KR20230103949A - Method for estimating gait index of user, and wearable device and electronic device performing the same - Google Patents

Abstract

Disclosed are a method of estimating a user's gait index, and an electronic device and a wearable device performing the same. The electronic device includes a communication module for receiving sensor data including motion information of a user wearing the wearable device from a wearable device, a processor for estimating a gait index indicating a user's gait state based on the sensor data, and a gait index and a display module outputting physical ability information. The processor estimates the user's walking speed using a walking speed estimation model that takes the sensor data as an input, estimates the user's walking time based on the sensor data, and estimates other walking indicators based on the walking speed and walking time. .

Description

Method for estimating user's gait index and electronic device and wearable device performing the same

The present disclosure relates to a method for estimating a gait indicator of a user, and an electronic device and a wearable device for performing the method.

In general, a walking assistance device refers to an apparatus or device that helps patients who cannot walk by themselves due to various diseases or accidents to perform walking exercises for rehabilitation treatment. Recently, as an aging society intensifies, people who find it difficult to walk normally due to leg joint problems or complain of discomfort in walking increase, and interest in walking assistance devices is also increasing. A walking assistance device may be worn on a user's body to assist the user with muscle strength necessary for walking, and may induce the user to walk in a normal walking pattern.

An electronic device according to an embodiment includes a communication module for receiving sensor data including motion information of a user wearing the wearable device from a wearable device, and estimating a gait index indicating a gait state of the user based on the sensor data and a display module outputting physical ability information including the gait indicator. The processor may estimate the walking speed of the user by using a walking speed estimation model using the sensor data as an input. The processor may estimate a walking time of the user based on the sensor data. The processor may estimate another gait index based on the gait speed and the gait time.

A method of estimating a gait index of a user wearing a wearable device according to an embodiment includes an operation of receiving sensor data including motion information of the user wearing the wearable device from the wearable device, and based on the sensor data The method may further include estimating a gait index indicating the user's gait state, and providing the estimated gait index to the user. The estimating of the gait indicator may include estimating the gait speed of the user by using a gait speed estimation model that uses the sensor data as an input. The estimating of the walking index may further include estimating a walking time of the user based on the sensor data. The estimating of the gait index may further include estimating another gait index based on the gait speed and the walking time.

1 is a diagram for explaining an overview of a wearable device worn on a user's body according to an exemplary embodiment.
2 is a diagram for explaining a management system including a wearable device and an electronic device according to an exemplary embodiment.
Fig. 3 shows a schematic view of a rear surface of a wearable device according to an exemplary embodiment.
4 shows a left side view of a wearable device according to an exemplary embodiment.
5A and 5B are diagrams illustrating a configuration of a control system of a wearable device according to an exemplary embodiment.
6 is a diagram for explaining an interaction between a wearable device and an electronic device according to an exemplary embodiment.
7 is a diagram illustrating a configuration of an electronic device according to an exemplary embodiment.
8 is a flowchart illustrating a method of providing a gait index of a user wearing a wearable device, according to an exemplary embodiment.
9 is a flowchart illustrating a method of estimating a gait index according to an exemplary embodiment.
10 is a diagram for describing a stride length according to an exemplary embodiment.
11A and 11B are diagrams for explaining estimating a stride length based on a hip joint angle value according to an exemplary embodiment.
12 is a diagram illustrating a gait evaluation result screen based on gait indicators according to an exemplary embodiment.

Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only, and may be changed and implemented in various forms. Therefore, the form actually implemented is not limited only to the specific embodiments disclosed, and the scope of the present specification includes changes, equivalents, or substitutes included in the technical idea described in the embodiments.

Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "comprise" or "have" are intended to designate that the described feature, number, step, operation, component, part, or combination thereof exists, but one or more other features or numbers, It should be understood that the presence or addition of steps, operations, components, parts, or combinations thereof is not precluded.

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. 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 related art, and unless explicitly defined in this specification, it should not be interpreted in an ideal or excessively formal meaning. don't

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same reference numerals are given to the same components regardless of reference numerals, and overlapping descriptions thereof will be omitted.

1 is a diagram for explaining an outline of a wearable device worn on a user's body according to an exemplary embodiment.

Referring to FIG. 1 , in one embodiment, a wearable device 100 is worn on the body of a user 110 to assist the user 110 in walking, exercising, and/or work. may be a device. In one embodiment, the wearable device 100 may be used to measure the user's 110 physical ability (eg, gait ability, exercise ability, exercise posture). In embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walk assist device', or 'exercise assist device'. The user 110 may be a human or an animal, but is not limited thereto. The wearable device 100 is worn on the body of the user 110 (eg, lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to assist the body movement of the user 110. An external force of assistance force and/or resistance force may be applied. The auxiliary force is a force applied in the same direction as the body movement direction of the user 110, and represents a force assisting the user 110's body movement. The resistance force is a force applied in a direction opposite to the body movement direction of the user 110, and represents a force that hinders the body movement of the user 110. The term 'resistance' may also be referred to as 'exercise load'.

In one embodiment, the wearable device 100 may operate in a walking assistance mode for assisting the walking of the user 110 . In the walking assistance mode, the wearable device 100 may assist the user 110 to walk by applying an assisting force generated from the driving module 120 of the wearable device 100 to the body of the user 110 . The wearable device 100 may enable the user 110 to walk independently by assisting the user 110 with a force necessary for walking, or enable the user 110 to walk for a long time to expand the walking ability of the user 110. there is. The wearable device 100 may help improve the gait of a pedestrian who has an abnormal gait habit or gait posture.

In one embodiment, the wearable device 100 may operate in an exercise assistance mode to enhance the exercise effect of the user 110 . In the exercise assistance mode, the wearable device 100 interferes with or resists the body movement of the user 110 by applying a resistance force generated from the driving module 120 to the body of the user 110. can give If the wearable device 100 is a hip-type wearable device worn on the waist (or pelvis) and legs (eg, thighs) of the user 110, the wearable device 100 is worn on the user's legs and By providing an exercise load to the movement of the legs of the user 110, the exercise effect on the legs of the user 110 can be further strengthened. In one embodiment, the wearable device 100 may apply an assisting force to the body of the user 110 to assist the user's 110 movement. For example, when a handicapped person or an elderly person wants to exercise by wearing the wearable device 100, the wearable device 100 may provide an assisting force to assist body movement during the exercise process. In one embodiment, the wearable device 100 may provide a combination of assistive force and resistance force for each exercise section or time section, such as providing assistive force in some exercise sections and resistance force in other exercise sections.

In one embodiment, the wearable device 100 may operate in a physical ability measurement mode for measuring the physical ability of the user 110 . The wearable device 100 uses sensors (eg, an angle sensor 125 and an inertial measurement unit (IMU) 135) provided in the wearable device 100 while a user is walking or exercising. It is possible to measure the user's motion information and evaluate the user's physical ability based on the measured motion information. For example, a gait index or an exercise ability index (eg, muscle strength, endurance, balance, exercise motion) of the user 110 may be estimated through motion information of the user 100 measured by the wearable device 100. . The physical ability measurement mode may include an exercise motion measurement mode for measuring a user's exercise motion.

In various embodiments of the present disclosure, a hip type wearable device 100 as shown in FIG. 1 is described as an example for convenience of description, but is not limited thereto. As described above, the wearable device 100 may also be worn on other body parts (eg, upper arms, lower arms, hands, calves, and feet) other than the waist and legs (especially thighs), and depending on the body part to be worn, the wearable device 100 may be worn. Shape and composition may vary.

According to an embodiment, the wearable device 100 is a support frame for supporting the body of the user 110 when the wearable device 100 is worn on the body of the user 110 (eg, the leg support frame of FIG. 3 ( 50 and 55), the waist support frame 20), and a sensor module (eg, the sensor of FIG. 5A ) that acquires sensor data including motion information about body motions (eg, leg motions and upper body motions) of the user 110. module 520), a driving module 120 that generates torque applied to the leg of the user 110 (eg, the driving modules 35 and 45 of FIG. 3), and a control module that controls the wearable device 100 ( 130) (eg, the control module 510 of FIGS. 5A and 5B).

The wearable device 100 may include an angle sensor 125 for measuring a user's joint angle and an inertial measurement device 135 for measuring a change in acceleration and rotational speed according to a body movement of the user 110. . The angle sensor 125 may measure the rotational angle of the leg support frame of the wearable device 100 corresponding to the hip joint angle value of the user 110 . The rotational angle of the leg support frame measured by the angle sensor 125 may be estimated as a hip joint angle value (or leg angle value) of the user 110 . The angle sensor 125 may include, for example, an encoder and/or a hall sensor. In one embodiment, the angle sensor 125 may be present near the right hip joint and the left hip joint of the user 110, respectively. The inertial measurement device 135 may include an acceleration sensor and/or an angular velocity sensor, and may measure a change in acceleration and/or angular velocity according to the movement of the user 110 . The inertial measurement device 135 measures, for example, a motion value of the upper body of the user 110 corresponding to a motion value of a waist support frame (or a base body (base body 80 in FIG. 3)) of the wearable device 100. A motion value of the waist support frame measured by the inertial measurement device 135 may be estimated as an upper body motion value of the user 110 .

In one embodiment, the control module 130 and the inertial measurement device 135 may be disposed within the base body (eg, the base body 80 of FIG. 3 ) of the wearable device 100 . The base body may be located on the waist (waist) of the user 110 while the user 110 is wearing the wearable device 100 . The base body may be formed or attached to the outside of the waist support frame of the wearable device 100 . The base body may be mounted on the waist of the user 110 to provide a cushioning feeling to the waist of the user, and may support the waist of the user 110 together with the waist support frame.

2 is a diagram for explaining a management system including a wearable device and an electronic device according to an exemplary embodiment.

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

In one embodiment, the wearable device 100 may assist the user's movement by being worn on the user's body in the walking assistance mode. For example, the wearable device 100 may help the user walk by being worn on the user's leg and generating assistive force for assisting the user's leg movement.

In one embodiment, the wearable device 100 generates a resistance force to hinder the user's body movement or an assistive force to assist the user's body movement in order to enhance the user's exercise effect in the exercise assistance mode, thereby providing an effect to the user's body. can be applied In the exercise assistance mode, the user selects an exercise program (eg, squat, split lunge, dumbbell squat, lunge and knee up) to be exercised using the wearable device 100 through the electronic device 210. ), stretching, etc.) and/or exercise intensity applied to the wearable device 100 may be selected. The wearable device 100 may control a driving module of the wearable device 100 according to an exercise program selected by the user and obtain sensor data including user motion information through a sensor module. The wearable device 100 may adjust the strength of the resistance force or assistive force applied to the user according to the exercise intensity selected by the user. For example, the wearable device 100 may control the driving module to generate resistance corresponding to the exercise intensity selected by the user.

In one embodiment, the wearable device 100 may be used to measure a user's physical ability in association with the electronic device 210 . The wearable device 100 may operate in a physical ability measurement mode, which is a mode for measuring the user's physical ability, under the control of the electronic device 210, and the sensor data obtained by the user's movement in the physical ability measurement mode is electronically generated. device 210. The electronic device 210 may analyze the sensor data received from the wearable device 100 to estimate the user's physical ability.

The electronic device 210 may communicate with the wearable device 100, remotely control the wearable device 100, or monitor the state of the wearable device 100 (eg, booting state, charging state, sensing state, error state) Status information about can be provided to the user. The electronic device 210 may receive sensor data acquired by a sensor of the wearable device 100 from the wearable device 100, and may estimate a user's physical ability or exercise result based on the received sensor data. . In one embodiment, when a user wears the wearable device 100 and exercises, the wearable device 100 obtains sensor data including motion information of the user using sensors, and transmits the obtained sensor data to an electronic device ( 210) can be transmitted. The electronic device 210 may extract a user's movement value from sensor data and evaluate the user's movement based on the extracted movement value. The electronic device 210 may provide the user with an exercise motion measurement value and motion evaluation information for the user's exercise motion through a graphic user interface.

In one embodiment, the electronic device 210 may execute a program (eg, application) for controlling the wearable device 100, and the user may change the operation of the wearable device 100 or set values (eg, application) through the corresponding program. : Torque intensity output from the driving module (eg, the driving modules 35 and 45 of FIG. 3 ), size of audio output from the sound output module (eg, the sound output module 550 of FIGS. 6A and 5B ), light The brightness of the unit (eg, the light unit 85 of FIG. 3) can be adjusted. A program running on the electronic device 210 may provide a graphical user interface (GUI) for interaction with a user. The electronic device 210 may be a device of various types. For example, the electronic device 210 includes a portable communication device (eg, smart phone), a computer device, an access point, a portable multimedia device, or a consumer electronics device (eg, a television, audio device, projector device). However, it is not limited to the aforementioned devices.

According to an embodiment, the electronic device 210 may be connected to the 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, for example, information on at least one of name, age, gender, height, weight, or body mass index (BMI). The server 230 may receive exercise history information on an exercise performed by a user from the electronic device 210 and store and manage the received exercise history information. The server 230 may provide the electronic device 210 with various exercise programs or physical ability measurement programs that may be provided to the user.

According to an embodiment, the wearable device 100 and/or the electronic device 210 may be connected to another wearable device 220 . Other wearable devices 220 may be, for example, wireless earphones 222, smart watches 224, or smart glasses 226, but are not limited to the aforementioned devices. In one embodiment, the smart watch 224 may measure a biosignal including heart rate information of the user and transmit the measured biosignal to the electronic device 210 and/or the wearable device 100 . The electronic device 210 may estimate the user's heart rate information (eg, current heart rate, maximum heart rate, average heart rate) based on the biosignal received from the smart watch 224 and provide the estimated heart rate information to the user. can

In one embodiment, the user's exercise result information, physical ability information (eg, gait evaluation information), and/or exercise motion evaluation information evaluated by the electronic device 210 are transferred to another wearable device 220 to be used for other wearable devices. It may be provided to the user through the device 220 . State information of the wearable device 100 may also be transferred to other wearable devices 220 and provided to the user through the other wearable devices 220 . In one embodiment, the wearable device 100, the electronic device 210, and other wearable devices 220 may be connected to each other through wireless communication (eg, Bluetooth communication, Wi-Fi communication).

In one embodiment, the wearable device 100 provides feedback (eg, visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device 100 according to the control signal received from the electronic device 210 (or output). For example, the wearable device 100 may provide visual feedback through a light unit (eg, the light unit 85 of FIG. 3 ) and an audio output module (eg, the sound output module of FIGS. 5A and 5B ( Auditory feedback may be provided through 550)). The wearable device 100 may include a haptic module and provide tactile feedback in the form of vibration to the user's body through the haptic module. The electronic device 210 may also provide (or output) feedback (eg, visual feedback, auditory feedback, or tactile feedback) corresponding to the state of the wearable device 100 .

In one embodiment, the electronic device 210 may present a personalized exercise goal to the user in an exercise assistance mode. The personalized exercise goal may include a target amount of exercise for each exercise type (eg, strength exercise, balance exercise, aerobic exercise) that the user wants to exercise, determined by the electronic device 210 and/or the server 230. . When the server 230 determines the target amount of exercise, the server 230 may transmit information about the determined target amount of exercise to the electronic device 210 . The electronic device 210 is an exercise program (eg, squat, split lunge, lunge and knee-up) intended to perform a target amount of exercise of exercise types of strength exercise, aerobic exercise, and balance exercise, and/or user's body characteristics (eg, age, Height, weight, BMI) can be personalized and presented. The electronic device 210 may display a GUI screen indicating a target amount of exercise for each exercise type on the display.

In one embodiment, the electronic device 210 and/or the server 230 may include a database in which information on a plurality of exercise programs that may be provided to the user through the wearable device 100 is stored. To achieve the user's exercise goal, the electronic device 210 and/or the server 230 may recommend an exercise program suitable for the user. The exercise purpose may include, for example, at least one of improving muscle strength, improving muscular strength, improving cardiorespiratory endurance, improving core stability, improving flexibility, or improving symmetry. The electronic device 210 and/or the server 230 may store and manage an exercise program performed by the user and a result of the exercise program.

According to an embodiment, the electronic device 210 may evaluate the walking ability of the user in association with the wearable device 100 . For example, the electronic device 210 may estimate a gait index, which is an index representing a user's gait state, based on sensor data obtained from a sensor module of the wearable device 100 worn by the user. The gait index may be a criterion for determining the quality of a gait performed by a user. The walking index estimated by the electronic device 210 may include, for example, walking speed, step time, step length of one step, and stride length of two steps. , a gait distance, a gait symmetry index, a gait variability index, or a walk ratio. The electronic device 210 may calculate a gait indicator in real time while the user wears the wearable device 100 and walks. Step lengths for one step and two strides will be described in detail with reference to FIG. 10 .

When the user wears the wearable device 100 and walks (or exercises), the wearable device 100 may obtain sensor data including motion information related to the user's walking using sensors, and obtain Sensor data may be transmitted to the electronic device 210 . The electronic device 210 may estimate gait evaluation information of the user based on the sensor data and provide the estimated gait evaluation information to the user. The gait evaluation information includes, for example, various gait indicators related to the user's gait when the user wears the wearable device 100 and walks (eg, gait speed, walking time, stride length, gait symmetry index, gait variation index, gait ratio) may be included. The electronic device 210 may provide the user with feedback information for improving the user's gait state based on the gait evaluation information. For example, when the electronic device 210 determines that the measured stride length of the user is smaller than the desired stride length, the electronic device 210 may suggest walking with a wider stride length to the user.

The wearable device 100 and the electronic device 210 measure the angle sensor (eg, angle sensor 125) and inertia of the wearable device 100 without using a global positioning system (GPS) sensor for tracking the user's location Since a walking index such as a walking speed can be estimated using a device (eg, the inertial measurement device 135), the walking index can be estimated not only outdoors but also indoors. In addition, the wearable device 100 and the electronic device 210 may estimate a gait index even when a user walks at a fixed location, such as on a treadmill, and may estimate a gait index by reflecting the user's individual characteristics. there is. The electronic device 210 may provide evaluation information on the user's walking state to the user using the wearable device 100, thereby increasing the user's interest in walking or exercise.

3 shows a schematic diagram of a rear surface of a wearable device according to an exemplary embodiment. 4 shows a left side view of a wearable device according to an exemplary embodiment.

3 and 4, the wearable device 100 according to an embodiment includes a base body 80, a waist support frame 20, driving modules 35 and 45, leg support frames 50 and 55, It may include the thigh fastening parts 1 and 2 and the waist fastening part 60 . The base body 80 may include a lighting unit 85 . In one embodiment, at least one of these components (eg, the lighting unit 85) may be omitted or one or more other components (eg, a haptic module) may be added to the wearable device 100 .

The base body 80 may be located on the waist of the user while the user is wearing the wearable device 100 . The base body 80 may be mounted on the user's waist to provide a cushioning feeling to the user's waist and support the user's waist. The base body 80 may be overlaid on the user's buttocks (buttocks) so that the wearable device 100 does not disengage downward due to gravity while the wearable device 100 is being worn by the user. 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 to the waist support frame 20 . Both ends of the base body 80 may be provided with waist support frame connection elements (not shown) that may be connected to the waist support frame 20 .

In one embodiment, a lighting unit 85 may be disposed outside the base body 80 . The lighting unit 85 may include a light source (eg, a light emitting diode (LED)). The lighting unit 85 may emit light under the control of a control module (not shown) (eg, the control module 510 of FIGS. 5A and 5B ). Depending on the embodiment, the control module may control the lighting unit 85 to provide (or output) visual feedback corresponding to the state of the wearable device 100 to the user through the lighting unit 85 .

The waist support frame 20 may extend from both ends of the base body 80 . Inside the waist support frame 20, the user's waist may be accommodated. The waist support frame 20 may include at least one or more rigid body beams. Each beam may have a curved shape having a preset curvature to surround the user's waist. A waist fastening part 60 may be connected to an end of the waist support frame 20 . The driving modules 35 and 45 may be connected to the waist support frame 20 .

In one embodiment, the inside of the base body 80 includes a control module, an inertial measurement device (not shown) (eg, the inertial measurement device 135 of FIG. 1 and the inertial measurement device 522 of FIG. 5B), a communication module ( (not shown) (eg, the communication module 516 of FIGS. 5A and 5B ) and a battery (not shown) may be disposed. The base body 80 may protect a control module, an inertial measurement device, a communication module, and a battery. The control module may generate a control signal for controlling the operation of the wearable device 100 . The control module may include a control circuit including a processor and a memory for controlling the actuators of the driving modules 35 and 45 . The control module may further include a power supply module (not shown) for supplying battery power to each component of the wearable device 100 .

In one embodiment, the wearable device 100 may include a sensor module (not shown) that obtains sensor data from one or more sensors (eg, the sensor module 520 of FIG. 5A ). The sensor module may acquire sensor data that changes according to the user's movement. In one embodiment, the sensor module may obtain sensor data including motion information of the user and/or motion information of components of the wearable device 100 . The sensor module may be, for example, an inertial measurement device (eg, the inertial measurement device 135 of FIG. 1 or the inertial measurement device 522 of FIG. 5B) for measuring the motion value of the user's upper body or the motion value of the waist support frame 20 ) and an angle sensor (eg, the angle sensor 125 of FIG. 1 , the first angle sensor 520 of FIG. 5B , and the second An angle sensor 520-1) may be included, but is not limited thereto. For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a biosignal sensor, or a proximity sensor.

The waist fastening part 60 may be connected to the waist support frame 20 and may fix the waist support frame 20 to the user's waist. The waist fastening part 60 may include, for example, a pair of belts.

The driving modules 35 and 45 may generate an external force (or torque) applied to the user's body based on the control signal generated by the control module. For example, the drive modules 35 and 45 may generate an assisting or resistive force applied to the user's legs. In one embodiment, the driving modules 35 and 45 include a first driving module 45 located at a position corresponding to the user's right hip joint position and a second driving module 35 located at a position corresponding to the user's left hip joint position. can include 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. Each of the first actuator and the second actuator may include a motor that receives power from a battery and generates power (or torque). When powered and driven, the motor may generate a force to assist the user's body movement (assistive force) or a force to hinder the user's body movement (resistance force). In one embodiment, the control module may adjust the strength and direction of the force generated by the motor by adjusting the voltage and/or current supplied to the motor.

In one embodiment, the first joint member and the second joint member may receive power from the first actuator and the second actuator, respectively, and apply an external force to the user's body based on the received power. The first joint member and the second joint member may be disposed at positions corresponding to the user's joints. One side of the first joint member may be connected to the first actuator, and the other side may be connected to the first leg support frame 55 . The first joint member may be rotated by power transmitted from the first actuator. An encoder or hall sensor capable of operating as an angle sensor for measuring a rotational angle (corresponding to a user's joint angle) of the first joint member 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 leg support frame 50 . The second joint member 333 may be rotated by power transmitted from the second actuator. An encoder or hall sensor capable of operating as an angle sensor for measuring a rotational angle of the second joint member may be disposed on one side of the second joint member.

In one embodiment, the first actuator may be disposed in a lateral direction of the first joint member, and the second actuator may be disposed in a lateral direction of the second joint member. The rotation axis of the first actuator and the rotation axis of the first joint member may be arranged 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 arranged to be spaced apart from each other. However, it is not limited thereto, and the actuator and the joint member may share a rotation axis. In one embodiment, each actuator may be disposed spaced apart from the joint member. In this case, the driving modules 35 and 45 may further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body such as a gear, or may be a longitudinal member such as a wire, cable, string, spring, belt, or chain. However, the scope of the embodiment is not limited by the above-described positional relationship between the actuator and the joint member and the power transmission structure.

In one embodiment, the leg support frames 50 and 55 may support the user's legs (eg, thighs) when the wearable device 100 is worn on the user's legs. The leg support frames 50 and 55 may transmit, for example, power (torque) generated by the drive modules 35 and 45 to the user's thighs, and the corresponding power may act as an external force applied to the user's leg movement. . As one end of the leg support frames 50 and 55 is connected to the joint member and can rotate, and the other end of the leg support frames 50 and 55 is connected to the thigh fastening parts 1 and 2, the leg support frame (50, 55) can transmit the power generated by the driving module (35, 45) to the user's thigh while supporting the user's thigh. For example, the leg support frames 50 and 55 may push or pull the user's thigh. The leg support frames 50 and 55 may extend along the longitudinal direction of the user's thigh. The leg support frames 50 and 55 may be bent to wrap at least a portion of the user's thigh circumference. The leg support frames 50 and 55 may include a first leg support frame 55 for supporting the user's right leg and a second leg support frame 50 for supporting the user's left leg.

The thigh fastening parts 1 and 2 are connected to the leg support frames 50 and 55 and may fix the leg support frames 50 and 55 to the thigh. The thigh fastening parts 1 and 2 fix the first thigh fastening part 2 for fixing the first leg supporting frame 55 to the user's right thigh and the second leg supporting frame 50 to the user's left thigh. It may include a second thigh fastening part (1) for doing.

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 may be included. The first cover and the second cover may apply torque generated by the driving modules 35 and 45 to the user's thigh. The first cover and the second cover are disposed on one side of the user's thigh, and can push or pull the user's thigh. The first cover and the second cover may be disposed on the front of the user's thigh, for example. The first cover and the second cover may be disposed along the circumferential direction of the user's thigh. The first cover and the second cover may extend to both sides around the other ends of the leg support frames 50 and 55 and may include curved surfaces corresponding to the thighs of the user. One ends of the first cover and the second cover may be connected to the fastening frame, and the other end may be connected to the strap.

The first fastening frame and the second fastening frame may be disposed to surround at least a portion of the user's thigh, for example, to prevent the user's thigh from being separated from the leg support frames 50 and 55 . The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

The first strap may surround the remaining portion of the user's right thigh that is not covered by the first cover and the first fastening frame, and the second strap may surround the second cover and the second fastening frame around the user's left thigh. It can enclose the rest of the non-enclosed part. The first strap and the second strap may include, for example, an elastic material (eg, a band).

5A and 5B are diagrams illustrating a configuration of a control system of a wearable device according to an exemplary embodiment.

Referring to FIG. 5A , a wearable device (eg, the wearable device 100 of FIGS. 1 and 3 ) may be controlled by a control system 500 . The control system 500 may include a control module 510 , a sensor module 520 , a driving module 530 and a battery 540 . The driving module 540 may include a motor 534 capable of generating power (eg, torque) and a motor driver circuit 532 for driving the motor 534 . In the embodiment of FIG. 5A , a driving module 530 including one motor driver circuit 532 and one motor 534 and one sensor module 510 are shown, but this is only an example. Referring to FIG. 5B , as in the illustrated embodiment, a plurality of sensor modules 520 and 520-1, motor driver circuits 532 and 532-1, and motors 534 and 534-1 (eg, two or more) are provided. ) can be. 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 motor driver circuit 532-1 and the motor 534-1 The driving module 530-1 including may correspond to the second driving module 45 of FIG. 3 . A description of each of the sensor module 520, the motor driver circuit 532, and the motor 534 described below is the sensor module 520-1, the motor driver circuit 532-1, and the motor (shown in FIG. 5B). 534-1) can also be applied.

Returning to FIG. 5A , sensor module 520 may include at least one sensor. The sensor module 520 may include sensor data including user motion information. For example, the sensor module 520 may obtain sensor data that changes according to the user's leg movement. The sensor module 520 may transmit acquired sensor data to the control module 510 . The sensor module 520 may include, for example, an inertial measurement device, an angle sensor (eg, an encoder), a position sensor, a proximity sensor, a biosignal sensor, and a temperature sensor. The inertial measuring device may measure acceleration information and posture information during walking of the user. For example, the inertial measuring device may sense X-axis, Y-axis, and Z-axis acceleration and X-axis, Y-axis, and Z-axis angular velocity according to the user's walking motion. The angle sensor may measure angle information about the user's hip joint angle. The angle information measured by the angle sensor may include, for example, information about a right leg's hip joint angle, a left leg's hip joint angle, and movement directions of the legs.

The battery 540 may supply power to each component of the wearable device. The wearable device may convert the power of the battery 540 according to the operating voltage of each component of the wearable device and supply the converted power to each component.

The driving module 530 may generate an external force applied to the user's leg under the control of the control module 510 . The driving module 530 is located at a position corresponding to the position of the user's hip joint, and may generate torque applied to the leg of the user based on a control signal generated by the control module 510 . The control module 510 may transmit a control signal to the motor driver circuit 532, and the motor driver circuit 532 generates a current signal corresponding to the control signal and supplies it to the motor 534 to operate the motor 534. can control. A current signal may not be supplied to the motor 534 according to the control signal. When the motor 534 is driven by supplying a current signal to the motor 534, it may generate a force that assists the movement of the user's legs or a torque that hinders the movement of the user's legs.

The control module 510 controls the overall operation of the wearable device and may generate control signals for controlling each component (eg, the driving module 530). The control module 510 may include a processor 512 , a memory 514 and a communication module 516 .

The processor 512 may, for example, execute software to control at least one other component (eg, hardware or software component) of the wearable device connected to the processor 512, and perform various data processing or calculations. can According to one embodiment, as at least part of data processing or operation, processor 512 stores instructions or data received from other components (eg, communication module 516) in memory 514; Commands or data stored in the memory 514 may be processed, and resultant data after processing may be stored in the memory 514 . According to one embodiment, the processor 512 may be a main processor (eg, central processing unit or application processor) or a secondary processor (eg, a graphics processing unit, a neural processing unit (NPU)) that may operate independently of or in conjunction therewith. , image signal processor, sensor hub processor, or communication processor). A secondary processor may be implemented separately from, or as part of, the main processor.

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

The communication module 516 is a direct (eg, wired) communication between the control module 510 and other components of the wearable device or an external electronic device (eg, the electronic device 210 of FIG. 2 or the second wearable device 220). Establishment of a communication channel or wireless communication channel, and communication through the established communication channel may be supported. The communication module 516 may transmit sensor data and/or gait evaluation information of the user to an external electronic device, for example. According to one embodiment, the communication module 516 may include one or more communication processors that operate independently of the processor 512 and support direct (eg, wired) communication or wireless communication. According to an embodiment, the communication module 516 may include a wireless communication module (eg, a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and/or a wired communication module. Among these communication modules, the corresponding communication module is, for example, a short-range communication network such as Bluetooth, wireless fidelity (WiFi), ANT, or infrared data association (IrDA), or a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or It may communicate with other components of the wearable device and/or external electronic devices through a telecommunications network such as a computer network (eg, LAN or WAN).

6 is a diagram for explaining an interaction between a wearable device and an electronic device according to an exemplary embodiment.

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

In one embodiment, the electronic device 210 may check the state of the wearable device 100 or execute an application for controlling or operating the wearable device 100 . When the application is executed, a user interface (UI) screen for controlling the operation of the wearable device 100 or determining the operation mode of the wearable device 100 is displayed on the display 212 of the electronic device 210. can be displayed The UI may be, for example, a graphical user interface (GUI).

In one embodiment, the user receives commands for controlling the operation of the wearable device 100 through a GUI screen on the display 212 of the electronic device 210 (eg, walking assistance mode, exercise assistance mode, or physical ability measurement mode). An execution command of) may be input or settings of the wearable device 100 may be changed. The electronic device 210 may generate a control command (or control signal) corresponding to an operation control command or a setting change command input by a user, and transmit the generated control command to the wearable device 100 . The wearable device 100 may operate according to the received control command and may transmit a control result according to the control command and/or sensor data measured by the sensor module of the wearable device 100 to the electronic device 210. . The electronic device 210 may provide result information (eg, gait ability information, exercise ability information, exercise motion evaluation information) derived by analyzing control results and/or sensor data to the user through a GUI screen.

7 is a diagram illustrating a configuration of an electronic device according to an exemplary embodiment.

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

The processor 710 may control at least one other component (eg, hardware or software component) of the electronic device 210 and may perform various data processing or calculations. According to one embodiment, as at least part of data processing or operation, the processor 710 stores commands or data received from other components (eg, the communication module 730) in the memory 720, and the memory 720 ) and store the resulting data in the memory 720 .

According to an embodiment, the processor 710 may include a main processor (eg, a central processing unit or an application processor) or an auxiliary processor (eg, a graphic processing unit, a neural network processing unit (NPU), an image signal processor) that may operate independently or together therewith. , sensor hub processor, or communication processor).

The memory 720 may store various data used by at least one component of the electronic device 210 (eg, the processor 710 or the communication module 730). The data may include, for example, input data or output data for a program (eg, an application) and a command related thereto. The memory 720 may include at least one instruction executable by the processor 710 . The memory 720 may include volatile memory or non-volatile memory.

The communication module 730 is a direct (eg, wired) communication channel or a wireless communication channel between the electronic device 210 and other electronic devices (eg, the wearable device 100 , other wearable devices 220 , and the server 230 ). Establishment and communication through the established communication channel may be supported. The communication module 730 may include a communication circuit for performing a communication function. The communication module 730 may include one or more communication processors that operate independently of the processor 710 (eg, an application processor) and support direct (eg, wired) communication or wireless communication. According to an embodiment, the communication module 290 is a wireless communication module (eg, a Bluetooth communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) or a wired communication module (eg, a LAN communication module) that performs wireless communication. , or a power line communication module). The communication module 730 transmits, for example, a control command to the wearable device 100, and sensor data including body movement information of a user wearing the wearable device 100 from the wearable device 100, the wearable device 100 ), or at least one of control result data corresponding to a control command.

The display module 740 may visually provide information to the outside of the electronic device 210 (eg, a user). The display module 740 may include, for example, an LCD or OLED display, a hologram device, or a projector device. The display module 740 may further include a control circuit for controlling display driving. In one embodiment, the display module 740 may further include a touch sensor configured to detect a touch or a pressure sensor configured to measure the intensity of force generated by the touch.

The sound output module 750 may output sound signals to the outside of the electronic device 210 . The sound output module 750 may include a speaker that reproduces a guide sound signal (eg, a driving start sound, an operation error notification sound) based on the state of the wearable device 100, music content, or a guide sound. When it is determined that the wearable device 100 is not properly worn on the user's body, for example, the sound output module 750 may inform the user of the abnormal fit or output a guide voice to guide the user to wear it normally. The sound output module 750 may output, for example, a guide voice corresponding to exercise evaluation information or exercise result information obtained by evaluating the user's exercise.

The input module 760 may receive a command or data to be used by a component (eg, the processor 710) of the electronic device 210 from the outside of the electronic device 210 (eg, a user). Input module 760 can include input component circuitry and can receive user input. The input module 760 may include, for example, a key (eg, button) or a touch screen.

In an embodiment, the electronic device 210 includes a communication module 730 that receives sensor data including motion information of a user wearing the wearable device 100 from the wearable device 100, and the user's information based on the sensor data. It may include a processor 710 for estimating a gait index representing a gait state, and a display module 740 for outputting physical ability information including the gait index.

In one embodiment, the processor 710 determines the user's gait based on sensor data received from the wearable device 100 (eg, sensor data obtained by an inertial measurement device and/or an angle sensor of the wearable device 100). A gait index representing the state can be estimated. For example, the processor 710 may estimate the user's walking speed using a walking speed estimation model that uses sensor data as an input. The gait speed estimation model receives acceleration information and rotational speed information output from the inertial measurement device, and the gait speed estimation model outputs an estimated walking speed value of the user based on the input acceleration information and rotational speed information. The processor 710 may estimate the walking speed of the user in real time through a walking speed estimation model. The processor 710 may determine an average walking speed in a specific time interval based on the estimated walking speed. The gait speed estimation model may be a model learned to output a gait speed estimation value corresponding to the input sensor data (eg, sensor data output from an inertial measurement device and an angle sensor) as inputs. For example, a gait speed estimation model is learned by linear regression or machine learning based on learning data (e.g., sensor data measured during walking and actual gait speed values corresponding to the sensor data). may be a model. In one embodiment, the gait speed estimation model is, for example, a convolutional neural network (CNN), a recurrent neural network (RNN), a gated recurrent unit (GRU), a ResNet or a long short term memory (LSTM), linear It may be a regression model or a model in which two or more models are combined (eg, a model in which CNN and LSTM are combined). The gait speed estimation model may be learned based on a machine learning method of supervised learning. In the learning process, an error backpropagation algorithm or a gradient descent algorithm may be used. For example, in the learning process, a loss is determined based on the difference between the gait speed estimation value output by the gait speed estimation model inputting sensor data and the actual gait speed value, and the gait speed estimation model is used to reduce the loss. A process of adjusting parameters (eg, connection weights and biases) may be repeatedly performed. Optimum values of hyper parameters that determine the shape of the gait speed estimation model may be searched through such a learning process.

In one embodiment, the processor 710 may estimate the walking time of the user based on the sensor data. The walking time represents the time required for the user to take one step, and the processor 710 may measure the walking time of each individual step when the user wears the wearable device and walks. For example, the processor 710 may detect the start and end of the user's step based on the sensor data, and estimate a walking time for one step of the user based on the detected start and end of the step. there is. In one embodiment, the processor 710 determines the time interval between points where the left and right hip joint angles measured by the angle sensor of the wearable device 100 intersect each other or the point where the angular velocities of the left and right hip joints calculated from the left and right hip joint angles cross each other. A time interval between them may be measured, and the measured time interval may be determined as the walking time of the user. In another embodiment, the processor 710 recognizes when the user's foot touches the ground and when the foot leaves the ground based on sensor data measured by the inertial measurement device of the wearable device 100, and determines between the recognized times. The time interval may be determined by the user's walking time. In another embodiment, for estimating the walking time, the processor 710 calculates the sensor data for the hip joint angle (or sensor data measured by an inertial measurement device) and when the user's foot actually touches the ground during walking and when the foot touches the ground. It is also possible to use a walking time estimation model learned by using data of a point in time away from as training data. The walking time estimation model may be a neural network model trained according to a machine learning process or a linear regression algorithm as described above.

In one embodiment, processor 710 may estimate one or more other gait metrics based on gait speed and walking time. Here, the other gait index refers to a gait index other than the aforementioned walking speed and walking time. The other gait index may include, for example, at least one of a stride length of one step , a stride length of two steps, a gait distance, a gait symmetry index, a gait variation index, or a gait ratio. Processor 710 may also estimate other flight metrics in real time.

In one embodiment, processor 710 may determine a stride length based on sensor data. The processor 710 may estimate an average walking speed for one step of the user based on the sensor data, and determine a stride length for one step based on the average walking speed and a walking time for one step. The processor 710 may determine the stride length of one step by multiplying the average walking speed and the walking time for one step. In one embodiment, the processor 710 estimates the stride length of a step using a model trained by a machine learning process or a linear regression algorithm based on learning data (e.g., sensor data and actual stride length of a step). You may.

In one embodiment, the processor 710 may determine the first hip joint angle value when the hip joint angle of the user's right leg is maximum, the second hip joint angle value when the user's left leg hip joint angle is maximum, and the user's two steps. Based on the stride length, the user's left step length and right step length may be estimated.

In one embodiment, processor 710 may determine a gait symmetry index based on sensor data. The gait symmetry index may be a value indicating how symmetrical the gait by the user's right leg (corresponding to the right stride length) and the left leg (corresponding to the left stride length) are. The processor 710 may determine an average value of left stride length and an average value of right stride length of the user based on the sensor data. The processor 710 may determine a gait symmetry index for the user's gait motion based on the average value of the left stride length and the average value of the right stride length. The processor 710 may determine the left stride length and the right stride length based on the estimation of the stride length described above, and may determine the gait symmetry index based on the difference between the average value of the left stride length and the average value of the right stride length. there is. When the difference is large, the gait symmetry index decreases, and when the difference is small, the gait symmetry index increases, but is not limited thereto. In another embodiment, the processor 710 may determine an average walking time for left strides and an average walking time for right strides of the user based on the sensor data. The processor 710 may determine a gait symmetry index for the user's gait motion based on the average walking time of the left stride length and the average walking time of the right stride length. The processor 710 may determine the average walking time of the left stride and the average walking time of the right stride based on the estimation of the walking time described above, and based on the difference between the average walking time of the left stride and the average walking time of the right stride The gait symmetry index can be determined.

In one embodiment, the processor 710 may determine a gait variation index based on sensor data. The gait variation index may be an index representing the regularity or variability of the user's repetitive gait motion. The processor 710 may determine the gait variance index based on a variability indicator, such as a standard deviation for stride length or a standard deviation for stride time for two strides. For example, the processor 710 may calculate a standard deviation of a stride length of two steps measured during a predefined number of steps during a walking motion of the user or a step time of two steps measured during a predefined number of steps ( A gait variation index for the user's gait motion may be determined based on the standard deviation for the stride time. A relationship in which the gait variation index increases when the standard deviation value is large and the gait variation index decreases when the standard deviation value is small, but is not limited thereto.

In one embodiment, the processor 710 may determine the gait rate by dividing the average value of the user's stride length by steps per minute. The number of steps per minute may be determined based on an average value of the walking time of one step. In another embodiment, the processor 710 may determine the gait rate by dividing the average value of the user's walking speed by the square of the number of steps per minute. The gait rate may be used as an indicator for estimating a user's possibility of falling. In another embodiment, for estimating the walking rate, the processor 710 uses sensor data (sensor data measured by an inertial measurement device and/or angle sensor) and learning data including information about the actual walking rate. Thus, the learned gait ratio estimation model may be used. The gait rate estimation model may be a neural network model trained according to a machine learning process or a linear regression algorithm as described above.

The processor 710 may determine a gait score corresponding to a gait evaluation result for a gait motion of the user based on the gait index estimated as described above. In an embodiment, the processor 710 may determine a gait score based on a gait speed, a gait ratio, a gait symmetry index, and a gait variation index. For example, the processor 710 may determine the average, sum, or weighted sum of gait speed, gait ratio, gait symmetry index, and gait variation index as the gait score, but is not limited thereto. The processor 710 may generate gait evaluation information including a gait score and one or more gait indicators. The generated gait evaluation information may be provided to the user through the display module 740 and/or the sound output module 750 . According to embodiments, gait evaluation information may be provided to the user through the wearable device 100 .

8 is a flowchart illustrating a method of providing a gait index of a user wearing a wearable device, according to an exemplary embodiment. A method of providing a gait indicator according to an embodiment may be performed by the electronic device 210 .

Referring to FIG. 8 , in operation 810, the electronic device 210 may receive sensor data including motion information of a user wearing the wearable device 100 from the wearable device 100. The sensor data may include sensor data for acceleration and rotational speed according to the user's body movement and sensor data for the user's joint angle (eg, hip joint angle).

In operation 820, the electronic device 210 may estimate a gait indicator representing a gait state of the user based on the sensor data. In one embodiment, the electronic device 210 may estimate the user's walking speed using a walking speed estimation model that uses sensor data as an input. The electronic device 210 may estimate the user's walking time based on the sensor data, and may estimate other walking indicators based on the walking speed and walking time. The electronic device 210 may include, for example, at least one of a stride length of one step, a stride length of two steps, a gait distance, a gait symmetry index, a gait variation index, or a gait ratio based on a gait speed and a gait time. Gait index can be estimated. For example, the electronic device 210 may determine the walking rate by dividing the average value of the user's step length by the number of steps per minute or by dividing the average value of the user's walking speed by the square of the number of steps per minute. there is. A process of estimating each gait index will be described in detail with reference to FIG. 9 .

In operation 830, the electronic device 210 may provide the estimated gait indicator to the user. The operation of providing the gait index to the user may include an operation of determining a gait score corresponding to a gait evaluation result for the gait motion of the user based on the estimated gait index, and gait evaluation including the determined gait score and the estimated gait index. It may include an operation of providing information to a user. The electronic device 210 may provide the estimated gait index to the user through a display module and/or a sound output module. In an embodiment, the electronic device 210 may check gait indicators through an installed program (eg, an application).

The electronic device 210 may determine a gait score corresponding to a gait evaluation result for a user's gait motion based on the estimated gait index, and may provide gait evaluation information including the determined gait score and one or more estimated gait indexes to the user. can be provided to The electronic device 210 may determine a gait score based on a gait speed, a gait ratio, a gait symmetry index, and a gait variation index. In general, gait speed is a representative gait indicator that decreases with aging. The gait symmetry index and gait variation index may appear unfavorable when there is a physical abnormality in the musculoskeletal system or nervous system. The gait variation index tends to decrease with aging and is an index associated with the possibility of falls. In an embodiment, an average or weighted average of these gait indicators (eg, gait speed, gait symmetry index, gait variation index, and gait ratio) may be used to determine a gait score, and the determined gait score may be provided to the user. In one embodiment, there may be a correlation in which the higher the value of the gait ratio and the lower the values of the gait symmetry index and the gait variation index, the higher the gait score.

9 is a flowchart illustrating a method of estimating a gait index according to an exemplary embodiment. A method of estimating a gait index according to an embodiment may be performed by the electronic device 210 . In one embodiment, at least one of the operations of FIG. 9 may be performed concurrently or in parallel with another operation, and the order of operations may be changed. Also, at least one of the operations may be omitted, and another operation may be additionally performed.

Referring to FIG. 9 , in operation 910, the electronic device 210 may receive sensor data including motion information of a user wearing the wearable device 100 from the wearable device 100. While the user wears the wearable device 100 and walks, the inertial measurement device built into the wearable device 100 measures the acceleration and rotational speed of the user's pelvis in the vertical, frontal, and left-right directions, respectively, and the measured sensor data can be output. Sensor data output from the inertial measurement device may include acceleration values in each of three axes and rotational velocity values in each of three axes.

In operation 920, the electronic device 210 may determine whether the user's one step has ended based on the sensor data received from the wearable device 100. In an embodiment, the electronic device 210 may determine whether one step has ended by recognizing the start and end of one step based on sensor data. A criterion for determining the start and end of one step may be arbitrarily determined. For example, both the moment when the user's foot touches the ground or the moment when the user's foot leaves the ground may be criteria for determination. As another example, a time point at which the left and right hip joint angle values intersect each other or a time point when the left and right hip joint angular velocity values cross each other may be a criterion for determination. In an embodiment, the electronic device 210 may estimate the start and end of a step by using a model learned to distinguish the start and end of a step when sensor data is input.

If the user's one step has not ended ('No' in operation 920), the electronic device 210 may estimate the user's instantaneous walking speed based on the sensor data in operation 930. In one embodiment, sensor data obtained from the inertial measurement device of the wearable device 100 may be input to the gait speed estimation model described above, and the electronic device 210 may determine the instantaneous gait speed of the user through the gait speed estimation model. A corresponding gait speed estimation value may be obtained. The gait speed estimation model may continuously output gait speed estimation values within a time interval of one step.

In operation 940, the electronic device 210 may update an average walking speed for one step of the user based on the instantaneous walking speed. For example, the electronic device 210 may update the average walking speed by averaging accumulated instantaneous walking speeds from the start of one step to the current point in time.

In operation 950, the electronic device 210 may record the hip joint angle value based on the angle sensor. In one embodiment, operation 950 may be selectively performed. The electronic device 210 may record the hip joint angle value of the front leg and the hip joint angle value of the rear leg when the hip joint angle value of the rear leg is maximum during one step. The recorded hip joint angle values may be used to determine the user's stride length.

If the user's one step has not ended (Yes in operation 920), the electronic device 210 may determine the user's one step walking time based on the sensor data in operation 960. For example, as described in operation 920, the electronic device 210 detects the start and end of the user's step based on the sensor data, and detects the start and end of the step of the user based on the detected start and end of the step. The walking time during a walk can be estimated.

In operation 970, the electronic device 210 may determine the user's average walking speed. The electronic device 210 may perform the process of updating the average walking speed in operation 940 for the time interval of one step, and as a result of performing the update, the average walking speed for one step may be determined.

In operation 980, the electronic device 210 may determine the user's stride length. For example, the electronic device 210 may determine the stride length of one step by multiplying the average walking speed for one step by the stride time of one step. As another example, the electronic device 210 may determine the stride length by using a model learned to estimate the stride length based on sensor data. As another example, the electronic device 210 may provide a first hip joint angle value when the hip joint angle of the user's right leg is maximum, a second hip joint angle value when the hip joint angle of the user's left leg is maximum, and the user's two steps. Based on the stride length of , the user's left stride length and right stride length may be estimated. A method of estimating the left stride length and the right stride length based on the hip joint angle value will be described in more detail below with reference to FIGS. 11A and 11B.

In operation 990, the electronic device 210 may determine a gait symmetry index and a gait variation index. The gait symmetry index may correspond to an index represented by a difference between a left stride length and a right stride length, or a difference between a left stride walking time and a right stride walking time. For example, the electronic device 210 calculates an average value of the left stride length and an average value of the right stride length for several steps of the user, and based on the difference between the average value of the left stride length and the average value of the right stride length. Thus, the gait symmetry index can be determined. As another example, the electronic device 210 may determine the gait symmetry index based on the difference between the walking time of the left stride and the walking time of the right stride for several steps of the user.

The electronic device 210 calculates the standard deviation of the stride length of two steps measured during a predefined number of steps (eg, 10 steps, 20 steps) of the user's walking motion or two steps measured during the predefined number of steps. A gait variation index for the user's gait motion may be determined based on the standard deviation over time. For example, the electronic device 210 divides the standard deviation of the stride length of two steps by the average of the stride lengths of the two steps, or the standard deviation of the step time of the two steps to the step time of the two steps. The resulting value divided by the average can be determined as a gait variation index. As another example, the electronic device 210 may determine the standard deviation of the stride length of two steps or the standard deviation of the walking time of two steps as the gait variation index. As another example, the electronic device 210 determines a difference between a maximum value and a minimum value or a difference between an upper value and a lower value of a specific percentage for step lengths of two steps or step times of two steps measured during a predefined number of steps. It can also be determined by the gait variation index.

In an embodiment, the electronic device 210 may determine the gait rate by dividing the average value of the stride length of one step by the number of steps per minute or by dividing the average value of the user's walking speed by the square of the number of steps per minute. . Here, the number of steps per minute may correspond to (60/average value of walking time of one step).

10 is a diagram for describing a stride length according to an exemplary embodiment.

Referring to FIG. 10 , a first position 1010 at a first time when the user's right foot touches the ground, a second position 1020 at a second time when the user's left foot touches the ground after the first time, and a second time Thereafter, a third position 1012 at a third time point in which the right foot touches the ground again, and a fourth position 1022 at a fourth time point in which the left foot touches the ground again after the third time point are shown. The length from the first position 1010 where the user's right foot touches the ground to the second position 1020 where the user's left foot touches the ground may correspond to the user's left stride length, and the second position 1020 where the user's left foot touches the ground A length from position 1020 to a third position 1012 where the user's right foot touches the ground may correspond to the user's right stride length. Both the left stride length and the right stride length correspond to the stride length of one step, and the stride length from when the right (or left) foot touches the ground to when the right foot (or left foot) touches the ground is equal to the stride length of two steps. may apply. The stride length of the two steps may correspond to the sum of the left stride length and the right stride length.

11A and 11B are diagrams for explaining estimating a stride length based on a hip joint angle value according to an exemplary embodiment.

Referring to FIGS. 11A and 11B , it is possible to estimate the right stride length and the left stride length by calculating the ratios of the right stride length and the left stride length, respectively, in the stride length of two strides.

The right stride length may be determined based on FIG. 11A and Equation 1 below.

은 사용자의 보행 과정에서 고관절의 위치(1110)를 지나는 지면에 수직인 선(1105)과 사용자의 왼쪽 다리가 형성하는 고관절 각도 값들 중 사용자의 왼쪽 다리의 고관절 각도가 후방으로 최대일 때의 고관절 각도 값을 나타낼 수 있다.

은 사용자의 보행 과정에서 선(1105)과 사용자의 오른쪽 다리가 형성하는 고관절 각도 값들 중 사용자의 오른쪽 다리의 고관절 각도가 전방으로 최대일 때의 고관절 각도 값을 나타낼 수 있다.

과

은 모두 양의 값을 가진다고 가정한다.Here, L may correspond to the length of the right leg and the left leg from the position 1110 of the user's hip joint.

is the hip joint angle when the hip joint angle of the user's left leg is maximum rearward among hip joint angle values formed by a line 1105 perpendicular to the ground passing through the position 1110 of the hip joint during the user's walking process and the left leg of the user. value can be displayed.

may represent a hip joint angle value when the hip joint angle of the user's right leg forward is maximum among hip joint angle values formed by the line 1105 and the user's right leg during the user's walking process.

class

are assumed to be all positive.

The left stride length may be determined based on FIG. 11B and Equation 2 below.

은 사용자의 보행 과정에서 고관절의 위치(1110)를 지나는 지면에 수직인 선(1105)과 사용자의 왼쪽 다리가 형성하는 고관절 각도 값들 중 사용자의 왼쪽 다리의 고관절 각도가 전방으로 최대일 때의 고관절 각도 값을 나타낼 수 있다.

'은 사용자의 보행 과정에서 선(1105)과 사용자의 오른쪽 다리가 형성하는 고관절 각도 값들 중 사용자의 오른쪽 다리의 고관절 각도가 후방으로 최대일 때의 고관절 각도 값을 나타낼 수 있다.

'과

은 모두 양의 값을 가진다고 가정한다.Here, L may correspond to the length of the right leg and the left leg from the position 1110 of the user's hip joint.

is the hip joint angle when the hip joint angle of the user's left leg is maximum forward among the hip joint angle values formed by the line 1105 perpendicular to the ground passing through the position 1110 of the hip joint during the user's walking process and the left leg of the user. value can be displayed.

' may indicate a hip joint angle value when the hip joint angle of the user's right leg rearwards is maximum among the hip joint angle values formed by the line 1105 and the user's right leg during the user's walking process.

'class

are assumed to be all positive.

The right stride length may be determined based on the stride length of two steps and the hip joint angle value as shown in Equation 3 below.

The left stride length may be determined based on the stride length of two steps and the hip joint angle value as shown in Equation 4 below.

The wearable device (eg, the wearable device 100 of FIGS. 1 and 3 and the wearable device 100 of FIG. 2 ) calculates the right stride length from the stride length of two steps and the hip joint angle value using Equations 3 and 4 above. Length and left stride length can be estimated.

12 is a diagram illustrating a screen providing gait evaluation information according to an exemplary embodiment.

Referring to FIG. 12 , the electronic device 210 may provide a UI screen 1210 for providing user gait evaluation information. The gait evaluation information may include information about one or more estimated gait indicators and a gait score determined based on the gait indicators. In one embodiment, the electronic device 210 may include total number of steps, time spent walking, (average) gait speed, total distance walked, (average) gait speed, (average) stride length, gait symmetry index, gait variation index, or gait. A gait indicator including at least one of the ratios may be provided through the UI screen 214 .

In one embodiment, the electronic device 210 updates the average stride length for one or more steps to the user through the UI screen 214 in real time, or provides voice data to inform the user of the average stride length through audio. can do. In an embodiment, the electronic device 210 calculates a relative percentile score within a user group to which the user's age or gender belongs for each gait index of gait speed, gait ratio, gait symmetry index, and gait variation index, and calculates A percentile score of an average or a weighted average of each gait indicator may be provided to the user. The electronic device 210 may collect gait indices of a user group of a similar age to the user's age, and calculate a percentile position of the gait index of a specific user within the corresponding user group. For example, if the walking speed of a 65-year-old user is the fastest compared to the walking speeds of a group of users aged 60 to 70 to which the user's age belongs, the user's percentile score is 100 points, and if the user's age is the slowest, the user's percentile score is 0 points. Assuming, a percentile score corresponding to the user's walking speed may be determined based on which percentile position the user's walking speed corresponds to.

Various embodiments of the present disclosure and terms used therein are not intended to limit the technical features described in the present disclosure to specific embodiments, but should be understood to include various modifications, equivalents, or substitutes of the embodiments. In connection with the description of the drawings, like reference numbers may be used for like or related elements. The singular form of a noun corresponding to an item may include one item or a plurality of items, unless the relevant context clearly dictates otherwise. In the present disclosure, “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 “A Each of the phrases such as "at least one of , B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof. Terms such as "first", "second", or "first" or "secondary" may simply be used to distinguish a given component from other corresponding components, and may be used to refer to a given component in another aspect (eg, importance or order) is not limited. A (e.g., first) component is said to be "coupled" or "connected" to another (e.g., second) component, with or without the terms "functionally" or "communicatively." When mentioned, it means that the certain component may be connected to the other component directly (eg by wire), wirelessly, or through a third component.

The term "module" used in various embodiments of the present disclosure may include a unit implemented in hardware, software, or firmware, and is interchangeably interchangeable with terms such as, for example, logic, logical blocks, components, or circuits. can be used as A module may be an integrally constructed component or a minimal unit of components or a portion thereof that performs one or more functions. For example, according to one embodiment, the module may be implemented in the form of an application-specific integrated circuit (ASIC).

Software may include a computer program, code, instructions, or a combination of one or more of the foregoing, which configures a processing device to operate as desired or processes independently or collectively. The device can be commanded. Software and/or data may be any tangible machine, component, physical device, virtual equipment, or computer storage medium or It can be permanently or temporarily embodied in a device. Software may be distributed on networked computer systems and stored or executed in a distributed manner. Software and data may be stored on computer readable media. Various embodiments of the present disclosure may be implemented as software including one or more instructions stored in a storage medium (eg, memory 514) readable by a machine. For example, the processor of the device may call at least one instruction among one or more instructions stored from a storage medium and execute it. This enables the device to be operated to perform at least one function according to the at least one command invoked. The one or more instructions may include code generated by a compiler or code executable by an interpreter. The device-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-temporary' only means that the storage medium is a tangible device and does not contain a signal (e.g. electromagnetic wave), and this term refers to the case where data is stored semi-permanently in the storage medium. It does not discriminate when it is temporarily stored.

According to one embodiment, the method according to various embodiments disclosed in the present disclosure may be included and provided in a computer program product. Computer program products may be traded between sellers and buyers as commodities. A computer program product is distributed in the form of a device-readable storage medium (eg compact disc read only memory (CD-ROM)), or through an application store (eg Play Store ^TM ) or on two user devices ( It can be distributed (eg downloaded or uploaded) online, directly between smart phones. In the case of online distribution, at least part of the computer program product may be temporarily stored or temporarily created in a device-readable storage medium such as a manufacturer's server, an application store server, or a relay server's memory.

According to various embodiments, each component (eg, module or program) of the above-described components may include a single object or a plurality of entities, and some of the plurality of entities may be separately disposed in other components. there is. According to various embodiments, one or more components or operations among the aforementioned corresponding components may be omitted, or one or more other components or operations may be added. Alternatively or additionally, a plurality of components (eg modules or programs) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by a corresponding component of the plurality of components prior to the integration. . According to various embodiments, the actions performed by a module, program, or other component are executed sequentially, in parallel, iteratively, or heuristically, or one or more of the actions are executed in a different order, or omitted. or one or more other actions may be added.

Claims (20)

In the electronic device 210,
a communication module 730 receiving sensor data including motion information of a user wearing the wearable device 100 from the wearable device 100;
a processor 710 for estimating a gait index indicating a gait state of the user based on the sensor data; and
A display module 740 outputting physical ability information including the gait index
including,
The processor 710,
Estimating a walking speed of the user using a walking speed estimation model that takes the sensor data as an input;
Estimating a step time of the user based on the sensor data;
estimating another gait index based on the gait speed and the gait time;
electronic device.
According to claim 1,
The processor 710,
A step length of one step, a stride length of two steps, a gait distance, a gait symmetry index, and a gait variability index based on the gait speed and the gait time , or estimating the other walking index including at least one of a walk ratio,
electronic device.
According to claim 1 or 2,
The processor 710,
detecting the start and end of the step of the user based on the sensor data, and estimating a walking time during one step of the user based on the start and end of the step;
electronic device.
According to claim 3,
The processor 710,
estimating an average walking speed during one step of the user based on the sensor data, and determining a stride length of the one step based on the average walking speed and a walking time during the one step;
electronic device.
According to any one of claims 2 to 4,
The processor 710,
An average value of the left stride length and an average value of the right stride length of the user are determined based on the sensor data, and a walking motion of the user is determined based on the average value of the left stride length and the average value of the right stride length. Determining the gait symmetry index for
electronic device.
According to any one of claims 2 to 5,
The processor 710,
The average walking time of the left stride length and the average walking time of the right stride length of the user are determined based on the sensor data, and the walking motion of the user is determined based on the average walking time of the left stride length and the average walking time of the right stride length of the user. Determining the gait symmetry index for
electronic device.
According to any one of claims 2 to 6,
The processor 710,
Standard deviation of the stride length of two steps measured during the predefined number of steps during the walking motion of the user or standard deviation of the stride time of two steps measured during the predefined number of steps Determining the gait variability index for the user's gait motion based on
electronic device.
According to any one of claims 2 to 7,
The processor 710,
determining the gait rate by dividing an average value of the stride length of one step of the user by steps per minute;
electronic device.
According to claim 8,
The processor 710,
determining the number of steps per minute based on the average value of the walking time of the one step;
electronic device.
According to any one of claims 2 to 9,
The processor 710,
Determining the walking rate by dividing the average value of the user's walking speed by the square of steps per minute,
electronic device.
According to any one of claims 1 to 10,
The processor 710,
Based on the first hip joint angle value when the hip joint angle of the user's right leg is maximum, the second hip joint angle value when the hip joint angle of the user's left leg is maximum, and the stride length of the user's two steps, Estimating the user's left step length and right step length,
electronic device.
According to any one of claims 2 to 11,
The processor 710,
A gait score corresponding to a gait evaluation result for the gait motion of the user is determined based on the estimated gait index, and gait evaluation information including the determined gait score and the estimated one or more gait indexes is provided to the user. to control,
electronic device.
According to claim 12,
The processor 710,
determining the gait score based on the gait speed, the gait ratio, the gait symmetry index, and the gait variation index;
electronic device.
According to any one of claims 1 to 13,
The wearable device 100,
Including an inertial measurement unit for measuring changes in acceleration and rotational speed according to the user's body movement, and an angle sensor for measuring the user's joint angle,
electronic device.
According to claim 14,
The gait speed estimation model receives acceleration information and rotational speed information output from the inertial measuring device, and the gait speed estimation model outputs an estimated walking speed value of the user based on the acceleration information and rotational speed information. doing,
electronic device.
A method for estimating a gait index of a user wearing a wearable device 100,
receiving sensor data including motion information of the user wearing the wearable device 100 from the wearable device 100;
estimating a gait index indicating a gait state of the user based on the sensor data; and
An operation of providing the estimated gait index to the user
including,
The operation of estimating the gait index,
estimating a walking speed of the user by using a walking speed estimation model that takes the sensor data as an input;
estimating a step time of the user based on the sensor data; and
An operation of estimating another gait parameter based on the gait speed and the gait time
How to include.
According to claim 16,
The operation of estimating the other gait index,
An operation of estimating the other gait index including at least one of a stride length of one step , a stride length of two steps, a gait distance, a gait symmetry index, a gait variation index, and a gait ratio based on the gait speed and the gait time.
How to include.
According to claim 17,
The operation of estimating the other gait index,
determining the gait rate by dividing the average value of the user's step length by the number of steps per minute or by dividing the average value of the user's walking speed by the square of the number of steps per minute;
How to include.
According to any one of claims 16 to 18,
The operation of providing the estimated gait index to the user,
determining a gait score corresponding to a gait evaluation result for the gait motion of the user based on the estimated gait index; and
Providing the user with gait evaluation information including the determined gait score and the estimated gait index
How to include.
A computer readable storage medium storing instructions for executing the method of any one of claims 16 to 19.

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