation axis of the motor (534, 534-1) is rotated by the movement of the user's leg, thereby inducing a back electromotive force in the motor (534, 534-1), and a regenerative current may be generated by the back electromotive force. Alternatively, a regenerative current may be generated from the motor (534, 534-1) when the rotation axis of the motor (534, 534-1) is controlled in a fixed state and the rotation axis rotates by the movement of the user's leg, or when the rotation axis of the motor (534, 534-1) is controlled to rotate in a first rotation direction and the rotation axis rotates in a second rotation direction opposite to the first rotation direction by the movement of the user's leg. In this way, the motor (534, 534-1) may operate as a generator that produces electrical energy. If an unintended large level of back EMF is generated, there is a risk that the electrical components of the wearable device (100) through which the back EMF is introduced or passes may be damaged or that the wearable device (100) may operate abnormally.

[0088] The electric energy consumption circuit (595) is electrically connected to the motor (534, 534-1) and can consume at least a portion of the electric energy generated by the motor (534, 534-1) when activated. In one embodiment, the electric energy consumption circuit (595) can be connected to the input terminal of the motor driver circuit (532, 532-1) and can monitor the back EMF that may be generated from the motor (534, 534-1). The electric energy consumption circuit (595) can limit the voltage level of the back EMF to below a reference level. The electric energy consumption circuit (595) can limit the back EMF to below the reference level by consuming the electric energy for voltages exceeding the reference level. The electrical energy consumption circuit (595) may be a circuit for consuming electrical energy for at least a portion of the regenerative current generated by the back electromotive force induced from the motor (534, 534-1) or converting it into other forms of energy (e.g., thermal energy, light energy, kinetic energy, sound energy, magnetic energy). The conversion of electrical energy into other forms of energy may involve the consumption of electrical energy. The electrical energy consumption circuit (595) may include, for example, a resistive element for converting electrical energy for at least a portion of the regenerative current generated from the motor (534, 534-1) into thermal energy. In one embodiment, the electrical energy consumption circuit (595) may be activated when it is determined that the output voltage of the motor (534, 534-1) is greater than a set activation reference voltage, and may consume electrical energy for at least a portion of the regenerative current generated from the motor (534, 534-1). By consuming electrical energy for at least a portion of the regenerative current by the electrical energy consumption circuit (595), the likelihood of damage to the components of the wearable device (100) due to overvoltage at the node where the regenerative current is output can be reduced.

[0089] In the case of an electrical energy consumption circuit (595) that consumes electrical energy generated by back EMF as described above, if there are no appropriate control measures, it may malfunction unintended in abnormal situations (e.g., failure or defect of a component of the wearable device (100) (e.g., motor (534, 534-1)), or user's carelessness). For example, the electrical energy consumption circuit (595) may malfunction by consuming electrical energy supplied from the battery (565) rather than electrical energy generated by the back EMF of the motor (534, 534-1). When the wearable device (100) is operating normally, electrical energy from the battery (565) can be transmitted to the motor (534, 534-1) through the line from the electrical energy supply circuit (585) to the motor (534, 534-1). In a situation where no back EMF is generated from the motor (534, 534-1), the output voltage of the motor (534, 534-1) may be equal to or slightly lower than the output voltage of the battery (565). In a situation where no back EMF is generated, if the electric energy consumption circuit (595) operates abnormally, there may be a situation where electric energy is supplied to the electric energy consumption circuit (595) from the battery (565) or an external power source. If the electric energy consumption circuit (595) includes a resistor element that consumes electric energy as heat energy, and if a malfunction occurs in which energy supply to the electric energy consumption circuit (595) continues and remains continuously activated, there is a possibility of safety accidents such as overheating, fire, or explosion.

[0090] The processor (512) can prevent malfunction of the electric energy consumption circuit (595) or reduce the likelihood of malfunction through the control measures described below. The processor (512) monitors the internal conditions of the energy management circuit (575) and the condition of the motor (534, 534-1), and if it determines that an abnormality has occurred, such as an abnormal current flow or abnormal voltage generation as a result of monitoring, it can cut off the supply of electric energy from the electric energy supply circuit (585) to the motor (534) to prevent the occurrence of a malfunction in which electric energy is continuously supplied from a power source such as a battery (565) to the electric energy consumption circuit (595).

[0091] In one embodiment, the processor (512) can control the supply of electrical energy from the electrical energy supply circuit (585) to the motor (534, 534-1) by cutting off the supply of electrical energy when at least one of the output voltage of the motor (534, 534-1), the output current of the electrical energy supply circuit (585), and the input current of the electrical energy consumption circuit (595) satisfies a set condition. When the supply of electrical energy from the electrical energy supply circuit (585) to the motor (534, 534-1) is cut off, the path from the electrical energy supply circuit (585) to the electrical energy consumption circuit (595) is also cut off, so that electrical energy cannot flow from the electrical energy supply circuit (585) to the electrical energy consumption circuit (595).

[0092] In one embodiment, the electronic system may further include a switch (not shown) (e.g., switch (745) of FIG. 7) that controls the connection between the electric energy supply circuit (585) and the motor (534, 534-1), and the processor (512) may control the switch to be in an open state when at least one of the output voltage of the motor (534, 534-1), the output current of the electric energy supply circuit (585, 740), and the input current of the electric energy consumption circuit (595, 760) satisfies a set condition. When the switch is in an open state, the supply of electric energy from the electric energy supply circuit (585) to the motor (534, 534-1) may be cut off. The switch may be a semiconductor switch, such as a transistor, a mechanical switch, or an electronic switch, such as a software-controllable switch.

[0093] In one embodiment, the processor (512) may control the supply of electrical energy from the electrical energy supply circuit (585) to the motor (534, 534-1) by cutting off the supply of electrical energy when the output voltage of the motor (534, 534-1) is lower than the set motor reference voltage. A comparator (e.g., the comparator (775) of FIG. 7) may be used for comparison between the output voltage of the motor (534, 534-1) and the set motor reference voltage. The processor (512) may control the supply of electrical energy from the electrical energy supply circuit (585) to the motor (534, 534-1) by cutting off the supply of electrical energy when at least one of the cases where the output voltage of the motor (534) is lower than the motor reference voltage and when the output voltage of the motor (534-1) is lower than the motor reference voltage. The set motor reference voltage may be set based on the voltage of the battery (565). For example, the voltage of the battery (565) may be set as the motor reference voltage.

[0094] In one embodiment, the processor (512) can control the supply of electrical energy from the electrical energy supply circuit (585) to the motor (534, 534-1) by cutting off the current consumption based on the output current of the electrical energy supply circuit (585) when the current consumption based on the output current of the electrical energy supply circuit (585) is greater than a set reference current consumption. The output current of the electrical energy supply circuit (585) may be the output current of the battery (565) or the output current of electrical energy flowing into the wearable device (100) from the outside. The processor (512) can control the supply of electrical energy from the electrical energy supply circuit (585) to the motor (534, 534-1) by cutting off the current consumption based on the output current of the electrical energy supply circuit (585) when the wearable device (100) is in an idle state when the current consumption based on the output current of the electrical energy supply circuit (585) is greater than a set reference current consumption for the idle state. The standby state of the wearable device (100) may mean a state in which the wearable device (100) is powered on but is not actively performing work (e.g., a state in which no torque is generated from the motor (524, 524-1)).

[0095] In one embodiment, the wearable device (100) may further include a sensor (not shown) (e.g., sensor (765) of FIG. 7) that measures the current delivered from the motor (534, 534-1) to the electrical energy consumption circuit (595), and the sensor may transmit information about the measured current to a processor (512). The processor (512) may control the electrical energy supply from the electrical energy supply circuit (585) to the motor (534, 534-1) by cutting off the electrical energy supply when the input current of the electrical energy consumption circuit (595) is greater than a set reference current. The sensor may be replaced with a temperature sensor that measures the temperature of the path between the motor (534, 534-1) and the electrical energy consumption circuit (595). There is a relationship in which the temperature increases as the current flows more, and based on this relationship, the processor (512) can control the supply of electric energy from the electric energy supply circuit (585) to the motor (534, 534-1) by cutting off the supply of electric energy when the temperature measured by the temperature sensor is greater than the set reference temperature.

[0096]

[0097] FIG. 6 is a block diagram illustrating the configurations of an energy management device according to various embodiments.

[0098] Referring to FIG. 6, the energy management device (600) may include a motor (610) (e.g., the motor (720) of FIG. 7), an energy management circuit (620), and a processor (630) (e.g., the processor (730) of FIG. 7). The energy management circuit (620) may include a battery (622) (e.g., the battery (710) of FIG. 7), an electric energy supply circuit (624), and an electric energy consumption circuit (626). The energy management device (600) may exist independently as a separate device or be included in and operated by another device. For example, the energy management device (600) may be included in and operated by the wearable device (100) described in this disclosure. When an energy management device (600) is included in a wearable device (100), the motor (610), processor (630), energy management circuit (620), battery (622), electric energy supply circuit (624), and electric energy consumption circuit (626) may each correspond to the motor (534, 534-1), processor (512), energy management circuit (575), battery (565), electric energy supply circuit (585), and electric energy consumption circuit (595) of FIG. 5.

[0099] The electric energy supply circuit (624) can output at least one of the electric energy of the battery (622) and the electric energy flowing into the energy management device (600) from an external source (e.g., adapter, external battery, portable battery).

[0100] The motor (610) can generate torque based on electrical energy output from the electrical energy supply circuit (624). Alternatively, the motor (610) can generate regenerative current by back EMF. The motor (610) can convert electrical energy stored in the battery (622) into rotational kinetic energy or convert kinetic energy transmitted from the outside into electrical energy. When the rotation axis of the motor (610) rotates due to an external force, back EMF is generated, and regenerative current by back EMF can be generated from the motor (610). The motor (610) may be, for example, a brushless DC (BLDC) motor or a permanent magnet synchronous motor (PMSM). Although not shown in the drawing, the motor (610) may be connected to a motor driver circuit (e.g., motor driver circuit (532) and motor driver circuit (532-1) of FIG. 5) that controls the operation of the motor (610). The motor driver circuit is a circuit that drives the motor (610) and can convert the direct current (DC) voltage supplied from the battery (622) into alternating current (AC) voltage and supply it to the motor (610).

[0101] The electrical energy consumption circuit (626) is electrically connected to the motor (610) and can consume at least a portion of the electrical energy generated by the motor (610) when activated. The electrical energy consumption circuit (626) can consume electrical energy for at least a portion of the regenerative current generated by the back electromotive force induced from the motor (610) or convert it into other forms of energy (e.g., thermal energy, light energy, kinetic energy, sound energy, magnetic energy). The electrical energy consumption circuit (626) may include elements for consuming electrical energy from the regenerative current or converting it into other forms of energy. For example, the electrical energy consumption circuit (626) may include a resistor element for converting electrical energy for at least a portion of the regenerative current generated from the motor (610) into thermal energy, a light-emitting element (e.g., a light-emitting diode (LED), a luminous capacitor, a light bulb) that consumes electrical energy to generate light energy, and / or a power generation device (e.g., a haptic device that generates vibration, a fan device that generates wind) that consumes electrical energy to generate mechanical energy. It is possible. The components that the electric energy consumption circuit (626) may include are not limited to these examples, and the electric energy consumption circuit (626) may include various components.

[0102] The processor (630) can, for example, execute software to control at least one other component (e.g., hardware or software component) of the energy management device (600) that is directly or indirectly connected to the processor (512), and can perform various data processing or operations. The processor (630) may include at least one of a main processor (e.g., a central processing unit (CPU) or an application processor) and / or an auxiliary processor (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or together with it. The processor (630) may also be implemented as a system-on-chip (SoC) or integrated circuit (IC) that performs processing.

[0103] The processor (630) can control the energy management circuit (620) and / or the motor (610). For example, the processor (630) can control the supply of electrical energy from the electrical energy supply circuit (624) to the motor (610) and / or the electrical energy consumption circuit (626), and control the operation of the motor (610). The processor (630) can control the current supplied to the motor (610), the rotational speed of the motor (610), and / or the position of the motor (610). The processor (630) may include one or more processors, and the operations of the energy management device (600) described in this disclosure may be performed by a single processor or by a combination of multiple processors.

[0104] In one embodiment, the processor (630) may control the supply of electrical energy from the electrical energy supply circuit (624) to the motor (610) by cutting off the supply of electrical energy to the motor (610) when the output voltage of the motor (610) is lower than the set motor reference voltage. The set motor reference voltage may be set based on the voltage of the battery (622). For example, the voltage of the battery (622) may be set as the motor reference voltage.

[0105] In one embodiment, the processor (630) may control the supply of electrical energy from the electrical energy supply circuit (624) to the motor (610) by cutting off the current consumption based on the output current of the electrical energy supply circuit (624) when the current consumption based on the output current of the electrical energy supply circuit (624) is greater than a set reference current consumption. The output current of the electrical energy supply circuit (624) may be the output current of the battery (622) or the output current of electrical energy flowing into the energy management device (600) from the outside. The processor (630) may control the supply of electrical energy from the electrical energy supply circuit (624) to the motor (610) by cutting off the current consumption based on the output current of the electrical energy supply circuit (624) when the energy management device (600) is in a standby state when the current consumption based on the output current of the electrical energy supply circuit (624) is greater than a set reference current consumption for the standby state.

[0106] In one embodiment, the energy management device (600) may further include a sensor (not shown) (e.g., sensor (765) of FIG. 7) that measures the current delivered from the motor (610) to the electric energy consumption circuit (595), and the sensor may transmit information about the measured current to the processor (630). The processor (630) may control the electric energy supply from the electric energy supply circuit (624) to the motor (610) by cutting off the electric energy supply when the input current of the electric energy consumption circuit (626) is greater than a set reference current. The sensor may be replaced with a temperature sensor that measures the temperature of the path between the motor (610) and the electric energy consumption circuit (626). In this case, the processor (630) may control the electric energy supply from the electric energy supply circuit (624) to the motor (610) by cutting off the electric energy supply when the temperature measured by the temperature sensor is greater than a set reference temperature.

[0107]

[0108] FIG. 7 is a diagram illustrating a control process to prevent malfunction of an electrical energy consumption circuit according to various embodiments.

[0109] Referring to FIG. 7, the circuit (700) may include a battery (710), a motor (720), a processor (730), an electric energy supply circuit (740), a switch (745), a diode (750), an electric energy consumption circuit (760), a sensor (765), a comparator (770), and a comparator (775). The motor (720) may be replaced with a driving module including a motor driver circuit. In one embodiment, the circuit (700) may be included in and operated in the wearable device (100) described in this disclosure. In this case, the battery (710), motor (720), processor (730), electric energy supply circuit (740), and electric energy consumption circuit (760) may correspond to the battery (565), motor (534, 534-1), processor (512), electric energy supply circuit (585), and electric energy consumption circuit (595) of FIG. 5, respectively. In the drawing, solid lines indicate the path through which electrical energy is transmitted for driving the motor (720) and / or charging the battery (710), and dotted lines indicate the path through which signals or data are transmitted to prevent malfunction of the electrical energy consumption circuit.

[0110] The electric energy supply circuit (740) can output at least one of the electric energy from the battery (710) and the electric energy flowing into the wearable device (100) from an external power source (715). The electric energy supply circuit (740) may include a power management integrated circuit (PMIC) that controls the power supply from the battery (710).

[0111] In one embodiment, the electric energy supply circuit (740) may include a charging circuit (not shown). The charging circuit may include at least one of a wired charging module or a wireless charging module. The wired charging module may receive external power from an external power source (715) via a wire such as a cable and may charge the battery (710) using the electric energy flowing in from the external power source (715). The wireless charging module may wirelessly charge the battery (518) using an inductive charging method. The external power source (715) may be, for example, an adapter with a cable, an external battery, or a portable battery.

[0112] The electric energy supply circuit (740) and the motor (720) can be connected directly or indirectly through a diode (750). Through the diode (750), the electric energy of the battery (710) can flow through the electric energy supply circuit (740) to the motor (720). The diode (750) allows current flowing from the electric energy supply circuit (740) toward the motor (720) to pass through, but can block current flowing from the motor (720) toward the electric energy supply circuit (740).

[0113] The electric energy consumption circuit (760) is electrically connected to the motor (720) and can consume at least a portion of the electric energy generated by the motor (720) when activated. The electric energy consumption circuit (760) can limit the voltage level of the back electromotive force generated by the motor (720) to below a reference level. In one embodiment, the electric energy consumption circuit (760) can be activated when it is determined that the output voltage of the motor (720) is greater than a set activation reference voltage, and can consume electric energy for at least a portion of the regenerative current generated from the motor (720). A comparator (770) may be used for comparison between the output voltage of the motor (720) and the set activation reference voltage. The output voltage of the motor (720) and the set activation reference voltage are input to the comparator (770), and when the output voltage of the motor (720) is greater than the set activation reference voltage, a signal may be output from the comparator (770) to activate the electric energy consumption circuit (760) and consume electric energy. It is also possible for the processor (730) to receive information about the output voltage of the motor (720) and the set activation reference voltage without including a comparator (770), and to compare the two voltages in software.

[0114] The switch (745) can control the connection between the electric energy supply circuit (740) and the motor (720). The switch may be an electronic switch, such as a semiconductor switch like a transistor, a mechanical switch, or a software-controllable switch. When the switch (745) is in a closed state, electric energy from the electric energy supply circuit (740) can be supplied to the motor (720). When the switch (745) is in an open state, the supply of electric energy from the electric energy supply circuit (740) to the motor (720) and the electric energy consumption circuit (760) can be cut off.

[0115] In one embodiment, the processor (730) can control the switch (745) to be in an open state when at least one of the output voltage of the motor (720), the output current of the electric energy supply circuit (740), and the input current of the electric energy consumption circuit (760) satisfies a set condition.

[0116] In one embodiment, the processor (730) may control the switch (745) to cut off the supply of electrical energy from the electrical energy supply circuit (740) to the motor (720) when the output voltage of the motor (720) is lower than the set motor reference voltage. A comparator (775) may be used to compare the output voltage of the motor (720) with the set motor reference voltage. The output voltage of the motor (720) and the set motor reference voltage are input to the comparator (775), and when the output voltage of the motor (720) is lower than the set motor reference voltage, a signal may be output from the comparator (775) to cause the processor (730) to control the switch (745) to an open state. It is also possible for the processor (730) to receive information regarding the output voltage of the motor (720) and the set motor reference voltage without including the comparator (775) and to compare the two voltages software-wise.

[0117] In one embodiment, the sensor (765) may be a current sensor that measures the current transmitted from the motor (720) to the electric energy consumption circuit (760). The sensor (765) may transmit information about the measured current to the processor (730). If the input current of the electric energy consumption circuit (760) is greater than a set reference current, the processor (730) may control the switch (745) to cut off the supply of electric energy from the electric energy supply circuit (740) to the motor (720).

[0118] In one embodiment, the sensor (765) may be a temperature sensor that measures the temperature of the path between the motor (720) and the electric energy consumption circuit (760). If the temperature measured by the temperature sensor is greater than a set reference temperature, the processor (512) may control the switch (745) to cut off the supply of electric energy from the electric energy supply circuit (740) to the motor (720).

[0119]

[0120] FIG. 8 is a flowchart for explaining the operations of a method of operating a wearable device according to various embodiments.

[0121] Referring to FIG. 8, in operation (810), the wearable device (100) can supply electrical energy to the motor of the wearable device (100) (e.g., motor (534, 534-1) of FIG. 5) through the electrical energy supply circuit of the wearable device (100) (e.g., electrical energy supply circuit (585) of FIG. 5). The processor of the wearable device (100) (e.g., processor (512) of FIG. 5) can control the supply of electrical energy from a battery (e.g., battery (565) of FIG. 5) or electrical energy flowing into the wearable device (100) from an external source (e.g., adapter, external battery, portable battery) to the motor of the wearable device (100) through the electrical energy supply circuit of the wearable device (100).

[0122] In operation (820), the wearable device (100) can determine whether the activation condition of an electrical energy consumption circuit (e.g., the electrical energy consumption circuit (595) of FIG. 5) is satisfied based on the electrical energy generated by the motor. The electrical energy consumption circuit may include a resistive element for converting electrical energy into thermal energy, for example, at least a portion of the regenerative current generated from the motor. In one embodiment, it may be determined that the activation condition of the electrical energy consumption circuit is satisfied when the output voltage of the motor is greater than a set activation reference voltage. When electrical energy is accumulated by generating back EMF from the motor, the output voltage of the motor may become greater than the set activation reference voltage, and in this case, the electrical energy consumption circuit may be activated to consume the electrical energy generated by the back EMF.

[0123] When the activation condition of the electric energy consumption circuit is satisfied (when 'yes' in operation (820)), in operation (830) the wearable device (100) can consume at least a portion of the electric energy delivered from the motor using the electric energy consumption circuit. The electric energy consumption circuit can consume the electric energy for at least a portion of the regenerative current generated by the back electromotive force induced from the motor or convert it into another form of energy.

[0124] In operation (840), the processor can determine whether at least one of the output voltage of the motor, the output current of the electric energy supply circuit, and the input current of the electric energy consumption circuit satisfies a set condition.

[0125] In one embodiment, the processor may determine that a set condition is satisfied if the output voltage of the motor is lower than a set motor reference voltage. It may be determined that a set condition is satisfied if any of the output voltages of each motor is lower than a set motor reference voltage. The set motor reference voltage may be set based on the voltage of the battery. For example, the voltage of the battery may be set as the motor reference voltage.

[0126] In one embodiment, the processor may determine that the set condition is satisfied if the current consumed based on the output current of the electric energy supply circuit is greater than the set reference current consumed. The output current of the electric energy supply circuit may be the output current of the battery or the output current from electric energy flowing into the wearable device from the outside. The processor may determine whether there is an abnormal state based, for example, the result of a comparison between the current consumed by the battery and the situational reference current consumed, or the result of a comparison between the electric energy (e.g., current) flowing into the wearable device (100) through the adapter and the situational reference current consumed. If it is determined that there is an abnormal state, the processor may decide to cut off the supply of electric energy from the electric energy supply circuit to the motor. The processor may determine that the set condition is satisfied if the current consumed based on the output current of the electric energy supply circuit is greater than the reference current consumed for the standby state when the wearable device (100) is in a standby state.

[0127] In one embodiment, the processor may determine that a set condition is satisfied when the input current of the electrical energy consumption circuit is greater than a set reference current.

[0128] If at least one of the three embodiments described above occurs, it may be determined that the set condition is satisfied.

[0129] If it is determined that the above-mentioned set conditions are satisfied (if 'yes' in operation (840)), the processor may cut off the supply of electrical energy from the electrical energy supply circuit to the motor in operation (850). When the supply of electrical energy from the electrical energy supply circuit to the motor is cut off, the path through which electrical energy is supplied from the electrical energy supply circuit to the electrical energy consumption circuit is severed, thereby preventing the occurrence of a malfunction in which electrical energy from the battery is transferred to the electrical energy consumption circuit. In one embodiment, the processor may immediately cut off the supply of electrical energy by controlling a switch within the circuit. The processor may cut off the supply of electrical energy temporarily or permanently.

[0130]

[0131] FIG. 9 is a diagram illustrating the consumption of electrical energy by an electrical energy consumption circuit according to various embodiments.

[0132] Referring to FIG. 9, the signal waveform (910) represents the change over time of the voltage value of a node into which the regenerative current flows when the regenerative current is generated from a motor (e.g., motor (534, 534-1) of FIG. 5, motor (610) of FIG. 6, motor (720) of FIG. 7). In the interval (912) where the voltage value of the node is less than or equal to a first reference voltage Vth, a back electromotive force is induced from the motor to generate a regenerative current, and the electrical energy due to the regenerative current may be accumulated in the node. When the electrical energy due to the regenerative current gradually accumulates in the node and the voltage value of the node becomes greater than the first reference voltage Vth, the electrical energy consumption circuit is activated, and at least a portion of the electrical energy due to the regenerative current may be consumed in the electrical energy consumption circuit. In this case, the voltage value of the corresponding node can be adjusted to be less than or equal to the first reference voltage Vth. For example, during the time interval from time t1 to time t2, the electrical energy consumption circuit is activated so that at least some of the electrical energy generated by the regenerative current during that time interval can be consumed by the electrical energy consumption circuit. The voltage value of the corresponding node can be adjusted by the electrical energy consumption circuit as shown in the signal waveform (920).

[0133]

[0134] A wearable device (100) according to one embodiment comprises: a battery (565; 710); an electrical energy supply circuit (585; 740) that outputs at least one of electrical energy of the battery (565; 710) and electrical energy flowing into the wearable device (100) from the outside; a motor (534; 534-1; 720) that generates torque based on the output electrical energy or generates a voltage of back electromotive force induced by the leg movement of a user wearing the wearable device (100); a torque transmission frame (50; 55) for transmitting the generated torque to the user's leg; an electrical energy consumption circuit (595; 760) that is electrically connected to the motor (534; 534-1; 720) and consumes at least a portion of the electrical energy generated by the motor (534; 534-1; 720) when activated; and one or more processors (512; 730). It can be included.

[0135] In one embodiment, the one or more processors (512; 730) may individually or collectively control the supply of electrical energy from the electrical energy supply circuit (585; 740) to the motor (534; 534-1; 720) when at least one of the output voltage of the motor (534; 534-1; 720), the output current of the electrical energy supply circuit (585; 740), and the input current of the electrical energy consumption circuit (595; 760) satisfies a set condition.

[0136] In one embodiment, the one or more processors (512; 730) may control, individually or collectively, to cut off the supply of electrical energy from the electrical energy supply circuit (585; 740) to the motor (534; 534-1; 720) when the output voltage of the motor (534; 534-1; 720) is lower than the set reference voltage of the motor (534; 534-1; 720).

[0137] In one embodiment, the reference voltage of the set motor (534; 534-1; 720) may be set based on the voltage of the battery (565; 710).

[0138] In one embodiment, the one or more processors (512; 730) may control, individually or collectively, to cut off the supply of electrical energy from the electrical energy supply circuit (585; 740) to the motor (534; 534-1; 720) when the current consumed based on the output current of the electrical energy supply circuit (585; 740) is greater than a set reference current consumed.

[0139] In one embodiment, the output current of the electric energy supply circuit (585; 740) may be the output current of the battery (565; 710) or the output current from electric energy flowing into the wearable device (100) from the outside.

[0140] In one embodiment, the one or more processors (512; 730) may control, individually or collectively, to cut off the supply of electrical energy from the electrical energy supply circuit (585; 740) to the motor (534; 534-1; 720) when the wearable device (100) is in a standby state and the current consumed based on the output current of the electrical energy supply circuit (585; 740) is greater than a reference current consumed for the standby state.

[0141] In one embodiment, the one or more processors (512; 730) may control, individually or collectively, to cut off the supply of electrical energy from the electrical energy supply circuit (585; 740) to the motor (534; 534-1; 720) when the input current of the electrical energy consumption circuit (595; 760) is greater than a set reference current.

[0142] In one embodiment, the wearable device (100) may further include a sensor (765) that measures the current transmitted from the motor (534; 534-1; 720) to the electrical energy consumption circuit (595; 760) and transmits information about the measured current to one or more processors (512; 730).

[0143] In one embodiment, the wearable device (100) may further include a switch (745) that controls the connection between the electric energy supply circuit (585; 740) and the motor (534; 534-1; 720).

[0144] In one embodiment, the one or more processors (512; 730) can individually or collectively control the switch (745) to be open when at least one of the output voltage of the motor (534; 534-1; 720), the output current of the electric energy supply circuit (585; 740), and the input current of the electric energy consumption circuit (595; 760) satisfies the set condition.

[0145] In one embodiment, the electrical energy consumption circuit (595; 760) is activated when it is determined that the output voltage of the motor (534; 534-1; 720) is greater than a set activation reference voltage, and can consume electrical energy for at least a portion of the regenerative current generated from the motor (534; 534-1; 720).

[0146] In one embodiment, the electrical energy consumption circuit (595; 760) may include a resistive element for converting electrical energy for at least a portion of the regenerative current generated from the motor (534; 534-1; 720) into thermal energy.

[0147] An energy management device (600) according to one embodiment may include a battery (622; 710), an electric energy supply circuit (624; 740) that outputs at least one of the electric energy of the battery (622; 710) and electric energy flowing into the energy management device (600) from the outside, a motor (610; 720) that generates torque based on the output electric energy, an electric energy consumption circuit (626; 760) that is electrically connected to the motor (610; 720) and consumes at least a portion of the electric energy generated by the motor (610; 720) when activated, and one or more processors (630; 730).

[0148] In one embodiment, the one or more processors (630; 730) may individually or collectively control the supply of electrical energy from the electrical energy supply circuit (624; 740) to the motor (610; 720) when at least one of the output voltage of the motor (610; 720), the output current of the electrical energy supply circuit (624; 740), and the input current of the electrical energy consumption circuit (626; 760) satisfies a set condition.

[0149] In one embodiment, the one or more processors (630; 730) may control, individually or collectively, to cut off the supply of electrical energy from the electrical energy supply circuit (624; 740) to the motor (610; 720) when the output voltage of the motor (610; 720) is lower than the set reference voltage of the motor (610; 720).

[0150] In one embodiment, the one or more processors (630; 730) may control, individually or collectively, to cut off the supply of electrical energy from the electrical energy supply circuit (624; 740) to the motor (610; 720) when the current consumed based on the output current of the electrical energy supply circuit (624; 740) is greater than a set reference current consumed.

[0151] In one embodiment, the one or more processors (630; 730) may control, individually or collectively, to cut off the supply of electrical energy from the electrical energy supply circuit (624; 740) to the motor (610; 720) when the input current of the electrical energy consumption circuit (626; 760) is greater than a set reference current.

[0152] In one embodiment, the electrical energy consumption circuit (626; 760) is activated when it is determined that the output voltage of the motor (610; 720) is greater than a set activation reference voltage, and can consume electrical energy for at least a portion of the regenerative current generated from the motor (610; 720).

[0153] A method of operation of a wearable device (100) comprising a battery (565; 710), an electric energy supply circuit (585; 740), and an electric energy consumption circuit (595; 760) according to one embodiment comprises: an operation (810) of supplying electric energy of the battery (565; 710), or electric energy flowing into the wearable device (100) from the outside, to a motor (534; 534-1; 720) of the wearable device (100) through the electric energy supply circuit (585; 740); and, when the condition of the electric energy consumption circuit (595; 760) is satisfied based on the electric energy generated by the motor (534; 534-1; 720), consuming at least a portion of the electric energy delivered from the motor (534; 534-1; 720) using the electric energy consumption circuit (595; 760). The operation (830) and, when at least one of the output voltage of the motor (534; 534-1; 720), the output current of the electric energy supply circuit (585; 740), and the input current of the electric energy consumption circuit (595; 760) satisfies a set condition, may include an operation (850) of cutting off the supply of electric energy from the electric energy supply circuit (585; 740) to the motor (534; 534-1; 720).

[0154] In one embodiment, the operation (850) of cutting off the electrical energy supply may include cutting off the electrical energy supply from the electrical energy supply circuit (585; 740) to the motor (534; 534-1; 720) when the output voltage of the motor (534; 534-1; 720) is lower than the set reference voltage of the motor (534; 534-1; 720).

[0155] In one embodiment, the operation (850) of cutting off the electrical energy supply may include cutting off the electrical energy supply from the electrical energy supply circuit (585; 740) to the motor (534; 534-1; 720) when the current consumed based on the output current of the electrical energy supply circuit (585; 740) is greater than a set reference current consumed.

[0156] In one embodiment, the operation (850) of cutting off the electrical energy supply may include cutting off the electrical energy supply from the electrical energy supply circuit (585; 740) to the motor (534; 534-1; 720) when the input current of the electrical energy consumption circuit (595; 760) is greater than a set reference current.

[0157]

[0158] The various embodiments of the present disclosure and the terms used therein are not intended to limit the technical features described in the present disclosure to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of said items unless the relevant context clearly indicates otherwise. In the present disclosure, each of phrases such as “A or B”, “at least one of A and B”, “at least one of A or B”, “A, B or C”, “at least one of A, B and C”, and “at least one of A, B, or C” may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof. Terms such as “first,” “second,” or “first” or “second” may be used simply to distinguish a component from another component and do not limit the components in any other aspect (e.g., importance or order). Where any (e.g., first) component is referred to as “coupled” or “connected” to another (e.g., second) component, with or without the terms “functionally” or “communicationally,” it means that said component may be connected to said other component directly (e.g., wired), wirelessly, or through at least third component(s).

[0159] At least one of the operations described in the various embodiments of the present disclosure may be performed simultaneously or in parallel with other operations, and the order of the operations may be changed. Additionally, at least one of the operations may be omitted, and other operations may be performed additionally.

[0160] The term “module” as used in various embodiments of the present disclosure may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit, for example. A module may be a component formed integrally, or a minimum unit of said component or a part thereof that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC). Accordingly, each “module” in this specification may include a circuit.

[0161] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or instruct the processing unit independently or collectively. Software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, or computer storage medium or device so as to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed over a networked computer system and stored or executed in a distributed manner. Software and data may be stored on a computer-readable recording medium. Various embodiments of the present disclosure may be implemented as software comprising one or more instructions stored on a storage medium readable by a machine. For example, the processor of the machine may call at least one of the one or more instructions stored from the storage medium and execute it. This enables the machine to be operated to perform at least one function according to the at least one called instruction. One or more of the above instructions may include code generated by a compiler or code that can be executed by an interpreter. A device-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' simply means that the storage medium is a tangible device and does not contain a signal (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily in the storage medium.

[0162] According to one embodiment, the method according to the embodiments may be provided by being included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or an application store (e.g., Play Store). TM It can be distributed online (e.g., downloaded or uploaded) through ) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created on a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0163] According to various embodiments, each component (e.g., module or program) of the components described above may include a singular or multiple entities, and some of the multiple entities may be separated and placed in other components. According to various embodiments, one or more of the components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Generally or additionally, multiple components (e.g., module or program) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each of the multiple components in the same or similar manner as those performed by the corresponding component among the multiple components prior to integration. According to various embodiments, operations performed by the module, program, or other components may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.

[0164] Although the present disclosure has been illustrated and described with reference to various embodiments, it will be understood that the various embodiments are for illustrative purposes only and are not limiting. It will be further understood by those skilled in the art that various modifications of form and detail may be made without departing from the true spirit and full scope of the present disclosure, including the appended claims and their equivalents. It will also be understood that any embodiment(s) described herein may be used in conjunction with any other embodiment(s) described herein.

Claims

1. In a wearable device (100), Battery (565; 710); An electrical energy supply circuit (585; 740) that outputs at least one of the electrical energy of the battery (565; 710) and the electrical energy flowing into the wearable device (100) from the outside; A motor (534; 534-1; 720) that generates torque based on the output electrical energy or generates a voltage of back electromotive force induced by the leg movement of a user wearing the wearable device (100); A torque transmission frame (50; 55) for transmitting the generated torque to the user's leg; An electrical energy consumption circuit (595; 760) electrically connected to the motor (534; 534-1; 720) and consuming at least a portion of the electrical energy generated by the motor (534; 534-1; 720) when activated; and One or more processors (512; 730) Includes, The above one or more processors (512; 730) individually or collectively, Controlling the supply of electrical energy from the electrical energy supply circuit (585; 740) to the motor (534; 534-1; 720) by cutting off the supply of electrical energy when at least one of the output voltage of the motor (534; 534-1; 720), the output current of the electrical energy supply circuit (585; 740), and the input current of the electrical energy consumption circuit (595; 760) satisfies a set condition. Wearable device (100).

2. In Paragraph 1, The above one or more processors (512; 730) individually or collectively, Controlling the supply of electrical energy from the electrical energy supply circuit (585; 740) to the motor (534; 534-1; 720) by cutting off the supply of electrical energy when the output voltage of the motor (534; 534-1; 720) is lower than the set reference voltage of the motor (534; 534-1; 720). Wearable device (100).

3. In Paragraph 2, The reference voltage of the motor (534; 534-1; 720) set above is, The above battery (565; 710) is set based on its voltage, Wearable device (100).

4. In any one of paragraphs 1 through 3, The above one or more processors (512; 730) individually or collectively, Controlling the electric energy supply from the electric energy supply circuit (585; 740) to the motor (534; 534-1; 720) by cutting off the electric energy supply when the current consumed based on the output current of the electric energy supply circuit (585; 740) is greater than a set reference current consumed. Wearable device (100).

5. In Paragraph 4, The output current of the above electric energy supply circuit (585; 740) is, The output current of the battery (565; 710) or the output current from electrical energy flowing into the wearable device (100) from the outside, Wearable device (100).

6. In Paragraph 4 or 5, The above one or more processors (512; 730) individually or collectively, Controlling the electric energy supply from the electric energy supply circuit (585; 740) to the motor (534; 534-1; 720) by cutting off the electric energy supply when the current consumed based on the output current of the electric energy supply circuit (585; 740) is greater than a reference current consumed for the standby state when the wearable device (100) is in an idle state. Wearable device (100).

7. In any one of paragraphs 1 through 6, The above one or more processors (512; 730) individually or collectively, When the input current of the above electrical energy consumption circuit (595; 760) is greater than the set reference current, Controlling the supply of electric energy from the electric energy supply circuit (585; 740) to the motor (534; 534-1; 720) by cutting off the supply of electric energy, Wearable device (100).

8. In any one of paragraphs 1 through 7, A sensor (765) that measures the current transmitted from the motor (534; 534-1; 720) to the electrical energy consumption circuit (595; 760) and transmits information about the measured current to one or more processors (512; 730). A wearable device (100) further comprising 9. In any one of paragraphs 1 through 8, A switch (745) that controls the connection between the electric energy supply circuit (585; 740) and the motor (534; 534-1; 720) Includes more, The above one or more processors (512; 730) individually or collectively, Controlling the switch (745) to be in an open state when at least one of the output voltage of the motor (534; 534-1; 720), the output current of the electric energy supply circuit (585; 740), and the input current of the electric energy consumption circuit (595; 760) satisfies the set condition. Wearable device (100).

10. In any one of paragraphs 1 through 9, The above electrical energy consumption circuit (595; 760) is, Activated when the output voltage of the motor (534; 534-1; 720) is determined to be greater than a set activation reference voltage, and consumes electrical energy for at least a portion of the regenerative current generated from the motor (534; 534-1; 720). Wearable device (100).

11. In any one of paragraphs 1 through 10, The above electrical energy consumption circuit (595; 760) is, A resistor element for converting electrical energy for at least a portion of the regenerative current generated from the motor (534; 534-1; 720) into thermal energy, Wearable device (100).

12. In the energy management device (600), Battery (622; 710); An electric energy supply circuit (624; 740) that outputs at least one of the electric energy of the battery (622; 710) and the electric energy flowing into the energy management device (600) from the outside; A motor (610; 720) that generates torque based on the output electrical energy; An electrical energy consumption circuit (626; 760) electrically connected to the motor (610; 720) and consuming at least a portion of the electrical energy generated by the motor (610; 720) when activated; and One or more processors (630; 730) Includes, The above one or more processors (630; 730) individually or collectively, Controlling the supply of electrical energy from the electrical energy supply circuit (624; 740) to the motor (610; 720) by cutting off the supply of electrical energy when at least one of the output voltage of the motor (610; 720), the output current of the electrical energy supply circuit (624; 740), and the input current of the electrical energy consumption circuit (626; 760) satisfies a set condition. Energy management device (600).

13. In Paragraph 12, The above one or more processors (630; 730) individually or collectively, If the output voltage of the above motor (610; 720) is lower than the set reference voltage of the motor (610; 720), If the current consumed based on the output current of the above electric energy supply circuit (624; 740) is greater than the set reference current consumed, or When the input current of the above electrical energy consumption circuit (626; 760) is greater than the set reference current In at least one of the cases, controlling the supply of electrical energy from the electrical energy supply circuit (624; 740) to the motor (610; 720) by cutting off the supply of electrical energy, Energy management device (600).

14. In either Paragraph 12 or Paragraph 13, The above electrical energy consumption circuit (626; 760) is, Activated when the output voltage of the motor (610; 720) is determined to be greater than a set activation reference voltage, and consumes electrical energy for at least a portion of the regenerative current generated from the motor (610; 720). Energy management device (600).

15. A method of operation of a wearable device (100) comprising a battery (565; 710), an electric energy supply circuit (585; 740) and an electric energy consumption circuit (595; 760), wherein An operation (810) of supplying electrical energy of the battery (565; 710), or electrical energy flowing into the wearable device (100) from the outside, to the motor (534; 534-1; 720) of the wearable device (100) through the electrical energy supply circuit (585; 740); An operation (830) of consuming at least a portion of the electrical energy transmitted from the motor (534; 534-1; 720) using the electrical energy consumption circuit (595; 760) when the condition of the electrical energy consumption circuit (595; 760) is satisfied based on the electrical energy generated by the motor (534; 534-1; 720); and An operation (850) to cut off the supply of electrical energy from the electrical energy supply circuit (585; 740) to the motor (534; 534-1; 720) when at least one of the output voltage of the motor (534; 534-1; 720), the output current of the electrical energy supply circuit (585; 740), and the input current of the electrical energy consumption circuit (595; 760) satisfies a set condition. A method of operation including

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