KR20180040311A - Wearable treadmill and control method thereof - Google Patents

Abstract

Disclosed are a wearable treadmill and a control method of the same. The wearing treadmill according to the present invention comprises: a sensor unit which collects sensor data corresponding to one foot of a user and shares the sensor data with a sensor unit corresponding to the other foot of the user; a control unit which estimates walking information of the user based on the collected sensor data, and generates a driving control signal for compensating a change in location due to walking of the user; a communication unit which transmits the estimated walking information to a virtual reality engine in order to control so as to cause at least one of an avatar and a background image corresponding to a virtual reality to correspond to walking of the user; and a driving unit which drives based on the generated driving control signal so as to cause a physical location of the user due to walking to be identical to a location before walking.

Description

[0001] Description [0002] WEARABLE TREADMILL AND CONTROL METHOD THEREOF [0003]

The present invention relates to a wearable treadmill, and more particularly to a technique for receiving a user's walking in a virtual reality using a wearable treadmill in the form of being worn on a user's foot and compensating for a positional change caused by walking.

The treadmill is a fitness device that can be used to see the effect of walking or beating in a narrow space using a belt rotating in an infinite orbit, and is widely used in sports centers and homes. In addition, the treadmill can be used indoors at any time, regardless of the weather or the seasons.

However, a typical treadmill is hard to feel the joy of running running with the wind, and it is easy for the user to feel bored because it keeps running in place. To solve these problems, recently, a treadmill incorporating a virtual reality technology has appeared.

When a user runs a war game on a head mounted display and walks or runs on a virtual reality treadmill, a scene on the screen of the head mount display wanders the battlefield as the user steps. As such, the treadmill has evolved to incorporate virtual reality technology, allowing the user to enjoy and exercise.

At this time, when the treadmill is used as a walking information input device in the virtual reality space and the user directly walk on the treadmill, the walking information is transmitted to the virtual reality space and the user's position can be maintained in one place in the physical space. However, although the treadmill technique for virtual reality is gradually becoming smaller, it is still installed in a certain space and is used, so that portability and spreadability are limited.

Therefore, it is necessary to develop a technique for applying wearable treadmill technology to a virtual reality, thereby increasing portability and convenience.

Korean Patent Laid-Open No. 10-2001-0099433, published on November 09, 2001 (name: treadmill system having a virtual reality function using an avatar)

An object of the present invention is to provide a wearable treadmill in a form to be worn without additional equipment or installation, thereby improving portability and convenience.

Another object of the present invention is to maximize the concentration and efficiency of the exercise by enabling the user to experience the virtual reality in a limited physical space.

It is also an object of the present invention to enable a user to exercise in a minimum space by inputting walking information of a user into a virtual reality space in a limited physical space.

Another object of the present invention is to prevent a collision or an accident with neighboring objects due to a virtual reality experience by using a wearable treadmill and to maintain walking stability.

According to another aspect of the present invention, there is provided a wearable treadmill including a sensor unit for collecting sensor data corresponding to one foot of a user, a sensor unit for sharing a sensor unit corresponding to the foot of the user, A control unit for estimating the walking information of the user based on the sensor data and generating a driving control signal for compensating for a positional change according to the user's walking, at least one of a background image and an avatar corresponding to the virtual reality A communication unit for transmitting the estimated walking information to the virtual reality engine in order to control the user so as to correspond to the walking of the user; As shown in Fig.

Here, the controller may include at least one of a walking width, a moving direction, and a center of gravity of the user based on the sensor data corresponding to at least one of the one foot of the user and the other foot, The walking information can be estimated.

At this time, the virtual reality engine may control at least one of the posture and the position of the avatar so as to correspond to the received walking information, or may control the outputted background image.

Here, the sensor unit may include at least one of an optical sensor, a laser sensor, a camera sensor, an inertial sensor, a pressure sensor, and a load cell.

At this time, when the one foot of the user is away from the ground, the sensor unit may collect the sensor data corresponding to the operation path of the one foot.

At this time, the sensor unit may collect the sensor data corresponding to the load of the one foot when one foot of the user touches the ground surface.

At this time, the control unit may generate the drive control signal for compensating for a driving unit corresponding to one foot of the user who touches the ground, by a positional change caused by the user's walking.

At this time, the driving unit may be in the form of at least one of an omni-directional motor and a belt-type actuator.

At this time, the drive control signal may be a signal for controlling at least one of speed, angle, output torque, and force.

At this time, the controller may generate the driving control signal for maintaining the walking stability of the user based on at least one of the moving direction and the center of gravity.

According to another aspect of the present invention, there is provided a method of controlling a wearable treadmill performed by a wearable treadmill, the method comprising: collecting sensor data corresponding to one foot of a user; The method comprising the steps of: sharing sensor data; estimating walking information of the user based on the collected sensor data; generating a driving control signal to compensate for a positional change according to the user's walking; Transmitting the estimated walking information to the virtual reality engine so as to control at least one of the background image and the avatar corresponding to the user's walking, Based on the generated drive control signal.

At this time, the step of estimating the walking information of the user may include estimating the walking information of the user based on the sensor data corresponding to at least one of the one foot of the user and the other foot, It is possible to estimate the walking information including at least one of the walking information.

At this time, the virtual reality engine may control at least one of the posture and the position of the avatar so as to correspond to the received walking information, or may control the outputted background image.

At this time, the step of collecting the sensor data may collect the sensor data from at least one of an optical sensor, a laser sensor, a camera sensor, an inertial sensor, a pressure sensor, and a load cell.

At this time, the step of collecting the sensor data may collect the sensor data corresponding to the operation path of the one foot when one foot of the user is distant from the ground.

At this time, the step of collecting the sensor data may collect the sensor data corresponding to the load of the one foot when one foot of the user touches the ground.

At this time, the step of generating the driving control signal may generate the driving control signal for compensating for a driving unit corresponding to one foot of the user, which is in contact with the ground, by a positional change according to the user's walking.

At this time, the drive control signal may be a signal for controlling a driving unit in the form of at least one of an omnidirectional motor and a belt type actuator.

At this time, the drive control signal may be a signal for controlling at least one of speed, angle, output torque, and force.

In this case, the step of generating the drive control signal may generate the drive control signal for maintaining the walking stability of the user based on at least one of the moving direction and the position of the center of gravity.

According to the present invention, the wearable treadmill is worn without additional equipment or installation, so that portability and convenience can be increased.

In addition, according to the present invention, a user can experience a virtual reality in a limited physical space, thereby maximizing the concentration and efficiency of the exercise.

In addition, according to the present invention, the user's walking information is input to the virtual reality space in the limited physical space, so that the user can exercise in a minimum space.

Further, according to the present invention, by using a wearable treadmill, it is possible to prevent a collision or an accident with neighboring objects due to a virtual reality experience, and to maintain walking stability.

1 is a schematic view of an environment in which a wearable treadmill according to an embodiment of the present invention is applied.
2 is a block diagram showing the configuration of a wearable treadmill according to an embodiment of the present invention.
3 is an exemplary view showing the structure of a wearable treadmill according to an embodiment of the present invention.
4 is a flowchart illustrating a method of controlling a wearable treadmill according to an embodiment of the present invention.
FIG. 5 is a flowchart illustrating an operation of a wearable treadmill system according to an embodiment of the present invention.
6 is a block diagram illustrating a computer system in accordance with an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail.

It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In order to facilitate the understanding of the present invention, the same reference numerals are used for the same constituent elements in the drawings and redundant explanations for the same constituent elements are omitted.

1 is a schematic view of an environment in which a wearable treadmill according to an embodiment of the present invention is applied.

As shown in FIG. 1, the environment to which the wearable treadmill is applied includes the virtual reality engine 100 and the wearable treadmill 200. Here, the virtual reality engine 100 may be a virtual reality output device, and the wearable treadmill 200 may be a virtual reality input device.

The virtual reality engine 100 receives the walking information of the user 300 from the wearable treadmill 200 when the user 300 walks or runs while wearing the wearable treadmill 200. [ The virtual reality engine 100 reflects the walking information of the user 300 on the virtual reality image and outputs the virtual reality image reflecting the walking information of the user 300.

At this time, the virtual reality engine 100 can switch the background corresponding to the virtual reality image or control the movement of the avatar based on the walking information of the user 300. Also, the virtual reality engine 100 may output a sound corresponding to the virtual reality image.

Next, the wearable treadmill 200 may be implemented in the form of a shoe worn on the feet of the user 300, and collects sensor data according to the user's walking. 1, the first wearing type treadmill 200_a is worn on the left foot of the user 300 and the second wearing type treadmill 200_b is worn on the right foot of the user 300, It is possible to collect the walking information corresponding to the walking information.

The wearable treadmill 200 is driven so that the physical position of the wearer's treadmill 200 is equal to the pre-gait position, thereby compensating for a change in the position of the user 300. For example, when the user 300 wearing the wearable treadmill 200 moves 20 cm forward with the left foot worn by the first wearable treadmill 200_a, the first wearable treadmill 200_a is moved by the user Moves back by 20 cm to compensate for the change in position of the object 300.

At this time, the wearable treadmill 200 may be driven to maintain the walking stability of the user 300, and may further consider the walking stability of the user 300 when compensating for a change in the position of the user 300.

The wearable treadmill 200 can compensate for a change in the position of the user 300 by using at least one of an omni-directional motor and a belt-type actuator. The wearable treadmill 200 can compensate for the change in the position of the user 300 by controlling at least one of speed, angle, output torque, and force corresponding to the forward motor or the belt type actuator.

In addition, the first wearing-type treadmill 200_a and the second wearing-type treadmill 200_b can perform wireless communication and share collected sensor data. Also, the first wearing-type treadmill 200_a and the second wearing-type treadmill 200_b may mutually share mutually corresponding driving control signals.

Thus, the wearable treadmill 200 compensates for a change in the position of the user 300, so that the user 300 can physically walk at the same position. Accordingly, the wearable treadmill 200 according to an embodiment of the present invention returns the position of the user 300 to the origin even when the user 300 performs walking, thereby allowing him / her to walk or run without restriction.

2 is a block diagram showing the configuration of a wearable treadmill according to an embodiment of the present invention.

2, the wearable treadmill 200 includes a sensor unit 210, a control unit 220, a communication unit 230, and a driving unit 240.

First, the sensor unit 210 collects sensor data corresponding to one foot of the user. At this time, the sensor unit 210 may collect sensor data using at least one of an optical sensor, a laser sensor, a camera sensor, an inertial sensor, a pressure sensor, and a load cell.

The sensor unit 210 may collect sensor data corresponding to an operation path of one foot when one foot of the user is away from the ground. On the other hand, when one foot of the user touches the ground, the sensor unit 210 may collect sensor data corresponding to the load of one foot.

At this time, the sensor unit 210 measures an optical flow using at least one of an optical sensor, a laser sensor, and a camera sensor, or uses an inertial sensor such as an IMU to measure the motion path of the foot away from the ground Sensor data can be collected by measurement.

Also, the sensor unit 210 may collect sensor data by measuring a pressure distribution of a load generated at the foot contacting the ground using at least one of a pressure sensor and a load cell.

The sensor unit 210 may share sensor data with a sensor unit of a wearable treadmill corresponding to the other foot of the user.

Next, the control unit 220 estimates the user's walking information based on the collected sensor data. Also, the controller 220 may predict the user's walking information based on the sensor data.

At this time, the controller 220 estimates walking information including at least one of the walking width, the moving direction, and the center of gravity of the user based on the sensor data corresponding to at least one of the one foot and the other foot of the user can do. Here, the sensor data corresponding to the other foot may be sensor data received from the sensor unit of the wearing type treadmill in which the sensor unit 210 corresponds to the other foot.

In addition, the controller 220 generates a drive control signal for compensating for a positional change according to the user's walking based on the estimated user's walking information. The control unit 220 can generate a drive control signal for compensating for a driving unit corresponding to one foot of the user who is touching the ground by a positional change caused by the user's walking.

The control unit 220 may generate a drive control signal for maintaining the walking stability of the user based on at least one of the moving direction of the user and the position of the center of gravity.

The communication unit 230 transmits the estimated walking information to the virtual reality engine. The communication unit 230 transmits the estimated walking information to the virtual reality engine so that the virtual reality engine can control at least one of the background image and the avatar corresponding to the virtual reality so as to correspond to the user's walking.

Finally, the driving unit 240 is driven based on the driving control signal so that the physical position of the user following the walking is the same as the pre-walking position. At this time, the driving unit 240 may be in the form of at least one of an omnidirectional motor and a belt-type actuator, and the driving unit 240 may include at least one of a speed, an angle, an output torque, Lt; / RTI >

The driving unit 240 corresponding to one foot of the user who touches the ground can be driven to return the user's position to the pre-gait position based on the driving control signal generated by the control unit 220. [ Also, the driving unit 240 may be driven based on the driving control signal to maintain the user's walking stability.

In this way, the driving unit 240 is driven so that the physical position of the user using the wearable treadmill 200 is fixed, thereby preventing a collision with a wall or other obstacles that may occur when a user uses the virtual reality treadmill service .

3 is an exemplary view showing the structure of a wearable treadmill according to an embodiment of the present invention.

As shown in FIG. 3, the wearable treadmill 200 may be embodied as a shoe to be worn on both feet of a user, or may be attached to or attached to a shoe worn by a user. The left-foot wearable treadmill and the right-foot wear treadmill may be symmetrical to each other according to the shape of the foot of a person.

The wearable treadmill 200 may be provided with the sensor unit 210 at a portion corresponding to the sole of the shoe. The sensor unit 210 may include at least one of an optical sensor, a laser sensor, a camera sensor, an inertial sensor, a pressure sensor, and a load cell. The sensor unit 210 may collect sensor data corresponding to a user's foot do.

At this time, the sensor unit 210 measures an optical flow using at least one of an optical sensor, a laser sensor, and a camera sensor, measures an action path of the foot using an inertial sensor such as an IMU, Can be collected.

Also, the sensor unit 210 may collect sensor data by measuring a pressure distribution of a load generated at the foot contacting the ground using at least one of a pressure sensor and a load cell.

The control unit 220 estimates the walking information of the user based on at least one of the sensor data collected from the sensor unit 210 and the sensor data shared from the wearable treadmill 200 corresponding to the other foot.

In addition, the controller 220 generates a drive control signal, which is a signal for controlling the driver 240. At this time, the controller 220 may further generate a drive control signal for maintaining the gait stability by additionally considering the moving direction and the center of gravity of the user. For convenience of explanation, the control unit 220 is provided at the upper portion of the user's heel, but the position of the control unit 220 is not limited thereto.

Next, the communication unit 230 transmits the collected user's walking information to the virtual reality engine. At this time, the communication unit 230 may perform wireless communication and transmit the walking information to the virtual reality engine. The wireless communication may be Wi-Fi, Bluetooth, Near Field Communication (NFC), wireless USB Wireless Wide Area Network (WUSB), Ultra Wide Band (UWB), ZigBee, Radio Frequency (RF) and Infrared Data Association (IrDA) The type of the wireless communication performed by the wireless communication device 100 is not limited thereto.

In FIG. 3, for convenience of explanation, the communication unit 230 is shown as being provided in the Achilles' heel portion of the user, but the position of the communication unit 230 is not limited thereto.

The driving unit 240 includes at least one of an omni-directional motor and a belt-type actuator, and is driven by a driving control signal. At this time, the driving unit 240 is driven to correspond to the driving control signal, thereby compensating for the positional change due to the user's walking or maintaining the walking stability of the user.

Hereinafter, a wearable treadmill control method performed by a wearable treadmill according to an embodiment of the present invention will be described in detail with reference to FIG.

4 is a flowchart illustrating a method of controlling a wearable treadmill according to an embodiment of the present invention.

First, the wearable treadmill 200 collects sensor data, and shares the wearable treadmill and sensor data corresponding to the other foot (S410).

The wearable treadmill 200 worn on one foot of the user collects sensor data corresponding to one foot of the user. For example, when the wearable treadmill 200 is worn on the user's left foot, the wearable treadmill 200 collects sensor data corresponding to the user's left foot.

At this time, the wearable treadmill 200 may determine whether one foot of the user is distant from the ground or touches the ground, and then collect different sensor data depending on whether or not the user touches the ground.

If it is determined that one foot of the user is distant from the ground, the wearable treadmill 200 may collect sensor data corresponding to the motion path of one foot. At this time, the wearable treadmill 200 measures an optical flow using at least one of an optical sensor, a laser sensor, and a camera sensor, or uses an inertial sensor such as an IMU to measure a motion path of a foot To collect sensor data.

On the other hand, when it is determined that one foot of the user is touching the ground, the wearable treadmill 200 can collect sensor data corresponding to the load of one foot. At this time, the wearable treadmill 200 can collect sensor data by measuring the pressure distribution of the load generated at the foot contacting the ground by using at least one of the pressure sensor and the load cell.

The wearable treadmill 200 may share collected sensor data with a wearable treadmill corresponding to the other foot of the user. When the wearable treadmill 200 is worn on the user's left foot, the wearable treadmill 200 transmits sensor data corresponding to the left foot with wearable treadmill worn on the user's right foot, and receives sensor data corresponding to the right foot can do.

Next, the wearable treadmill 200 estimates the user's walking information (S420).

The wearable treadmill 200 can estimate the walking information of the user based on at least one of the sensor data collected in step S410 and the sensor data corresponding to the other foot. At this time, the walking information of the user may include at least one of the walking width, the moving direction and the center of gravity of the user.

The wearable treadmill 200 generates a drive control signal (S430).

The wearable treadmill 200 may generate a drive control signal based on the walking information of the user estimated or predicted in step S420. Here, the drive control signal may be a signal for compensating for a positional change caused by the user's walking, or may be a drive control signal for maintaining the walking stability of the user.

The wearable treadmill 200 can generate a drive control signal for compensating for the positional change caused by the user's walking and returning the user to the original position again by the drive unit corresponding to one foot of the user who touches the ground . In addition, the wearable treadmill 200 may further generate a drive control signal for maintaining the walking stability of the user in consideration of at least one of the moving direction of the user and the position of the center of gravity.

In addition, the wearable treadmill 200 transmits the user's walking information to the virtual reality engine (S440).

The wearable treadmill 200 transmits the walk information of the user estimated in step S420 to the virtual reality engine so that the virtual reality engine outputs the background image corresponding to the walking information of the user or the avatar Control.

The wearable treadmill 200 transmits the user's walking information to the virtual reality engine after generating the driving control signal. However, the present invention is not limited to this, After the information is estimated, the user's walking information may be transmitted to the virtual reality engine. Alternatively, the user's walking information may be transmitted to the virtual reality engine by performing step S440 and step S430.

Finally, the wearable treadmill 200 drives based on the drive control signal (S450).

The wearable treadmill 200 drives the driving unit based on the driving control signal. At this time, the driving unit may be in the form of at least one of an omni-directional motor and a belt type actuator. The wearable treadmill 200 may be driven to correspond to the drive control signal to return the user's position to the pre-gait position. In addition, the wearable treadmill 200 can maintain the walking stability of the user.

Hereinafter, the operation of the wearable treadmill system will be described in more detail with reference to FIG. 5 when the wearable treadmill according to an embodiment of the present invention is worn on each of the left and right feet of the user.

FIG. 5 is a flowchart illustrating an operation of a wearable treadmill system according to an embodiment of the present invention.

5, the first wearable treadmill 200_a means a wearable treadmill worn on the left foot of the user, the second wearable treadmill 200_b refers to a wearable treadmill worn on the user's right foot, . ≪ / RTI >

First, the first wearable treadmill 200_a and the second wearable treadmill 200_b collect sensor data and share the collected sensor data with each other (S510, S515). Steps S510 and S15 are substantially the same as those of step S410 of FIG. 4, and redundant explanations are omitted.

Next, the first wearing-type treadmill 200_a and the second wearing-type treadmill 200_b respectively estimate the walking information based on the sensor data and transmit the estimated walking information to the virtual reality engine (S520 and S525).

At this time, each of the first wearing-type treadmill 200_a and the second wearing-type treadmill 200_b can estimate the walking information based on at least one of the collected sensor data and the sensor data corresponding to the shared other foot.

The process of estimating the walking information by the wearable treadmills 200_a and 200_b is substantially the same as that of step S420 of FIG. 4, and the process of transmitting the estimated walking information to the virtual reality engine is substantially the same as that of step S440 of FIG. , Redundant explanations are omitted.

4, the wearable treadmill estimates the user's walking information, generates the driving control signal, and transmits the walking information to the virtual reality engine. However, the present invention is not limited to this, and the wearable treadmills 200_a, And may generate the driving control signal after transmitting the estimated walking information to the virtual reality engine.

The first wearing-type treadmill 200_a and the second wearing-type treadmill 200_b generate driving control signals (S530 and S535), respectively.

The first wearable treadmill 200_a and the second wearable treadmill 200_b return the physical position of the user to the origin based on the walking information of the user estimated in steps S520 and S525, And generates a drive control signal for maintaining the drive control signal.

The process of generating the drive control signal by the first wearing-type treadmill 200_a and the second wearing-type treadmill 200_b is substantially the same as that of step S430 of FIG. 4, and a repetitive description will be omitted.

Next, the first wearing-type treadmill 200_a and the second wearing-type treadmill 200_b drive the driving unit based on the generated driving control signals (S540 and S545).

The process of driving the first wearing type treadmill 200_a and the second wearing type treadmill 200_b based on the driving control signal is substantially the same as the process of performing step S450 of FIG. 4, and a duplicate description will be omitted.

Then, it is determined whether the use is terminated (S550, S555), and steps S510 through S545 may be repeated until the use end command is input.

On the other hand, when it is determined that the use is finished, the first wearing-type treadmill 200_a and the second wearing-type treadmill 200_b terminate the controlling process of the wearing-type treadmill 200_a and 200_b.

At this time, the first wearable treadmill 200_a and the second wearable treadmill 200_b may receive a use end command from the virtual reality engine, or may receive a use end command from the user. Particularly, when the user's walking is not detected for a preset time, the first wearable treadmill 200_a and the second wearable treadmill 200_b judge that the use end command is received from the user, and ends the treadmill control process can do.

6 is a block diagram illustrating a computer system in accordance with an embodiment of the present invention.

Referring to FIG. 6, embodiments of the present invention may be implemented in a computer system 600, such as a computer readable recording medium. 6, the computer system 600 includes one or more processors 610, a memory 630, a user input device 640, a user output device 650, and a storage 630, which communicate with one another via a bus 620. [ 660 < / RTI > In addition, the computer system 600 may further include a network interface 670 connected to the network 680. The processor 610 may be a central processing unit or a semiconductor device that executes the processing instructions stored in the memory 630 or the storage 660. [ Memory 630 and storage 660 may be various types of volatile or non-volatile storage media. For example, the memory may include a ROM 631 or a RAM 632. [

Thus, embodiments of the invention may be embodied in a computer-implemented method or in a non-volatile computer readable medium having recorded thereon instructions executable by the computer. When computer readable instructions are executed by a processor, the instructions readable by the computer are capable of performing the method according to at least one aspect of the present invention.

As described above, according to the wearable treadmill and the control method of the present invention, the configuration and method of the embodiments described above are not limitedly applied. All or some of them may be selectively combined.

100: Virtual Reality Engine 200: Worn treadmill
210: sensor unit 220:
230: communication unit 240:
300: user 600: computer system
610: Processor 620: Bus
630: Memory 631: ROM
632: RAM 640: user input device
650: User output device 660: Storage
670: Network interface 680: Network

Claims (20)

A sensor unit for collecting sensor data corresponding to one foot of the user and sharing the sensor data with the sensor unit corresponding to the other foot of the user,
A control unit for estimating the walking information of the user based on the collected sensor data and generating a driving control signal for compensating for a positional change according to the user's walking,
A communication unit for transmitting the estimated walking information to the virtual reality engine so as to control at least one of a background image and an avatar corresponding to the virtual reality to correspond to the user's walking;
A driving unit for driving based on the generated driving control signal so that the physical position of the user in accordance with the walking is the same as the pre-
≪ / RTI > The method according to claim 1,
Wherein,
Estimating the walking information including at least one of the walking width, the moving direction, and the center of gravity of the user based on the sensor data corresponding to at least one of the one foot of the user and the other foot Features a worn treadmill. 3. The method of claim 2,
The virtual reality engine includes:
Controls at least one of an attitude and a position of the avatar so as to correspond to the received walking information, and controls the background image to be output. The method according to claim 1,
The sensor unit includes:
A light sensor, a laser sensor, a camera sensor, an inertial sensor, a pressure sensor, and a load cell. 5. The method of claim 4,
The sensor unit includes:
And collects the sensor data corresponding to the operation path of the one foot when the one foot of the user is away from the ground. 6. The method of claim 5,
The sensor unit includes:
And collects the sensor data corresponding to the load of the one foot when one foot of the user touches the ground. 3. The method of claim 2,
Wherein,
Wherein the driving unit generates the driving control signal for compensating for a driving unit corresponding to one foot of the user touching the ground by a positional change caused by the user's walking. 8. The method of claim 7,
The driving unit includes:
An electric motor, an electric motor, an electric motor, and an actuator. 9. The method of claim 8,
Wherein the drive control signal comprises:
Speed, angle, output torque and / or force of the vehicle. 3. The method of claim 2,
Wherein,
Wherein the driving control signal generating unit generates the driving control signal for maintaining the walking stability of the user based on at least one of the moving direction and the position of the center of gravity. A wearable treadmill control method performed by a wearable treadmill,
Collecting sensor data corresponding to one foot of the user,
Sharing the sensor data with a sensor unit corresponding to the other foot of the user,
Estimating the walking information of the user based on the collected sensor data,
Generating a drive control signal for compensating for a positional change caused by the user's walking;
Transmitting the estimated walking information to the virtual reality engine to control at least one of a background image and an avatar corresponding to the virtual reality to correspond to the user's walking; and
Driving based on the generated drive control signal so that the physical position of the user in accordance with the gait is the same as the pre-gait position
Wherein the treadmill is a treadmill. 12. The method of claim 11,
The step of estimating the walking information of the user includes:
Estimating the walking information including at least one of the walking width, the moving direction, and the center of gravity of the user based on the sensor data corresponding to at least one of the one foot of the user and the other foot Wherein said method comprises the steps of: 13. The method of claim 12,
The virtual reality engine includes:
Controlling at least one of an attitude and a position of the avatar so as to correspond to the received walking information, and controlling the outputted background image. 12. The method of claim 11,
The step of collecting the sensor data comprises:
Wherein the sensor data is collected from at least one of an optical sensor, a laser sensor, a camera sensor, an inertial sensor, a pressure sensor, and a load cell. 15. The method of claim 14,
The step of collecting the sensor data comprises:
Wherein the sensor data corresponding to the operation path of the one foot is collected when the one foot of the user is distant from the ground. 16. The method of claim 15,
The step of collecting the sensor data comprises:
Wherein the sensor data corresponding to the load of the one foot is collected when the one foot of the user touches the ground. 13. The method of claim 12,
Wherein the step of generating the drive control signal comprises:
Wherein the driving control unit generates the driving control signal for compensating for a driving unit corresponding to one foot of the user who touches the ground by a positional change caused by the user's walking. 18. The method of claim 17,
Wherein the drive control signal comprises:
Wherein the signal is a signal for controlling a driving part in the form of at least one of an omnidirectional motor and a belt type actuator. 19. The method of claim 18,
Wherein the drive control signal comprises:
Speed, angle, output torque, and / or force of the wearer's treadmill. 13. The method of claim 12,
Wherein the step of generating the drive control signal comprises:
Wherein the driving control signal for maintaining the walking stability of the user is generated based on at least one of the moving direction and the position of the center of gravity.

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