KR20240000122A - Wearable exercise apparatus and operating method thereof and method of evaluating exercise pose - Google Patents

Abstract

A wearable exercise device and a method for evaluating exercise posture are disclosed. A wearable exercise device according to embodiments forms a communication link with a user terminal, receives first exercise information set by the user from the user terminal through the established communication link, and moves a first part of the user's body. First motor control for obtaining first movement data by sensing, obtaining second movement data by sensing movement of a second part of the body, and controlling the motor based on the received first movement information. determine information, determine an exercise state of the user based on at least a portion of the acquired first motion data and at least a portion of the acquired second motion data, and determine the exercise state as requiring assistance from the wearable exercise device. If it is determined to be in the first exercise state, the motor driver circuit may be controlled based on the determined first motor control information so that the motor is driven through the motor driver circuit.

Description

Wearable exercise device and its operation method and exercise posture evaluation method {WEARABLE EXERCISE APPARATUS AND OPERATING METHOD THEREOF AND METHOD OF EVALUATING EXERCISE POSE}

Embodiments relate to a wearable exercise device that is worn on the user's body and provides force to the user, and technology for evaluating the user's exercise posture.

Weight training can refer to an exercise that causes muscle growth by repeatedly stimulating the muscles. Users can efficiently perform weight training with the assistance of a trainer. Users can efficiently perform weight training through fitness applications or videos.

A wearable exercise device according to embodiments includes a first body unit worn on a first part of the user's body and in which a motor is located; a second body unit worn on a second part of the body and connected to the motor; a first motion sensor located in the first body unit and acquiring first motion data by sensing movement of the first part; a second motion sensor located in the second body unit and acquiring second motion data by sensing movement of the second part; a motor driver circuit that drives the motor; a communication module that forms a communication link with a user terminal and receives first exercise information set by the user from the user terminal through the established communication link; and a processor. The processor may determine first motor control information for controlling the motor based on the received first motion information. The processor may receive each of the obtained first and second motion data from each of the first and second motion sensors. The processor may determine the user's exercise state based on at least a portion of the received first motion data and at least a portion of the received second motion data. When the processor determines that the exercise state is a first exercise state requiring assistance from the wearable exercise device, the processor controls the motor driver circuit based on the determined first motor control information to drive the motor through the motor driver circuit. can do.

A wearable exercise device according to embodiments includes a first body unit worn on a first part of the user's body and in which a motor is located; a second body unit worn on a second part of the body and connected to the motor; A motion sensor that acquires motion data by sensing the user's movement; a motor driver circuit that drives the motor; a communication module that forms a communication link with a user terminal and receives third exercise information set by the user from the user terminal through the established communication link; and a processor. The processor may receive a signal from the encoder of the motor. The processor may receive the obtained motion data from the motion sensor. The processor may determine third motor control information for controlling the motor based on the third motion information. The processor may determine the user's exercise state based on the signal received from the encoder. When the processor determines that the exercise states are first exercise states that require assistance from the wearable exercise device, the processor controls the motor driver circuit based on the determined third motor control information to drive the motor through the motor driver circuit. can do.

A method of operating a wearable exercise device according to embodiments includes forming a communication link with a user terminal and receiving first exercise information set by the user from the user terminal through the established communication link; Obtaining first movement data by sensing movement of a first part of the user's body; Obtaining second movement data by sensing movement of a second part of the body; determining first motor control information for controlling the motor based on the received first motion information; determining an exercise state of the user based on at least a portion of the acquired first motion data and at least a portion of the obtained second motion data; and when the exercise state is determined to be a first exercise state requiring assistance from the wearable exercise device, controlling the motor driver circuit based on the determined first motor control information so that the motor is driven through the motor driver circuit. It can be included.

An exercise posture evaluation method performed by an evaluation device according to embodiments includes receiving a notification indicating that one set of exercises of a user has ended from a wearable exercise device; An operation of receiving movement data obtained by sensing the user's movement during the one set by a motion sensor of the wearable exercise device from the wearable exercise device; detecting peaks in at least some of the received motion data; extracting motion data for each exercise repeated during the set from the received motion data based on the detected peaks; and evaluating the posture of each of the repeated movements based on at least some of the extracted movement data.

1 is a configuration diagram of a system including a wearable exercise device and a user terminal according to embodiments.
2 to 4 are diagrams for explaining wearable exercise devices according to embodiments.
5 to 7 are diagrams for explaining examples of operations of a wearable exercise device and a user terminal according to embodiments.
8 to 10 are diagrams for explaining a method for evaluating exercise posture according to embodiments.
FIG. 11 is a diagram for explaining examples of operations of a wearable exercise device and a user terminal according to embodiments.
Figure 12 is a block diagram for explaining a wearable exercise device according to embodiments.
13 and 14 are flowcharts illustrating examples of operations of a wearable exercise device and a user terminal according to embodiments.
Figure 15 is a flowchart for explaining the operation of a wearable exercise device and a user terminal according to embodiments.

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

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

When a component is referred to as being “connected” to another component, it should be understood that it may be directly connected or connected to the other component, but that other components may exist in between.

Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to designate the presence of the described features, numbers, steps, operations, components, parts, or combinations thereof, and are intended to indicate the presence of one or more other features or numbers, It should be understood that this does not exclude in advance the possibility of the presence or addition of steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art. Terms as defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings they have in the context of the related technology, and unless clearly defined in this specification, should not be interpreted in an idealized or overly formal sense. No.

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

1 is a configuration diagram of a system including a wearable exercise device and a user terminal according to embodiments.

Referring to FIG. 1, the wearable exercise device 120 may form a communication link (eg, a short-range wireless communication link) with the user terminal 110. For example, the wearable exercise device 120 may form a communication link with the user terminal 110 through Bluetooth, Bluetooth Low Energy (BLE), ZigBee, or Wi-Fi Direct.

The wearable exercise device 120 may be worn on the user's body (eg, upper limb, lower limb). The user can repeatedly perform exercise while wearing the wearable exercise device 120. The user's one exercise may be referred to as “one repetition or one rep.” The user's A reps exercise may be referred to as “A repetitions or A reps.” For example, a user performing 1 push-up may correspond to 1 repetition of a push-up, and a user performing 10 push-ups may correspond to 10 repetitions (or 10 repetitions) of a push-up ( It can correspond to ten repetitions or ten reps.) The 10 repetitions of the push-up may include the first (1st) repetition of the push-up or the tenth (10th) repetition of the push-up.

The wearable exercise device 120 may provide force (eg, assistance force or resistance force) to the user. The assisting force may represent the force with which the wearable exercise device 120 assists the user's exercise (or movement), and the resistance force may represent the force with which the wearable exercise device 120 interferes with the user's exercise (or movement) (or the user's It can represent a force that resists movement.

The user terminal 110 may include a mobile device (eg, a smartphone, tablet PC, etc.).

The wearable exercise device 120 may acquire movement data by sensing the user's movement through a movement sensor (eg, a gyro sensor or an IMU (Inertial Measurement Unit) sensor). Movement data may include, for example, pitch data, roll data, and yaw data. Pitch data may represent rotation angle data about a first axis (e.g., y-axis), roll data may represent rotation angle data about a second axis (e.g., x-axis), and yaw data may represent rotation angle data about a third axis. Can represent rotation angle data about (e.g. z-axis).

The wearable exercise device 120 may determine the user's exercise state based on at least part of the acquired motion data (eg, pitch data).

When the wearable exercise device 120 determines that the user's exercise state is a first exercise state requiring assistance from the wearable exercise device 120, the motor driver drives the motor through a motor driver circuit to provide assistance to the user. The circuit can be controlled. The first exercise state may be a state in which a certain amount of time has elapsed with the bent angle of the joint being less than or equal to a set angle while the user performs exercise (e.g., weight training) while wearing the wearable exercise device 120. . For example, while performing a bench press exercise, the user may not be able to lift the barbell beyond a certain angle, so the bent angle of the elbow joint may be below the set angle, and the bent angle of the elbow joint may remain below the set angle for a certain period of time. This may elapse. In this case, the wearable exercise device 120 may determine that the user is in a first exercise state and may drive a motor to provide assistive force to the user.

When the wearable exercise device 120 determines that the user's exercise state is a second exercise state that does not require assistance from the wearable exercise device 120, it may not drive the motor.

The wearable exercise device 120 may determine whether one set of exercise the user is performing has ended, and if it is determined that one set has ended, a set end notification is sent to the user terminal 110 and a set end notification is sent to the user terminal 110 during one set. The acquired motion data can be transmitted.

The user terminal 110 may evaluate the user's exercise posture based on the movement data received from the wearable exercise device 120 and display the evaluation result on the display.

In embodiments, the wearable exercise device 120 may enable a user to efficiently perform exercise without the assistance of an expert (eg, trainer). The wearable exercise device 120 can provide assistance to the user at an appropriate time (eg, when the user's exercise state is determined to be the first exercise state), allowing the user to exercise safely. The user terminal 110 can provide exercise posture evaluation results (or feedback on exercise posture) to the user, allowing the user to easily check and correct incorrect exercise posture.

2 to 4 are diagrams for explaining wearable exercise devices according to embodiments.

Referring to FIG. 2, the wearable exercise device 200 (e.g., the wearable exercise device 120 of FIG. 1) includes a processor 210, a plurality of motion sensors 220-1 and 220-2, and a communication module 230. ), a plurality of motor driver circuits 240-1 and 240-2, a plurality of motors 250-1 and 250-2, and a memory 260.

Depending on the embodiment, the first motor driver circuit 240-1 and the first motor 250-1 may be omitted or the second motor driver circuit 240-2 and the second motor 250-2 may be omitted. You can. Depending on the embodiment, the wearable exercise device 200 may include a plurality of processors. The number of motor driver circuits, motors, or processors may vary depending on the body part on which the wearable exercise device 200 is worn.

The processor 210 controls the overall operation of the wearable exercise device 200.

The communication module 230 may allow the wearable exercise device 200 to communicate with an external device (eg, user terminal 110, server).

The communication module 230 may include one or more of a short-range wireless communication module, a Wi-Fi communication module, and a mobile communication module. The short-range wireless communication module may communicate with a user terminal 110 located nearby according to a short-range wireless communication method (e.g., Near Field Communication (NFC), Bluetooth, BLE, ZigBee, etc.). The Wi-Fi communication module can connect to the network and communicate with the server according to the Wi-Fi communication method. The mobile communication circuit can connect to a mobile communication network and communicate with a server depending on the mobile communication method (e.g., 3G, 4G, 5G, etc.).

The first motion sensor 220-1 (e.g., gyro sensor) may acquire first movement data (e.g., first pitch data, first roll data, first yaw data) by sensing the user's movement, The acquired first motion data may be transmitted to the processor 210.

The second motion sensor 220-2 (e.g., gyro sensor) may acquire second movement data (e.g., second pitch data, second roll data, and second yaw data) by sensing the user's movement, The acquired second motion data may be transmitted to the processor 210.

The first motor driver circuit 240-1 can drive the first motor 250-1, and the first motor 250-1 can output torque. The first motor driver circuit 240-1 drives the first motor 250-1 by allowing current to flow in the first motor 250-1 to drive the first motor 250-1. It can indicate rotating (or operating) (250-1).

The second motor driver circuit 240-2 can drive the second motor 250-2, and the second motor 250-2 can output torque. The second motor driver circuit 240-2 drives the second motor 250-2 by causing current to flow to the second motor 250-2. It can indicate rotating (or operating) (250-2).

The communication module 230 may receive first exercise information set for exercise assistance from the user terminal 110 and transmit the first exercise information to the processor 210 . For example, the user may enter the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and the strength of the assisting force in the application of the user terminal 110. You can enter information (or level) related to (e.g. strong, medium, weak). The user terminal 110 sends first exercise information including information related to the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and the strength of the assisting force to the communication module 230. ) can be transmitted. The communication module 230 may transmit the first exercise information to the processor 210.

The processor 210 provides first motor control information for controlling the motors 250-1 and 25-2 based on the first motion information (e.g., the first motor control information for each of the motors 250-1 and 25-2). direction of rotation and strength of torque) can be determined. The first rotation direction may represent a rotation direction for assisting the user's movement. The torque in the first rotation direction may be referred to as “auxiliary torque.”

The processor 210 may determine the user's movement state based on at least part of the first movement data (eg, first pitch data) and at least part of the second motion data (eg, second pitch data). When the processor 210 determines that the user's exercise state is the first exercise state, the processor 210 controls each of the motors 250-1 and 250-2 to be driven through each of the motor driver circuits 240-1 and 240-2. 1 Each of the motor driver circuits 240-1 and 240-2 can be controlled based on the motor control information. Each of the motors 250-1 and 250-2 may output auxiliary torque under the control of each of the motor driver circuits 240-1 and 240-2.

The communication module 230 may receive second exercise information set for generating exercise resistance from the user terminal 110 and transmit the second exercise information to the processor 210 . For example, the user may input the type of exercise to be performed, the number of sets of the exercise, the number of repetitions of the exercise per set, and the weight value into the application of the user terminal 110. As will be described later, the weight value can be used to calculate the strength of the resistance torque. The user terminal 110 may transmit second exercise information including the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and the weight value to the communication module 230. The communication module 230 may transmit the second exercise information to the processor 210.

The first motion sensor 220-1 can acquire first motion data (e.g., first pitch data, first roll data, first yaw data) by sensing the user's movement, and the obtained first motion data Can be transmitted to the processor 210. The second motion sensor 220-2 may acquire second motion data (e.g., second pitch data, second roll data, second yaw data) by sensing the user's movement, and obtain the second motion data. Can be transmitted to the processor 210.

The processor 210 provides second motor control information for controlling the motors 250-1 and 250-2 based on the second motion information (e.g., the second motor control information for each of the motors 250-1 and 250-2). direction of rotation and strength of torque) can be determined. The second rotation direction may represent a rotation direction to provide resistance to the user's movement. The second rotation direction may be opposite to the first rotation direction. The torque in the second rotation direction may be referred to as “resistance torque.” The processor 210 operates the motor driver circuits 240 based on the second motor control information so that each of the motors 250-1 and 250-2 is driven through each of the motor driver circuits 240-1 and 240-2. -1, 240-2) Each can be controlled. Each of the motors 250-1 and 250-2 may output resistance torque under the control of each of the motor driver circuits 240-1 and 240-2.

The memory 260 may store software or one or more instructions necessary for the operation of the wearable exercise device 200, and the processor 210 may execute software or one or more instructions. The processor 210 may perform the above-described operations of the processor 210 by executing software or one or more instructions.

The memory 260 may store first and second motion data, operation results of the processor 210, etc.

The memory 260 may include, but is not limited to, non-volatile memory, volatile memory, etc.

An example of a wearable exercise device 200 is shown in FIGS. 3 and 4 . In the examples shown in FIGS. 3 and 4 , the wearable exercise device 200 may include a first body unit 310 and a second body unit 320. The first body unit 310 may be worn on a first part of the user's body, and the second body unit 320 may be worn on a second part of the user's body.

The wearable exercise device 200 may be worn, for example, on the upper extremity and allows the user to exercise the upper extremity (e.g., arm curl, bench press, lat pull-down, etc.) ) or may provide resistance to upper extremity movements. For example, the first body unit 310 may be worn on the upper arm of the upper limb and the second body unit 320 may be worn on the forearm of the upper limb. It is not limited thereto, and the first body unit 310 may be worn on the forearm of the upper limb or the upper arm of the upper limb.

The wearable exercise device 200 may be worn, for example, on the lower extremities and may assist the user's lower extremity exercises (e.g., squats, leg extensions, etc.) or provide resistance to lower extremity exercises. there is. For example, the first body unit 310 may be worn above the knee (eg, thigh, etc.) and the second body unit 320 may be worn below the knee. The present invention is not limited to this, and the first body unit 310 may be worn below the knee and the second body unit 320 may be worn above the knee.

Although not shown in FIG. 3, the wearable exercise device 200 may include a tightening unit so that it can be tightened to the body. The user can tighten the wearable exercise device 200 to the body by manipulating the tightening part to prevent the wearable exercise device 200 from being separated from the user while exercising.

The first motion sensor 220-1 may be located in the first body unit 310 and may acquire first motion data by sensing the movement of the first part of the user's body (e.g., upper arm, etc.) .

The second motion sensor 220-2 may be located in the second body unit 320 and may acquire second movement data by sensing the movement of the second part of the user's body (e.g., forearm, etc.) .

Motors 250-1 and 250-2 and motor driver circuits 240-1 and 240-2 may be located in the first body unit 310. The second body unit 320 may be connected to the shaft of the first motor 250-1 and the shaft of the second motor 250-2, respectively. The second body unit 320 may rotate as shown in FIG. 4 by the rotation of the first motor 250-1 and the rotation of the second motor 250-2. When each of the first motor 250-1 and the second motor 250-2 outputs auxiliary torque, the second body unit 320 may rotate in the direction of the auxiliary torque, and this rotation generates auxiliary force. It may be provided to the user. When each of the first motor 250-1 and the second motor 250-2 outputs resistance torque, the second body unit 320 may rotate in the direction of the resistance torque, and this rotation causes the resistance force to be generated by the user. can be provided to

The processor 210, communication module 230, and memory 230 may be located in the first body unit 310. It is not limited thereto, and at least some of the processor 210, communication module 230, and memory 230 may be located in the first body unit 310, and the remainder may be located in the second body unit 320. can do.

5 to 7 are diagrams for explaining examples of operations of a wearable exercise device and a user terminal according to embodiments.

In operation 501 of FIG. 5, the communication module 230 may form a communication link (eg, BLE link, etc.) with the user terminal 110.

In operation 503, the user terminal 110 may generate first exercise information based on items input from the user. In one embodiment, the user terminal 110 may inquire from the user whether to select between the assisting force and the resistance force, and may receive a selection input regarding the assisting force among the assisting force and the resistance force from the user. The user terminal 110 may request the user to input a plurality of items (eg, information related to the type of exercise, the number of sets of the exercise, the number of repetitions of the exercise per set, and the strength of the assisting force). The user terminal 110 may generate first exercise information including items input from the user. For example, the user terminal 110 may receive a selection input for assisting force or resistance force from a user who wants to perform a bench press. The user terminal 110 may receive input from the user such as exercise type “bench press”, number of sets “4”, number of exercise repetitions per set “8”, and information “strong” related to the intensity of assisting force. The user terminal 110 generates first exercise information including the exercise type “bench press”, the number of sets “4”, the number of repetitions of the exercise per set “8”, and the information “strong” related to the strength of the assisting force. can do.

In operation 505, the user terminal 110 may transmit first exercise information to the communication module 230.

In operation 507, the communication module 230 may transmit the first exercise information to the processor 210.

In operation 509, the user terminal 110 may receive an exercise start input from the user. For example, a “start exercise” soft button may be displayed on the display of the user terminal 110, and the user may apply a touch input to the “start exercise” soft button.

In operation 511, the user terminal 110 may transmit an exercise start notification to the communication module 230.

In operation 513, the communication module 230 may transmit an exercise start notification to the processor 210.

When the processor 210 receives an exercise start notification from the communication module 230, the processor 210 may transmit a sensing start command to the motion sensors 220-1 and 220-2 in operation 515. Each of the motion sensors 220-1 and 220-2 may sense the user's movement when receiving a sensing start command from the processor 210. Each of the motion sensors 220-1 and 220-2 may sense the user's movement during the sensing section of FIG. 5. For example, the first motion sensor 220-1 may sense the movement of the first part of the user's body (e.g., upper arm, etc.), and the second motion sensor 220-2 may sense the movement of the second part of the user's body. The movement of a part (e.g. forearm, etc.) can be sensed. Each of the motion sensors 220-1 and 220-2 may acquire first and second motion data, respectively, by sensing the user's motion.

The first motion data may include first pitch data, first roll data, and first yaw data, and the second motion data may include second pitch data, second roll data, and second yaw data. there is. Figure 6 shows examples of first pitch data, first roll data, first yaw data, and second pitch data. In the example shown in FIG. 6, the first roll data 610, first yaw data 620, and first pitch data 630 are each generated by the first motion sensor 220-1 sensing the movement of the upper arm. The acquired roll data, yaw data, and pitch data may each be obtained, and the second pitch data 640 may be pitch data obtained by sensing the movement of the forearm. In the example shown in FIG. 6, each of the second roll data and the second yaw data obtained by sensing the movement of the forearm may be the same as the first roll data 610 and the first yaw data 620, respectively. For convenience, the illustration of the second roll data and the second yaw data obtained by sensing the movement of the forearm is omitted in FIG. 6 .

In the example shown in Figure 6, the interval between each peak of data 610, 620, 630, and 640 and the next peak may correspond to one repetition of the exercise (or one performance of the exercise). For example, the interval between the peaks 630-1 and 630-2 of the first pitch data 630 may correspond to “one repetition” of the exercise previously described with reference to FIG. 1. As will be described later, the processor 210 may count the number of repetitions of the user's exercise based on at least some peaks of the first and second movement data, and the counted repetition number may be a set repetition number (e.g., first exercise information When the number of repetitions of an exercise per set included in ) is reached, one set can be judged to be over.

Returning to FIG. 5 , in operation 517, the processor 210 may receive first and second motion data from each of the motion sensors 220-1 and 220-2. The processor 210 may receive first and second motion data from each of the motion sensors 220-1 and 220-2 during the sensing period.

In operation 519, the processor 210 may determine first motor control information based on the first motion information. In one embodiment, the processor 210 configures the ratio and motors 250 corresponding to “information (or level) related to the intensity of the assistive force (e.g., strong, medium, or weak)” included in the first exercise information. -1, 250-2) The intensity of torque (eg, auxiliary torque) to be generated by each of the motors 250-1 and 250-2 can be calculated using each maximum torque intensity. For example, if the maximum torque intensity of each of the motors 250-1 and 250-2 is N and the information related to the intensity of the auxiliary force is "strong" (or first level), the processor 210 sets "strong" The ratio corresponding to (e.g., 0.8) is multiplied by the maximum torque intensity (N) of each of the motors 250-1 and 250-2 to obtain the intensity of torque to be output by each of the motors 250-1 and 250-2 ( Example: 0.8N) can be determined (or calculated). When the information related to the strength of the assisting force is “medium (or second level),” the processor 210 sets the ratio corresponding to “medium” (e.g., 0.5) and the motors 250-1 and 250-2, respectively. The intensity of torque to be output by each of the motors 250-1 and 250-2 (eg, 0.5N) can be determined by multiplying the maximum torque intensity (N) of . When the information related to the intensity of the assisting force is “weak (or third level),” the processor 210 sets the ratio corresponding to “weak” (e.g., 0.3) and the motors 250-1 and 250-2, respectively. The intensity of torque to be output by each of the motors 250-1 and 250-2 (eg, 0.3N) can be determined by multiplying the maximum torque intensity (N) of . Previously, the ratios corresponding to “strong”, “medium”, and “weak” were exemplified as 0.8, 0.5, and 0.3, respectively, but the ratios corresponding to “strong”, “medium”, and “weak” respectively were as described above. It is not limited to one example. The processor 210 can recognize that the assisting force has been selected by the user through the first motion information, and thus can determine the rotation direction of each of the motors 250-1 and 250-2 as the first rotation direction.

In operation 521, the processor 210 determines the user's movement state based on at least a portion of the first movement data (e.g., first pitch data) and at least a portion of the second movement data (e.g., second pitch data). You can.

In one embodiment, the processor 210 may calculate the bent angle of the user's joint using first pitch data and second pitch data. For example, in the example shown in FIG. 7, the processor 210 includes first pitch data (e.g., first pitch data 630 in FIG. 6) and second pitch data (e.g., second pitch data in FIG. 6 (e.g., 640)) can be derived, and the derived difference can be determined as the bent angle of the user's joint (e.g., the bent angle of the elbow) 710.

The processor 210 may check whether a certain period of time (e.g., 3 seconds) elapses while the calculated angle (e.g., joint bent angle 710) is less than or equal to a set angle (e.g., 5 degrees). . If a certain amount of time elapses while the calculated angle is less than or equal to the set angle, the processor 210 may determine the user's exercise state as the first exercise state. The processor 210 may determine the user's exercise state as the second exercise state when a certain amount of time does not elapse while the calculated angle is less than the set angle or when the calculated angle exceeds the set angle.

When the processor 210 determines that the user's exercise state is the first exercise state, in operation 523-1, the processor 210 generates first motor control information (e.g., the first rotation direction and torque of each of the motors 250-1 and 250-2). The motor driver circuits 240-1 and 240-2 can be controlled based on the intensity). In operation 525, each of the motor driver circuits 240-1 and 240-2 may drive each of the motors 250-1 and 250-2. In operation 527, each of the motors 250-1 and 250-2 may output auxiliary torque.

If the processor 210 determines that the user's exercise state is the second exercise state, the processor 210 may prevent the motors 250-1 and 250-2 from being driven in operation 523-2. Before operation 521, each of the motors 250-1 and 250-2 may be in an undriven state in which each of the motor driver circuits 240-1 and 240-2 is not driven. When the processor 210 determines that the user's exercise state is the second exercise state in operation 521, the processor 210 may maintain the non-driven state of the motors 250-1 and 250-2. Depending on the embodiment, before operation 521, each of the motors 250-1 and 250-2 is in a driving state (or outputs auxiliary torque) being driven by each of the motor driver circuits 240-1 and 240-2. may be in a state). When the processor 210 determines that the user's exercise state is the second exercise state in operation 521, each of the motors 250-1 and 250-2 is driven by each of the motor driver circuits 240-1 and 240-2. You can prevent it from happening.

At operation 529, processor 210 may determine whether one set of exercise is complete. In one embodiment, the processor 210 may count the number of repetitions of the exercise (or movement) based on at least some peaks of the first and second movement data, and create a set based on the counted number of repetitions. You can determine whether it has ended. For example, “8 repetitions per set” may be included in the first exercise information. The processor 210 may detect the peak 630-1 in the first pitch data 630 of FIG. 6, and may detect the peak 630-2 after detecting the peak 630-1. The interval between the peak 630-1 and the peak 630-2 may correspond to one repetition of the exercise, so the processor 210 detects the peak 630-1 and then selects the peak 630-2. If detected, the number of repetitions of the exercise (or movement) can be increased by one. When the processor 210 detects the peak 630-2 and then detects the next peak of the peak 630-2, the processor 210 may increase the number of repetitions of the exercise (or movement) by one more time. In this way, the processor 210 can count the number of repetitions of the exercise (or movement), and the counted number of repetitions is included in the “number of repetitions of the exercise per set (e.g., 8)” included in the first exercise information. When it is reached, it can be determined that one set has ended. Previously, it was explained as an example that the first pitch data 630 was used to count the number of repetitions of exercise (or movement). Without being limited thereto, the processor 210 may use at least some or all of the peaks of the data 610, 620, 630, and 640 to count the number of repetitions of exercise (or movement).

If the processor 210 determines that one set has not ended, it may perform operation 521.

When the processor 210 determines that one set is completed while the motors 250-1 and 250-2 are outputting auxiliary torque, as in the example shown in FIG. 5, in operation 531, the motors The motor driver circuits 240-1 and 240-2 can be controlled so that the driving of the motors 250-1 and 250-2 is stopped. In operation 533, each of the motor driver circuits 240-1 and 240-2 may stop driving each of the motors 250-1 and 250-2.

Depending on the embodiment, unlike the example shown in FIG. 5, the processor 210 determines that one set is completed in an undriven state in which the motors 250-1 and 250-2 are not outputting auxiliary torque. can do. In this case, the processor 210 may not perform operation 531 of FIG. 5, and the motor driver circuits 240-1 and 240-2 may not perform operation 533.

If the processor 210 determines that one set has ended, it may transmit a sensing end command to the motion sensors 220-1 and 220-2 in operation 535. When each of the motion sensors 220-1 and 220-2 receives a sensing end command from the processor 210, each of the motion sensors 220-1 and 220-2 may end sensing the user's movement.

If the processor 210 determines that one set has ended, in operation 537, the processor 210 may deliver a set end notification to the communication module 230. The processor 210 may transmit the first and second motion data acquired during the sensing period to the communication module 230 along with a set end notification.

In operation 539, the communication module 230 may transmit the first and second motion data acquired during the sensing period and a set end notification to the user terminal 110.

When the user terminal 110 receives a set end notification and the first and second movement data acquired during the sensing period from the communication module 230, the user terminal 110 may evaluate the exercise posture in operation 541. In one embodiment, the user terminal 110 may detect peaks in at least part (or all) of the first and second motion data received from the communication module 230. The user terminal 110 may extract motion data for each exercise repeated during one set from the first and second motion data received from the communication module 230 based on the detected peaks. The user terminal 110 may evaluate the posture of each repeated exercise based on at least some of the extracted movement data.

In FIG. 5, operation 519 is shown as being performed before operation 521, but this is only an example. Depending on the embodiment, operation 519 may be performed when the processor 210 determines that the user's exercise state is the first exercise state in operation 521.

Depending on the embodiment, exercise posture evaluation may be performed by a server. For example, the user terminal 110 may transmit the first and second motion data received from the communication module 230 to the server. When the server receives the first and second movement data received from the user terminal 110, the server may perform exercise posture evaluation. The server may transmit the exercise posture evaluation results to the user terminal 110. The user terminal 110 may display the exercise posture evaluation results received from the server on the display.

Depending on the embodiment, exercise posture evaluation may be performed by the wearable exercise device 200. For example, when the processor 210 of the wearable exercise device 200 determines that one set is completed, it may perform exercise posture evaluation. The processor 210 may transmit the exercise posture evaluation results to the user terminal 110 through the communication module 230. The user terminal 110 may display the exercise posture evaluation results received from the wearable exercise device 200 on the display.

Exercise posture evaluation will be explained in detail through FIGS. 8 to 10.

Although not shown in FIG. 5, when the user terminal 110 receives a set end notification and the first and second motion data acquired during the sensing period from the communication module 230, it provides feedback indicating that the set has ended to the user. can do. For example, the user terminal 110 may output a voice indicating the end of the set and/or display a message on the display.

The user terminal 110 may display the exercise posture evaluation results and the rest time (or the remaining time until the start of the next set) on the display. When the break time has elapsed (or when a next set start input is received from the user), the user terminal 110 may transmit a next set start notification to the communication module 230 in operation 511. When the wearable exercise device 200 receives a next set start notification from the user terminal 110, it may repeatedly perform operations 513 to 539.

The wearable exercise device 200 may notify the user terminal 110 of an exercise end notification when the exercise sets are performed as many sets as the number of sets included in the first exercise information.

The user terminal 110 may provide feedback (eg, voice or message) indicating that the exercise has ended to the user.

8 to 10 are diagrams for explaining a method for evaluating exercise posture according to embodiments.

The exercise posture evaluation method according to embodiments may be performed by an evaluation device (eg, user terminal 110 or server).

A user can perform exercise while wearing the wearable exercise device 200 on one arm (or one leg). The user terminal 110 may receive movement data (eg, first and second movement data) and a set end notification from the wearable exercise device 200 worn on one arm (or one leg). When the user terminal 110 receives movement data and a set end notification from the wearable exercise device 200 worn on one arm (or one leg), the user terminal 110 may perform operations 810 to 830.

In some cases, the user may perform exercise while wearing each of the two wearable exercise devices 200 on both arms (or both legs). The user terminal 110 may receive movement data (eg, first and second movement data) and a set end notification from the wearable exercise device 200 worn on one arm (or one leg). The user terminal 110 may receive movement data (eg, first and second movement data) and a set end notification from the wearable exercise device 200 worn on the other arm (or the other leg). When the user terminal 110 receives movement data and a set end notification from each of the two wearable exercise devices 200, the user terminal 110 may perform operations 810 to 830.

In operation 810, the user terminal 110 may detect peaks in at least some (or all) of the motion data received from the wearable exercise device 200. As an example, the user terminal 110 receives a set end notification from the wearable exercise device 200 and first and second movement data (e.g., first pitch data, first motion data, 1 roll data, 1st yaw data, 2nd pitch data, 2nd roll data, 2nd yaw data) can be received. FIG. 9A shows examples of first roll data, first yaw data, first pitch data, and second pitch data acquired during the sensing section of FIG. 5 . In the example shown in FIG. 9A, the first roll data 901, the first yaw data 902, and the first pitch data 903 each correspond to the first motion sensor 220-1 detecting the first motion of the body during the sensing period. These may be roll data, yaw data, and pitch data respectively obtained by sensing the movement of one part (e.g., upper arm). The second pitch data 904 may be pitch data obtained by the second motion sensor 220-2 sensing the movement of the second part of the body (eg, forearm) during the sensing period. In the example shown in FIG. 9A, the second roll data and second yaw data obtained by sensing the movement of the second part (e.g., forearm) are first roll data 901 and first yaw data 902, respectively. Since it may be the same as , for convenience of explanation, the illustration of the second roll data and the second yaw data obtained by sensing the movement of the forearm is omitted in FIG. 9A.

In the example shown in FIG. 9A, the user terminal 110 detects peaks in each of first roll data 901, first yaw data 902, first pitch data 903, and second pitch data 904. It can be detected. For example, the user terminal 110 may check the angle values within the time window while moving the time window in the first roll data 901, and the maximum angle value 901-1 among the checked angle values. ) can be found. If an angle value greater than the maximum angle value 901-1 does not appear for a certain period of time, the user terminal 110 may determine (or detect) the maximum angle value 901-1 as the peak value. The user terminal 110 can find the maximum angle value (901-2) among the angle values within the time window while moving the time window, and an angle value larger than the maximum angle value (901-2) does not appear for a certain period of time. Otherwise, the maximum angle value (901-2) can be determined (or detected) as the peak value. In this way, the user terminal 110 can detect peak values 901-3, 901-4, ... while moving the time window in the first roll data 901. Likewise, the user terminal 110 may detect peaks 902-1, 902-2, 902-3, 902-4, ... while moving the time window in the first yaw data 902. The user terminal 110 may detect peaks 903-1, 903-2, 903-3, 903-4, ... while moving the time window in the first pitch data 903. The user terminal 110 may detect peaks 904-1, 904-2, 904-3, 904-4, ... while moving the time window in the second pitch data 904. Peak detection is not limited to the examples described above.

In operation 820, the user terminal 110 may extract motion data for each exercise repeated during one set from the received motion data based on the detected peaks. As described above, the interval between a detected peak and the next peak (or the interval between adjacent peaks) may correspond to one repetition of the exercise.

For example, the interval between the first peak (901-1) and the second peak (901-2) of the first roll data (901), the first peak (902-1) and the second peak (902-1) of the first yaw data (902) The interval between the two peaks (902-2), the interval between the first peak (903-1) and the second peak (903-2) of the first pitch data (903), and the second peak (903-2) of the second pitch data (904) The interval between the first peak 904-1 and the second peak 904-2 may correspond, for example, to the first (1st) repetition of the exercise. The interval between the second peak (901-2) and the third peak (901-3) of the first roll data (901), the second peak (902-2) and the third peak (902-2) of the first yaw data (902) 902-3), the interval between the second peak 903-2 and the third peak 903-3 of the first pitch data 903, and the second peak of the second pitch data 904 ( The interval between 904-2) and third peak 904-3 may correspond, for example, to the second (2nd) repetition of the exercise. The interval between the third peak (901-3) and the fourth peak (901-4) of the first roll data (901), the third peak (902-3) and the fourth peak (902-3) of the first yaw data (902) 902-4), the interval between the third peak (903-3) and the fourth peak (903-4) of the first pitch data (903), and the third peak (903-4) of the second pitch data (904) The interval between 904-3) and the third peak 904-4 may correspond, for example, to the third (3rd) repetition of the exercise.

The user terminal 110 may distinguish one repetition of exercise through the detected peak and the next detected peak (or adjacent peaks). The user terminal 110 includes peaks 901-1 and 901-2 of the first roll data 901, peaks 902-1 and 902-2 of the first yaw data 902, and first pitch data. Through the peaks 903-1, 903-2 of 903, and the peaks 904-1, 904-2 of the second pitch data 904, the first (1st) repetition of several repetitions of the exercise can be distinguished. The user terminal 110 includes peaks 901-2 and 901-3 of the first roll data 901, peaks 902-2 and 902-3 of the first yaw data 902, and first pitch data. Through the peaks (903-2, 903-3) of (903) and the peaks (904-2, 904-3) of the second pitch data (904), the second repetition among several repetitions of the exercise can be distinguished. there is. The user terminal 110 includes peaks 901-3 and 901-4 of the first roll data 901, peaks 902-3 and 902-4 of the first yaw data 902, and first pitch data. Through the peaks (903-3, 903-4) of (903) and the peaks (904-3, 904-4) of the second pitch data (904), the third repetition can be distinguished among several repetitions of the exercise. there is.

The user terminal 110 collects data 910-1 between the first peak 901-1 and the second peak 901-2 of the first roll data 901, and the first yaw data 902. Data 910-2 between the peak 902-1 and the second peak 902-2, between the first peak 903-1 and the second peak 903-2 of the first pitch data 903 The data 910-3 and the data 910-4 between the first peak 904-1 and the second peak 904-2 of the second pitch data 904 can be extracted. The user terminal 110 may determine the extracted data 910-1 to 910-4 as movement data for the first repetition of the exercise.

The user terminal 110 receives data 920-1 between the second peak 901-2 and the third peak 901-3 of the first roll data 901, and the second peak of the first yaw data 902. Data 920-2 between the peak 902-2 and the third peak 902-3, between the second peak 903-2 and the third peak 903-3 of the first pitch data 903 The data 920-3 and the data 920-4 between the second peak 904-2 and the third peak 904-3 of the second pitch data 904 can be extracted. The user terminal 110 may determine the extracted data 920-1 to 920-4 as movement data for the second repetition of the exercise.

The user terminal 110 collects data 930-1 between the third peak 901-3 and the fourth peak 901-4 of the first roll data 901, and the third peak of the first yaw data 902. Data 930-2 between the peak 902-3 and the fourth peak 902-4, between the third peak 903-3 and the fourth peak 903-4 of the first pitch data 903 The data 930-3 and the data 930-4 between the third peak 904-3 and the fourth peak 904-4 of the second pitch data 904 can be extracted. The user terminal 110 may determine the extracted data 930-1, 930-2, 930-3, and 930-4 as movement data for the third repetition of the exercise.

The user terminal 110 can extract data for each of the remaining repetitions from each of the first roll data 901, first yaw data 902, first pitch data 903, and second pitch data 904. And each extracted data can be determined as motion data for each remaining repetition.

In operation 830, the user terminal 110 may evaluate the posture of each repeated exercise based on at least some (or all) of the extracted movement data. In one embodiment, the user terminal 110 may store one or more evaluation items for exercise. For example, the user terminal 110 may store evaluation item ₁ , “Is the pitch of the upper arm less than or equal to the threshold (N) (e.g., 5 degrees)?” The user terminal 110 may store movement data for the first repetition ( It is possible to determine whether the evaluation items are satisfied through at least some (or all) of 910-1, 910-2, 910-2, and 910-4. For example, movement data for the first repetition (910-1 , 910-2, 910-3, 910-4), the movement data 910-3 may represent the pitch data of the upper arm during the first repetition of the exercise. The user terminal 110 may display the movement data 910-3. If it is less than N of the above evaluation item ₁ , it can be determined that the above evaluation item ₁ is satisfied. If the movement data 910-3 exceeds N, the user terminal 110 can determine that the above evaluation item ₁ is not satisfied. When the user terminal 110 determines that the evaluation items are satisfied through at least some (or all) of the movement data 910-1, 910-2, 910-2, and 910-4 for the first repetition, the exercise The posture of the first repetition may be evaluated as pass. The user terminal 110 may receive at least some of the movement data (910-1, 910-2, 910-2, 910-4) for the first repetition of the exercise ( or), if it is determined that one or more of the evaluation items is not satisfied, the posture of the first repetition of the exercise may be evaluated as fail. Similarly, the user terminal 110 may determine the posture of each repetition of the exercise. can be evaluated as pass or fail.

Table 1 below shows examples of evaluation items for the first exercise (e.g. bench press) among several upper body exercises and a description of each evaluation item. The evaluation items for the bench press are not limited to the examples in Table 1 below.

Evaluation items explanation First evaluation item: Does the pitch of the upper arm exceed N1_bench? When the user lowers the barbell, are the elbows of each arm below the torso (or chest)? Second evaluation item: Does the difference (or absolute value of the difference) between the yaw of the upper arm of one arm and the yaw of the upper arm of the other arm exceed N2_bench? When the user lowers the barbell, does the user extend the elbows of each arm to the side beyond a certain level? Third evaluation item: Does the difference (or absolute value of the difference) between the pitch of the upper arm and the pitch of the forearm exceed N3_bench? Did the user hold the barbell more than shoulder width?

N1_bench in Table 1 above may be, for example, -5 degrees, N2_bench may be, for example, 135 degrees, and N3_bench may be, for example, 70 degrees, but are not limited thereto. For example, a user may perform a bench press while wearing each of the two wearable exercise devices 200 on each arm. When one set is completed, the user terminal 110 can receive roll data, pitch data, and yaw data obtained by sensing the movement of the upper arm of one arm from the wearable exercise device 200 worn on one arm. , roll data, pitch data, and yaw data obtained by sensing the movement of the forearm of one arm can be received. When one set is completed, the user terminal 110 receives roll data, pitch data, and yaw data obtained by sensing the movement of the upper arm of the other arm from the wearable exercise device 200 worn on the other arm. and can receive roll data, pitch data, and yaw data obtained by sensing the movement of the forearm of the other arm.

The user terminal 110 may determine whether the first to third evaluation items in Table 1 above are satisfied through at least some of the movement data in the first repetition of one set of bench press.

If the pitch data of the upper arm of each arm in the first repetition of one set of bench press exceeds N1_bench, the user terminal 110 may determine that the first evaluation item in Table 1 above is satisfied. The user terminal 110 determines that the first evaluation item in Table 1 above is not satisfied if at least one (or all) of the pitch data of the upper arm of each arm in the first repetition of one set of bench press is less than or equal to N1_bench. You can.

If the difference (or absolute value of the difference) between the yaw data of the upper arm of one arm and the yaw data of the upper arm of the other arm in the first repetition of one set of bench press exceeds N2_bench, the user terminal 110 The second evaluation item in Table 1 above can be judged to be satisfactory. If the difference (or absolute value of the difference) between the yaw data of the upper arm of one arm and the yaw data of the upper arm of the other arm in the first repetition of one set of bench press is less than or equal to N2_bench, the user terminal 110 performs the above The second evaluation item in Table 1 can be judged to be unsatisfactory.

The user terminal 110 determines that the difference (or absolute value of the difference) between the pitch data of the upper arm of one arm and the pitch data of the forearm in the first repetition of one set of bench press exceeds N3_bench, and in the first repetition of the bench press, If the difference (or absolute value of the difference) between the upper arm pitch data and the forearm pitch data of the other arm exceeds N3_bench, the third evaluation item in Table 1 above can be judged to be satisfied. The user terminal 110 determines the difference (or absolute value of the difference) between the pitch data of the upper arm of one arm and the pitch data of the forearm in the first repetition of one set of bench press and/or the other arm in the first repetition of the bench press. If the difference (or absolute value of the difference) between the pitch data of the upper arm and the pitch data of the forearm is less than N3_bench, the third evaluation item in Table 1 above can be determined to be not satisfied.

In one embodiment, -5 degrees as an example of N1_bench, 135 degrees as an example of N2_bench, and 70 degrees as an example of N3_bench may be values for the standard posture of the bench press. Depending on the embodiment, the user terminal 110 may adjust at least one (or all) of N1_bench, N2_bench, and N3_bench through at least one (or all) of the initial movement data of the user's bench press. Accordingly, the user terminal 110 may modify or personalize the bench press evaluation items so that they are more suitable for the user. Here, the initial movement data of the bench press may be, for example, movement data acquired while the user performs a bench press with a light weight (e.g., without adding a disk to the barbell) before performing one set of the bench press. You can.

For example, the user terminal 110 may request the user to perform a bench press with a light weight before performing one set of bench presses, and the user may perform a bench press with a light weight. When the user performs a bench press with a light weight, the user terminal 110 receives initial movement data (e.g., Initial roll data, initial pitch data, and initial yaw data) can be received. The user terminal 110 receives initial movement data (e.g., initial roll data, initial pitch data, and initial motion data) obtained by sensing the movements of each of the upper arm and forearm of the other arm from the wearable exercise device 200 worn on the other arm. yaw data) can be received.

If the average of the initial pitch data of the upper arm of one arm and the initial pitch data of the other arm is, for example, -3 degrees, the user terminal 110 may adjust N1_bench from -5 degrees to -3 degrees. If the average of the difference (or absolute value of the difference) between the initial yaw data of the upper arm of one arm and the initial yaw data of the upper arm of the other arm is, for example, 130 degrees, the user terminal 110 sets N2_bench to 135 degrees. It can be adjusted to 130 degrees. The user terminal 110 determines the difference (or absolute value of the difference) between the initial pitch data of the upper arm of one arm and the initial pitch data of the forearm and the difference between the initial pitch data of the upper arm of one arm and the initial pitch data of the forearm. You can calculate the average of the difference (or the absolute value of the difference). If the calculated average is, for example, 65 degrees, the user terminal 110 can adjust N3_bench from 70 degrees to 65 degrees.

The user terminal 110 determines a first evaluation item with adjusted N1_bench, a second evaluation item with adjusted N2_bench, and a third evaluation item with N3_bench adjusted through at least some of the movement data in the first repetition of one set of bench press. You can determine whether you are satisfied with this.

If each of the first to third evaluation items in Table 1 above is satisfied, the user terminal 110 may evaluate the posture of the first repetition of one set of bench press as passing. If at least one of the first to third evaluation items in Table 1 above is not satisfied, the user terminal 110 may evaluate the posture of the first repetition of the bench press as failed.

The user terminal 110 may evaluate the posture of each remaining repetition of the first set of bench press as pass or fail in the same way that the posture of the first repetition of the first set of bench press was evaluated. The user terminal 110 may display the evaluation result (eg, pass or fail) of each posture of one set of repetitions of the bench press (or repeated bench presses) on the display.

Table 2 below shows examples of evaluation items for the second exercise (e.g. arm curl) among several upper body exercises and a description of each evaluation item. The evaluation items for arm curls are not limited to the examples in Table 2 below.

Evaluation items explanation First evaluation item: Is the pitch of the upper arm less than N1_arm? Is the upper arm fixed to the thigh? Second evaluation item: Is the yaw of the upper arm less than or equal to N2_arm? Are the dumbbells outside the user's body?

N1_arm in Table 2 above may be, for example, 10 degrees, and N2_arm may be, for example, 0 degrees, but are not limited thereto. The user can perform arm curls while wearing each of the two wearable exercise devices 200 on each arm. When one set of arm curls is completed, the user terminal 110 receives roll data, pitch data, and yaw data obtained by sensing the movement of the upper arm of one arm from the wearable exercise device 200 worn on one arm. and can receive roll data, pitch data, and yaw data obtained by sensing the movement of the forearm of one arm. When one set of arm curls is completed, the user terminal 110 receives roll data, pitch data, and yaw data obtained by sensing the movement of the upper arm of the other arm from the wearable exercise device 200 worn on the other arm. It is possible to receive roll data, pitch data, and yaw data obtained by sensing the movement of the forearm of the other arm.

The user terminal 110 may determine that the first evaluation item in Table 2 above is satisfied if the pitch data of the upper arm of each arm in the first repetition of one set of arm curls is less than or equal to N1_arm. The user terminal 110 may determine that the first evaluation item in Table 2 above is not satisfied if the pitch data of the upper arm of any or all of the arms in the first repetition of one set of arm curls exceeds N1_arm. .

The user terminal 110 may determine that the second evaluation item in Table 2 above is satisfied if the yaw data of the upper arm of each arm in the first repetition of one set of arm curls is less than or equal to N2_arm. The user terminal 110 may determine that the second evaluation item in Table 2 above is not satisfied if the yaw data of the upper arm of any or all of the arms in the first repetition of one set of arm curls exceeds N2_arm. .

In one embodiment, 10 degrees, which is an example of N1_arm, and 0 degrees, which is an example of N2_arm, may be values for the standard arm curl posture. Depending on the embodiment, the user terminal 110 may adjust at least one (or all) of N1_arm and N2_arm through at least one (or all) of the initial movement data of the user's arm curl. Accordingly, the user terminal 110 may modify or personalize the arm curl evaluation items so that they are more suitable for the user. Here, the initial movement data of the arm curl may be, for example, movement data acquired while the user performs an arm curl with a light weight (e.g., 3 kg) before performing one set of arm curls.

For example, the user terminal 110 may request the user to perform arm curls with a light weight before performing one set of arm curls, and the user may perform the arm curls with a light weight. When the user performs an arm curl with a light weight, the user terminal 110 receives initial movement data (e.g., Initial roll data, initial pitch data, and initial yaw data) can be received. The user terminal 110 receives initial movement data (e.g., initial roll data, initial pitch data, and initial motion data) obtained by sensing the movements of each of the upper arm and forearm of the other arm from the wearable exercise device 200 worn on the other arm. yaw data) can be received.

If the average of the initial pitch data of the upper arm of one arm and the initial pitch data of the other arm is, for example, 8 degrees, the user terminal 110 may adjust N1_arm from 10 degrees to 8 degrees. If the average of the initial yaw data of the upper arm of one arm and the initial yaw data of the upper arm of the other arm is, for example, 2 degrees, the user terminal 110 may adjust N2_arm from 0 degrees to 2 degrees.

The user terminal 110 may determine whether the first evaluation item with N1_arm adjusted and the second evaluation item with N2_arm adjusted are satisfied through at least some of the movement data in the first repetition of one set of arm curls.

The user terminal 110 may determine whether each of the first to second evaluation items in Table 2 above is satisfied through at least some of the movement data in the first repetition of one set of arm curls. If each of the first to second evaluation items in Table 2 above is satisfied, the user terminal 110 may evaluate the posture of the first repetition of one set of arm curls as passing. If at least one of the first to second evaluation items in Table 2 above is not satisfied, the user terminal 110 may evaluate the posture of the first repetition of one set of arm curls as failed.

The user terminal 110 may evaluate the posture of each remaining repetition of the first set of arm curls as pass or fail in the same manner as evaluating the posture of the first repetition of the first set of arm curls.

The user terminal 110 may display the evaluation result (eg, pass or fail) of each posture of repetitions (or repeated arm curls) during one set of arm curls on the display.

Table 3 below shows examples of evaluation items for lat pulldowns among various upper body exercises and a description of each evaluation item. The evaluation items for lat pulldowns are not limited to the examples in Table 3 below.

Evaluation items explanation First evaluation item: Is the roll of the upper arm less than N1_lat? Has your upper body fallen back beyond a certain level? Second evaluation item: Is the roll of the upper arm more than N2_lat? Does the bar move in line with your elbows?

N1_lat in Table 3 above may be, for example, 30 degrees, and N2_lat may be, for example, 0 degrees, but are not limited thereto. The user can perform lat pulldowns while wearing each of the two wearable exercise devices 200 on each arm. When one set of lat pulldowns is completed, the user terminal 110 receives roll data, pitch data, and yaw data obtained by sensing the movement of the upper arm of one arm from the wearable exercise device 200 worn on one arm. It is possible to receive roll data, pitch data, and yaw data obtained by sensing the movement of the forearm of one arm. When one set of lat pulldowns is completed, the user terminal 110 receives roll data, pitch data, and yaw obtained by sensing the movement of the upper arm of the other arm from the wearable exercise device 200 worn on the other arm. Data can be received, and roll data, pitch data, and yaw data obtained by sensing the movement of the forearm of the other arm can be received.

The user terminal 110 may determine whether each of the first to second evaluation items in Table 3 above is satisfied through at least some of the movement data in the first repetition of one set of lat pulldowns.

The user terminal 110 may determine that the first evaluation item in Table 3 above is satisfied if the roll data of the upper arm of each arm in the first repetition of one set of lat pulldowns is less than or equal to N1_lat. The user terminal 110 may determine that the first evaluation item in Table 3 above is not satisfied if the roll data of the upper arm of any or all of the arms in the first repetition of one set of lat pulldowns exceeds N1_lat. there is.

The user terminal 110 may determine that the second evaluation item in Table 3 above is satisfied if the roll data of the upper arm of each arm in the first repetition of one set of lat pulldowns is greater than or equal to N2_lat. The user terminal 110 may determine that the second evaluation item in Table 2 above is not satisfied if the roll data of the upper arm of any or all of the arms in the first repetition of one set of lat pulldowns exceeds N2_lat. there is.

In one embodiment, 30 degrees, an example of N1_lat, and 0 degrees, an example of N2_lat, may be values for the standard posture of a lat pulldown. Depending on the embodiment, the user terminal 110 may adjust one or more or all of N1_lat and N2_lat through at least one (or all) of the initial movement data of the user's lat pull-down. Accordingly, the user terminal 110 may modify or personalize the evaluation items of the lat pull down so that they are more suitable for the user. Here, the initial movement data of the lat pulldown may be, for example, movement data obtained while the user performs the lat pulldown with a light weight (e.g., 3 kg) before performing one set of the lat pulldown.

For example, the user terminal 110 may request the user to perform lat pulldowns with a light weight before performing one set of lat pulldowns, and the user may perform the lat pulldowns with a light weight. When the user performs a lat pulldown with a light weight, the user terminal 110 receives initial movement data (e.g., : Initial roll data, initial pitch data, and initial yaw data) can be received. The user terminal 110 receives initial movement data (e.g., initial roll data, initial pitch data, and initial motion data) obtained by sensing the movements of each of the upper arm and forearm of the other arm from the wearable exercise device 200 worn on the other arm. yaw data) can be received.

If the average of the initial roll data of the upper arm of one arm and the initial roll data of the other arm is, for example, 35 degrees, the user terminal 110 may adjust N1_lat from 30 degrees to 35 degrees. If the average of the initial roll data of the upper arm of one arm and the initial roll data of the upper arm of the other arm is, for example, 5 degrees, the user terminal 110 may adjust N2_lat from 0 degrees to 5 degrees.

The user terminal 110 may determine whether the first evaluation item with N1_lat adjusted and the second evaluation item with N2_lat adjusted are satisfied through at least some of the movement data in the first repetition of one set of lat pull downs. .

If each of the first to second evaluation items in Table 3 above is satisfied, the user terminal 110 may evaluate the posture of the first repetition of one set of lat pulldowns as passing. If at least one of the first to second evaluation items in Table 3 above is not satisfied, the user terminal 110 may evaluate the posture of the first repetition of one set of lat pulldowns as failed.

The user terminal 110 may evaluate the posture of each of the remaining repetitions of the first set of lat pulldowns as pass or fail in the same way as the posture of the first repetition of the first set of lat pulldowns.

The user terminal 110 may display the evaluation result (eg, pass or fail) of each posture of one set of repetitions of lat pulldowns (or repeated lat pulldowns) on the display.

The user terminal 110 may store evaluation items for upper extremity exercises (or upper body exercises) other than the aforementioned bench press, arm curl, and lat pull down. The user terminal 110 may store evaluation items for one or more lower extremity exercises (or lower body exercises).

The user terminal 110 may provide the user with the posture evaluation results of each repeated exercise within the completed set in a report format (eg, the report in FIG. 10).

In the example shown in FIG. 10, the user terminal 110 calculates the weight (e.g., 60 kg) of the equipment (e.g., dumbbell, barbell, etc.) used when the user performs the exercise (1010), and the time required to perform one set. (e.g., 2 minutes) (1020), the number of repetitions of the exercise (e.g., 15) (1030), and information indicating which set is the currently performed set out of the total number of sets (e.g., 4) (e.g., 1/ 4) (1040) can be displayed on the display.

In the example shown in FIG. 10, the user terminal 110 may display an object corresponding to each of the first to fifteenth repetitions of the exercise on the display. In Figure 10, objects 1050-1 to 1050-8 corresponding to the first to eighth repetitions are displayed on the display, and the objects corresponding to the ninth to 15th repetitions are displayed when the user selects a specific touch input on the screen ( Example: If a swipe to the left is applied, they can be displayed sequentially.

In the example shown in FIG. 10, the user terminal 110 may evaluate the posture of the first repetition and the posture of the fifth repetition as failed, and evaluate the posture of each of the remaining repetitions as pass. The user terminal 110 includes objects 1050-1 and 1050-5 corresponding to repetitions of failed postures and objects 1050-2 to 1050-4 and 1050-6 to 1050-8 corresponding to repetitions of passed postures. ) can be displayed differently. As an example, the user terminal 110 displays graphic properties (e.g., color, shading effect, etc.) of each of the object 1050-1 corresponding to the first repetition and the object 1050-5 corresponding to the fifth repetition of the remaining objects. It can be done differently from the graphic properties.

In the example shown in FIG. 10, when the user selects one of the objects 1050-1 to 1050-8, the user terminal 110 may display the posture included in the repetition corresponding to the selected object on the display. there is. For example, as shown in FIG. 10, when the user selects the object 1050-1, the user terminal 110 selects objects 1060 to 1064-2 corresponding to the postures included in the first repetition. It can be displayed on the display.

The user terminal 110 may display objects (1060, 1062, 1063) corresponding to postures that satisfy the evaluation items and objects (1061-1, 1064-1) corresponding to postures that do not satisfy the evaluation items differently. there is. As an example, the user terminal 110 displays graphic properties of objects 1060, 1062, and 1063 corresponding to postures that satisfy the evaluation items and objects 1061-1, 1064-1) graphic properties can be different. The user terminal 110 displays objects 1061-1 and 1064-1 corresponding to postures that do not satisfy the evaluation items, as well as objects 1061-2 and 1064-2 with standard postures corresponding to the evaluation items. It can be displayed in . The user terminal 110 can easily allow the user to know that the posture 1061-1 and posture 1064-1 are incorrect in the first repetition.

In the example shown in FIG. 10 , the user terminal 110 may expose an object 1070 indicating the break time (or the time remaining until the next set). When the user applies an input to the object 1070, the user terminal 110 may transmit a next set start notification to the wearable exercise device 200 even if the rest time has not elapsed.

Depending on the embodiment, the user terminal 110 may transmit the first and second motion data received from the communication module 230 to the server. When receiving the first and second motion data received from the user terminal 110, the server may perform operations 810 to 830. The server may transmit the posture evaluation results for each exercise repeated during one set to the user terminal 110. The user terminal 110 may display the posture evaluation results received from the server on the display.

Depending on the embodiment, when the wearable exercise device 200 determines that one set is completed, it may perform operations 810 to 830. The wearable exercise device 200 may transmit the posture evaluation results of each exercise repeated during one set to the user terminal 110 . The user terminal 110 may display the exercise posture evaluation results received from the wearable exercise device 200 on the display.

FIG. 11 is a diagram for explaining examples of operations of a wearable exercise device and a user terminal according to embodiments.

In FIG. 11, a communication link (eg, BLE link) may be formed between the user terminal 110 and the communication module 230.

In operation 1101, the user terminal 110 may generate second exercise information based on items input from the user. In one embodiment, the user terminal 110 may inquire from the user whether to select between the assisting force and the resistance force, and may receive a selection input regarding the resistance force among the assisting force and the resistance force from the user. The user terminal 110 may request the user to input a plurality of items (eg, type of exercise, number of sets of exercise, number of repetitions of exercise per set, and weight value). The weight value may be used by the processor 210 to calculate the strength of the resistance torque. The user terminal 110 may generate second exercise information including items input from the user. For example, the user terminal 110 may receive a selection input for resistance force among assistance force and resistance force from a user who wants to perform a bench press, and may select exercise type "bench press", number of sets "4", and one input from the user. You can input the number of exercise repetitions per set "8" and the weight value "10kg". The user terminal 110 may generate second exercise information including the exercise type “bench press”, the number of sets “4”, the number of exercise repetitions per set “8”, and the weight value “10 kg”.

In operation 1103, the user terminal 110 may transmit second exercise information to the communication module 230.

In operation 1105, the communication module 230 may transmit the second exercise information to the processor 210.

In operation 1107, the user terminal 110 may receive an exercise start input from the user. For example, a “start exercise” soft button may be displayed on the display of the user terminal 110, and the user may apply a touch input to the “start exercise” soft button.

In operation 1109, the user terminal 110 may transmit an exercise start notification to the communication module 230.

In operation 1111, the communication module 230 may transmit an exercise start notification to the processor 210.

When the processor 210 receives an exercise start notification from the communication module 230, the processor 210 may transmit a sensing start command to the motion sensors 220-1 and 220-2 in operation 1113. Each of the motion sensors 220-1 and 220-2 may sense the user's movement when receiving a sensing start command from the processor 210. Each of the motion sensors 220-1 and 220-2 may sense the user's movement during the sensing section of FIG. 11. For example, the first motion sensor 220-1 may sense the movement of the first part of the user's body (e.g., upper arm, etc.), and the second motion sensor 220-2 may sense the movement of the second part of the user's body. The movement of a part (e.g. forearm, etc.) can be sensed. Each of the motion sensors 220-1 and 220-2 may acquire first and second motion data, respectively, by sensing the user's motion.

In operation 1115, the processor 210 may receive first and second motion data from each of the motion sensors 220-1 and 220-2. The processor 210 may receive first and second motion data from each of the motion sensors 220-1 and 220-2 during the sensing period.

In operation 1117, the processor 210 may determine second motor control information based on the second motion information. In one embodiment, the processor 210 determines the intensity of torque (e.g., resistance torque) to be output by each of the motors 250-1 and 250-2 according to the “weight value” included in the second motion information. It can be calculated. For example, the second exercise information may include a weight value of 10 kg. The processor 210 may determine the intensity of torque (e.g., 100 kg·cm) to be output by each of the motors 250-1 and 250-2 by multiplying the weight value of 10 kg and the first value (e.g., 10 cm). The first value (eg, 10 cm) is a value for the distance between the rotation axis of each of the motors 250-1 and 250-2 and the user, and in the wearable exercise device 200, the first value may be given as a constant. The first value may vary depending on the part where the wearable exercise device 200 is worn. The processor 210 can recognize that the resistance force has been selected by the user through the second exercise information, and thus can determine the rotation direction of each of the motors 250-1 and 250-2 as the second rotation direction.

In operation 1119, the processor 210 operates the motor driver circuits 240-1 and 240-1 based on second motor control information (e.g., the second rotation direction and torque intensity of each of the motors 250-1 and 250-2). 240-2) can be controlled. In operation 1121, each of the motor driver circuits 240-1 and 240-2 may drive each of the motors 250-1 and 250-2. In operation 1123, each of the motors 250-1 and 250-2 may output resistance torque. Even if the user does not physically add weight (e.g., a 10 kg disc), resistance torque corresponding to the set weight value (e.g., 10 kg) can be output by each of the motors 250-1 and 250-2, and the resistance The second body unit 320 may rotate due to torque to provide resistance to the user.

Depending on the embodiment, the processor 210 may determine whether a certain condition for providing resistance is satisfied, and if it is determined that the certain condition is satisfied, the motor driver may output a resistance torque based on the second motor control information. Circuits 240-1 and 240-2 can be controlled. As an example, the processor 210 may detect peaks in at least part (or all) of the first and second motion data. As described above, the interval between a detected peak and the next peak of the detected peak may correspond to one repetition of the exercise. The processor 210 may determine the time difference between the detected peak and the next detected peak as the time required for one repetition of the exercise. The processor 210 may determine whether the time required for each of N (eg, 3) consecutive repetitions of the exercise is less than a certain time (eg, 1 second). The processor 210 operates the motor driver circuits 240-1 and 240 based on the second motor control information so that resistance torque is output when the time required for each of N consecutive repetitions of the exercise is less than a certain time (e.g., 1). -2) can be controlled. For example, if the time required for the first repetition, the time required for the second repetition, and the time required for the third repetition are each less than a certain time, the processor 210 may configure the motor driver circuit based on the second motor control information to output resistance torque. Fields 240-1 and 240-2 can be controlled. The processor 210 may prevent the motors 250-1 and 250 from being driven when the time required for each of N consecutive repetitions of the exercise is less than a certain time.

At operation 1125, processor 210 may determine whether one set of exercise is complete. In one embodiment, the processor 210 may count the number of repetitions of the exercise (or movement) based on at least some peaks of the first and second movement data, and create a set based on the counted number of repetitions. You can determine whether it has ended. Since the description of operation 529 of FIG. 5 can be applied to operation 1125, detailed description of operation 1125 is omitted.

When the processor 210 determines that one set has ended, in operation 1127, the processor 210 controls the motor driver circuits 240-1 and 240-2 to stop driving the motors 250-1 and 250-2. can do. In operation 1129, each of the motor driver circuits 240-1 and 240-2 may stop driving each of the motors 250-1 and 250-2. Each of the motor driver circuits 240-1 and 240-2 stops driving each of the motors 250-1 and 250-2 by preventing current from flowing through each of the motors 250-1 and 250-2. can do.

If the processor 210 determines that one set has ended, it may transmit a sensing end command to the motion sensors 220-1 and 220-2 in operation 1131. When each of the motion sensors 220-1 and 220-2 receives a sensing end command from the processor 210, each of the motion sensors 220-1 and 220-2 may end sensing the user's movement.

When the processor 210 determines that one set has ended, in operation 1133, the processor 210 may deliver a set end notification to the communication module 230. The processor 210 may transmit the first and second motion data acquired during the sensing period to the communication module 230 along with a set end notification.

In operation 1135, the communication module 230 may transmit the first and second motion data acquired during the sensing period and a set end notification to the user terminal 110.

When the user terminal 110 receives a set end notification and the first and second movement data acquired during the sensing period from the communication module 230, the user terminal 110 may evaluate the exercise posture in operation 1137. In one embodiment, the user terminal 110 may detect peaks in at least part (or all) of the first and second motion data received from the communication module 230. The user terminal 110 may extract motion data for each exercise repeated during one set from the first and second motion data received from the communication module 230 based on the detected peaks. The user terminal 110 may evaluate the posture of each repeated exercise based on at least some of the extracted movement data. Since the embodiments described with reference to FIGS. 8 to 10 can be applied to operation 1137, detailed description is omitted.

When the break time has elapsed (or when a next set start input is received from the user), the user terminal 110 may transmit a next set start notification to the communication module 230 in operation 1109. When receiving a next set start notification from the user terminal 110, the wearable exercise device 200 may repeatedly perform operations 1111 to 1135.

The wearable exercise device 200 may notify the user terminal 110 of an exercise end notification when the exercise sets are performed as many sets as the number of sets included in the second exercise information.

The user terminal 110 may provide feedback (eg, voice or message) indicating that the exercise has ended to the user.

Figure 12 is a block diagram for explaining a wearable exercise device according to embodiments.

Referring to FIG. 12, the wearable exercise device 1200 (e.g., the wearable exercise device 120 of FIG. 1) includes a processor 1210, a motion sensor 1220, a communication module 1230, a motor driver circuit 1240, It may include a motor 1250 and a memory 1260.

Unlike the wearable exercise device 200 of FIG. 2, the wearable exercise device 1200 of FIG. 12 may include one motion sensor 1220, one motor driver circuit 1240, and one motor 1250. there is. Depending on the embodiment, the wearable exercise device 1200 of FIG. 12 may include a plurality of motor driver circuits and motors. The description of the components of the wearable exercise device 200 of FIG. 2 may be applied to the components of the wearable exercise device 1200 of FIG. 12 .

The processor 1210 controls the overall operation of the wearable exercise device 1200.

The communication module 1230 may allow the wearable exercise device 1200 to communicate with an external device (eg, user terminal 110, server, etc.).

The communication module 1230 may include one or more of a short-range wireless communication module, a Wi-Fi communication module, and a mobile communication module. The short-range wireless communication module may communicate with a user terminal 110 located nearby according to a short-range wireless communication method (e.g., NFC, Bluetooth, BLE, ZigBee, etc.). The Wi-Fi communication module can connect to the network and communicate with the server according to the Wi-Fi communication method. The mobile communication circuit can connect to a mobile communication network and communicate with a server depending on the mobile communication method (e.g., 3G, 4G, 5G, etc.).

The motor driver circuit 1240 may drive the motor 1250. The motor driver circuit 1240 driving the motor 1250 may indicate that the motor driver circuit 1240 operates (or rotates) the motor 1250 by flowing current to the motor 1250. As will be described later, in a state in which no current flows to the motor 1250 (or in the non-driven state described above), the motor 1250 may rotate by the user's external force.

The communication module 1230 may receive third exercise information set for exercise assistance from the user terminal 110 and transmit the third exercise information to the processor 1210. For example, the user may send information (or level) related to the type of exercise the user will perform, the number of sets of the exercise, the number of repetitions of the exercise per set, and the strength of the assistance force (e.g. : Strong, medium, weak) can be entered. The user terminal 110 sends third exercise information including information related to the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and the strength of the assisting force to the communication module 1230. ) can be transmitted. The communication module 1230 may transmit third exercise information to the processor 1210.

The motion sensor 1220 may acquire motion data (e.g., pitch data, roll data, yaw data) by sensing the user's movement, and transmit the obtained motion data to the processor 1210.

The processor 1210 may determine third motor control information (eg, first rotation direction and torque intensity of the motor 1250) for controlling the motor 1250 based on the third motion information.

The processor 1210 may receive a signal (eg, pulses) from the encoder 1250-1 of the motor 1250. When the user performs an exercise, the motor 1250 may rotate by the user's external force. When the motor 1250 rotates, the encoder 1250-1 may rotate due to the rotation of the motor 1250. When the encoder 1250-1 rotates once, for example, N pulses can be generated, and the generated pulses can be transmitted to the processor 1210.

The processor 1210 may determine the user's exercise state based on the signal received from the encoder 1250-1. For example, the processor 1210 may calculate the number of rotations of the motor 1250 using a signal received from the encoder 1250-1. The processor 120 may calculate the bent angle of the user's joint using the number of rotations of the motor 1250 and a given ratio (e.g., gear ratio of the motor 1250). The processor 120 may determine the user's exercise state as the first exercise state when a certain period of time elapses while the bent angle of the joint is less than or equal to the set angle. The processor 210 may determine the user's exercise state as the second exercise state when a certain period of time does not elapse while the bent angle of the joint is less than the set angle or when the bent angle of the joint exceeds the set angle.

When the processor 1210 determines that the user's exercise state is the first exercise state, the processor 1210 controls the motor driver circuit 1240 based on the third motor control information so that the motor 1250 is driven through the motor driver circuit 1240. You can. The motor 1250 may output auxiliary torque under the control of the motor driver circuit 1240.

The communication module 1230 may receive fourth exercise information set for generating exercise resistance from the user terminal 110 and transmit the fourth exercise information to the processor 1210. For example, the user may input the type of exercise to be performed, the number of sets of the exercise, the number of repetitions of the exercise per set, and the weight value into the application of the user terminal 110. The user terminal 110 may transmit fourth exercise information including the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and the weight value to the communication module 1230. The communication module 1230 may transmit fourth exercise information to the processor 1210.

The motion sensor 12120 may acquire motion data (e.g., pitch data, roll data, yaw data) by sensing the user's movement, and transmit the obtained motion data to the processor 1210.

The processor 1210 may determine fourth motor control information (eg, the second rotation direction and torque intensity of the motor 1250) for controlling the motor 1250 based on the fourth motion information. The processor 1210 may control the motor driver circuit 1240 based on the fourth motor control information so that the motor 1250 is driven through the motor driver circuit 1240. Under the control of the motor driver circuit 1240, the motor 1250 may output resistance torque.

The memory 1260 may store software or one or more instructions necessary for the operation of the wearable exercise device 1200, and the processor 1210 may execute software or one or more instructions. The processor 1210 may perform the above-described operations of the processor 1210 by executing software or one or more instructions.

The memory 1260 may include, but is not limited to, non-volatile memory, volatile memory, etc.

For example, the wearable exercise device 1200 of FIG. 12 includes a first body unit (e.g., the first body unit 310 of FIG. 3) and a second body unit (e.g., the second body unit 320 of FIG. 3). ))) may be included. A motor 1250 and a motor driver circuit 1240 may be located in the first body unit 310, and the second body unit 320 may be rotated by rotation of the motor 1250. When the motor 1250 outputs auxiliary torque, the second body unit 320 may rotate in the direction of the auxiliary torque, and auxiliary force may be provided to the user through this rotation. When the motor 1250 outputs resistance torque, the second body unit 320 may rotate in the direction of the resistance torque, and through this rotation, resistance force may be provided to the user.

The processor 1210, motion sensor 1220, communication module 1230, and memory 1260 of FIG. 12 may be located in the first body unit 310. It is not limited thereto, and at least some of the processor 1210, motion sensor 1220, communication module 1230, and memory 1260 may be located in the first body unit 310, and the remainder may be located in the second body unit 310. It may be located in unit 320.

13 and 14 are flowcharts illustrating examples of operations of a wearable exercise device and a user terminal according to embodiments.

In operation 1301 of FIG. 13, the communication module 1230 may form a communication link (eg, BLE link, etc.) with the user terminal 110.

In operation 1303, the user terminal 110 may generate third exercise information based on items input from the user. In one embodiment, the user terminal 110 may receive a selection input for assistive force among assistive force and resistance force from the user, and provide the user with a plurality of items (e.g., type of exercise, number of sets of exercise, one You may be asked to enter information related to the number of repetitions of the exercise per set and the strength of the assistance force. The user terminal 110 may generate third exercise information including items input from the user. Since the description of the third exercise information can be applied to the first exercise information, a detailed description of the third exercise information will be omitted.

In operation 1305, the user terminal 110 may transmit third exercise information to the communication module 1230.

In operation 1307, the communication module 1230 may transmit third exercise information to the processor 1210.

In operation 1309, the user terminal 110 may receive an exercise start input from the user. For example, a “start exercise” soft button may be displayed on the display of the user terminal 110, and the user may apply a touch input to the “start exercise” soft button.

In operation 1311, the user terminal 110 may transmit an exercise start notification to the communication module 1230.

In operation 1313, the communication module 1230 may transmit an exercise start notification to the processor 1210.

When the processor 1210 receives an exercise start notification from the communication module 230, the processor 1210 may transmit a sensing start command to the motion sensor 1220 in operation 1315. When the motion sensor 1220 receives a sensing start command from the processor 1210, it can sense the user's movement. The motion sensor 1220 may sense the user's movement during the sensing section of FIG. 13 . For example, when the motion sensor 1220 is located in the first body unit, it can sense the movement of the first part of the user's body (eg, upper arm, etc.). As another example, when the motion sensor 1220 is located in the second body unit, it may sense the movement of the second part of the user's body (eg, forearm, etc.). The motion sensor 1220 may acquire motion data (eg, pitch data, roll data, and yaw data) by sensing the user's movement.

In operation 1317, the processor 1210 may receive movement data from the motion sensor 1220. The processor 1210 may receive movement data from the motion sensor 1220 during the sensing period.

In operation 1319, the processor 1210 may receive pulses (or pulse signals) from the encoder 1250-1 of the motor 1250. An example of pulses (or pulse signal) is shown in Figure 14. When a user wearing the wearable exercise device 1200 performs exercise, the motor 1250 may rotate due to the user's external force. When the motor 1250 rotates, the encoder 1250-1 may rotate and pulses 1410 may be generated by the rotation of the encoder 1250-1. Processor 1210 may receive pulses 1410 from encoder 1250-1.

In operation 1321, the processor 1210 may determine third motor control information based on the third motion information. In one embodiment, the processor 1210 determines the ratio and motor 1250 corresponding to “information (or level) related to the intensity of the assistive force (e.g., strong, medium, or weak)” included in the third exercise information. The intensity of torque (e.g., auxiliary torque) to be generated by the motor 1250 can be calculated using the maximum torque intensity of . The processor 1210 can recognize that the assisting force has been selected by the user through the third motion information, and thus can determine the rotation direction of the motor 1250 as the first rotation direction. The description of operation 1321 can be applied to operation 519 of FIG. 5 .

In operation 1323, the processor 1210 may determine the user's exercise state based on pulses (eg, pulses 1410) output from the encoder 1250-1. In the example shown in FIG. 14, N (where N is an integer) pulses may be generated per rotation of the encoder 1250-1. The processor 1210 may calculate the number of rotations of the encoder 1250-1 based on the number of pulses 1410. The encoder 1250-1 may rotate M (where M is an integer) times per rotation of the motor 1250. The processor 1210 may calculate the number of rotations of the motor 1250 through the number of rotations of the encoder 1250-1. The method of calculating the number of rotations of the motor 1250 is not limited to the above-described example. The processor 1210 may calculate the bent angle of the user's joint using the number of rotations of the motor 1250 and a given ratio (eg, reduction ratio). For example, when the motor 1250 rotates x times, the second body unit 320 may rotate by 1 degree or the angle of the joint may be bent by 1 degree depending on the reduction ratio. Through this ratio relationship, the processor 1210 can calculate the bent angle 1420 of the joint. If a certain amount of time elapses while the calculated angle is less than or equal to the set angle, the processor 1210 may determine the user's exercise state as the first exercise state. The processor 210 may determine the user's exercise state as the second exercise state when a certain period of time does not elapse while the calculated angle is less than the set angle or when the bent angle of the joint exceeds the set angle.

If the processor 1210 determines that the user's exercise state is the first exercise state, in operation 1325-1, the processor 1210 operates the motor driver circuit based on the third motor control information (e.g., the first rotation direction and torque intensity of the motor 1250). (1240) can be controlled. In operation 1327, motor driver circuit 1240 may drive motor 1250. In operation 1329, motor 1250 may output auxiliary torque.

If the processor 210 determines that the user's exercise state is the second exercise state, the processor 210 may prevent the motor 1250 from being driven in operation 1325-2. Before operation 1323, the motor 1250 may be in an undriven state in which the motor 1250 is not driven by the motor driver circuit 1240. If the processor 1210 determines that the user's exercise state is the second exercise state in operation 1323, the processor 1210 may maintain the non-driven state of the motor 1250. Depending on the embodiment, before operation 1323, the motor 1250 may be in a driving state (or outputting auxiliary torque) by the motor driver circuit 1240. If the processor 1210 determines that the user's exercise state is the second exercise state in operation 1323, the processor 1210 may control the motor driver circuit 1240 so that the motor 1250 is not driven by the motor driver circuit 1240.

At operation 1331, processor 1210 may determine whether one set of exercise is complete. In one embodiment, the processor 1210 may count the number of repetitions of an exercise (or movement) based on at least some peaks of the movement data, and determine whether one set has ended based on the counted number of repetitions. You can judge. The description of operation 1331 may be applied to the description of operation 529.

When the processor 1210 determines that one set has ended while the motor 1250 is outputting auxiliary torque, in operation 1333, as in the example shown in FIG. 13, the driving of the motor 1250 is stopped. The motor driver circuit 1240 can be controlled. In operation 1335, the motor driver circuit 1240 may stop driving the motor 1250.

Depending on the embodiment, unlike the example shown in FIG. 13, the processor 1210 may determine that one set is completed in an undriven state in which the motor 1250 is not outputting auxiliary torque. In this case, the processor 1210 may not perform operation 1333 of FIG. 13 and the motor driver circuit 1240 may not perform operation 1357.

When the processor 1210 determines that one set has ended, it may transmit a sensing end command to the motion sensor 1220 in operation 1337. When the motion sensor 1220 receives a sensing end command from the processor 1210, the motion sensor 1220 may end sensing the user's movement.

When the processor 1210 determines that one set has ended, in operation 1339, the processor 1210 may deliver a set end notification to the communication module 1230. The processor 1210 may transmit motion data acquired during the sensing period to the communication module 1230 along with a set end notification.

In operation 1341, the communication module 1230 may transmit motion data acquired during the sensing period and a set end notification to the user terminal 110.

When the user terminal 110 receives a set end notification and movement data acquired during the sensing period from the communication module 1230, the user terminal 110 may evaluate the exercise posture in operation 1343. In one embodiment, the user terminal 110 may detect peaks in at least part (or all) of the motion data received from the communication module 1230. The user terminal 110 may extract motion data for each exercise repeated during one set from the motion data received from the communication module 230 based on the detected peaks. The user terminal 110 may evaluate the posture of each repeated exercise based on at least some of the extracted movement data. Since the embodiments described with reference to FIGS. 8 to 10 can be applied to operation 1343, detailed description is omitted.

In FIG. 13, operation 1321 is shown as being performed before operation 1323, but this is only an example. Depending on the embodiment, operation 1321 may be performed when the processor 1210 determines that the user's exercise state is the first exercise state in operation 1323.

When the break time has elapsed (or when a next set start input is received from the user), the user terminal 110 may transmit a next set start notification to the communication module 1230 in operation 1311. When the wearable exercise device 1200 receives a next set start notification from the user terminal 110, it may repeatedly perform operations 1313 to 1341.

The wearable exercise device 1200 may notify the user terminal 110 of an exercise end notification when the exercise sets are performed as many sets as the number of sets included in the third exercise information.

The user terminal 110 may provide feedback (eg, voice or message) indicating that the exercise has ended to the user.

FIG. 15 is a flowchart illustrating examples of operations of a wearable exercise device and a user terminal according to embodiments.

In Figure 15, a communication link (eg, BLE link) may be formed between the user terminal 110 and the communication module 1230.

In operation 1501, the user terminal 110 may generate fourth exercise information based on items input from the user. In one embodiment, the user terminal 110 may inquire from the user whether to select between the assisting force and the resistance force, and may receive a selection input regarding the resistance force among the assisting force and the resistance force from the user. The user terminal 110 may request the user to input a plurality of items (eg, type of exercise, number of sets of exercise, number of repetitions of exercise per set, and weight value). The user terminal 110 may generate fourth exercise information including items input from the user. The description of the fourth exercise information may be applied to the second exercise information.

In operation 1503, the user terminal 110 may transmit fourth exercise information to the communication module 1230.

In operation 1505, the communication module 1230 may transmit fourth exercise information to the processor 1210.

In operation 1507, the user terminal 110 may receive an exercise start input from the user. For example, a “start exercise” soft button may be displayed on the display of the user terminal 110, and the user may apply a touch input to the “start exercise” soft button.

In operation 1509, the user terminal 110 may transmit an exercise start notification to the communication module 1230.

In operation 1511, the communication module 1230 may transmit an exercise start notification to the processor 1210.

When the processor 1210 receives an exercise start notification from the communication module 1230, the processor 1210 may transmit a sensing start command to the motion sensor 1220 in operation 1513. When the motion sensor 1220 receives a sensing start command from the processor 1210, it can sense the user's movement. The motion sensor 1220 may sense the user's movement during the sensing section of FIG. 15 .

In operation 1515, the processor 1210 may receive motion data from the motion sensor 1220. The processor 1210 may receive movement data from the motion sensor 1220 during the sensing period.

In operation 1517, the processor 1210 may determine fourth motor control information based on the fourth motion information. In one embodiment, the processor 210 may determine the intensity of torque (eg, resistance torque) to be generated by the motor 1250 according to the “weight value” included in the fourth motion information. For example, the processor 210 may determine the intensity of torque to be generated by the motor 1250 by multiplying the weight value and the first value (eg, 10 cm). The processor 1210 can determine that the resistance force has been selected by the user through the fourth exercise information, and thus can determine the rotation direction of the motor 1250 as the second rotation direction.

In operation 1519, the processor 1210 may control the motor driver circuit 1240 based on fourth motor control information (e.g., the second rotation direction and torque intensity of the motor 1250).

In operation 1521, the motor driver circuit 1240 may drive the motor 1250.

In operation 1523, motor 1250 may output resistance torque. Even if the user does not physically add weight (e.g., a 10 kg disc), a resistance torque corresponding to a set weight value (e.g., 10 kg) can be output by the motor 1250, and the second body unit ( 320) may rotate to provide resistance to the user.

Depending on the embodiment, the processor 1210 may determine whether a certain condition for providing resistance is satisfied, and if it is determined that the certain condition is satisfied, the motor driver may output a resistance torque based on the fourth motor control information. The circuit 1240 can be controlled. For example, the processor 1210 may determine whether the time required for each of N (eg, 3) consecutive repetitions of the exercise is less than a certain time (eg, 1 second). The processor 1210 may control the motor driver circuit 1240 based on the fourth motor control information so that resistance torque is output when the time required for each of N consecutive repetitions of the exercise is less than a certain time. The processor 1210 may prevent the motor 1250 from being driven if the time required for each of N consecutive repetitions of the exercise is less than a certain time.

At operation 1525, processor 1210 may determine whether one set of exercise is complete. In one embodiment, the processor 210 may count the number of repetitions of an exercise (or movement) based on at least some peaks of the movement data, and determine whether one set has ended based on the counted number of repetitions. You can judge. Since the description of operation 529 of FIG. 5 can be applied to operation 1525, detailed description of operation 1525 is omitted.

When the processor 210 determines that one set has ended, in operation 1527, the processor 210 may control the motor driver circuit 1240 to stop driving the motor 1250.

In operation 1529, the motor driver circuit 1240 may stop driving the motor 1250.

When the processor 1210 determines that one set has ended, it may transmit a sensing end command to the motion sensor 1220 in operation 1531. When the motion sensor 1220 receives a sensing end command from the processor 210, the motion sensor 1220 may end sensing the user's movement.

When the processor 1210 determines that one set has ended, in operation 1533, the processor 1210 may deliver a set end notification to the communication module 11230. The processor 1210 may transmit motion data acquired during the sensing period to the communication module 1230 along with a set end notification.

In operation 1535, the communication module 1230 may transmit motion data acquired during the sensing period and a set end notification to the user terminal 110.

When the user terminal 110 receives a set end notification and movement data acquired during the sensing period from the communication module 1230, the user terminal 110 may evaluate the exercise posture in operation 1537. In one embodiment, the user terminal 110 may detect peaks in at least part (or all) of the motion data received from the communication module 1230. The user terminal 110 may extract motion data for each exercise repeated during one set from the motion data received from the communication module 230 based on the detected peaks. The user terminal 110 may evaluate the posture of each repeated exercise based on at least some of the extracted movement data. Since the embodiments described with reference to FIGS. 8 to 10 can be applied to operation 1537, detailed description is omitted.

When the break time has elapsed (or when a next set start input is received from the user), the user terminal 110 may transmit a next set start notification to the communication module 1230 in operation 1509. When the wearable exercise device 1200 receives a next set start notification from the user terminal 110, it may repeatedly perform operations 1511 to 1535.

The wearable exercise device 1200 may notify the user terminal 110 of an exercise end notification when the exercise sets are performed as many sets as the number of sets included in the fourth exercise information.

The user terminal 110 may provide feedback (eg, voice or message) indicating that the exercise has ended to the user.

In one embodiment, the wearable exercise devices 120, 200, and 1200 include a first body unit 310 worn on a first part of the user's body and where motors 250-1 and 250-2 are located, the a second body unit 320 worn on a second part of the body and connected to the motor; a first motion sensor 220-1 located in the first body unit and acquiring first motion data by sensing movement of the first part; a second motion sensor 220-2 located in the second body unit and acquiring second motion data by sensing movement of the second part; a motor driver circuit (240-1, 240-2) that drives the motor; a communication module 230 that forms a communication link with the user terminal 110 and receives first exercise information set by the user from the user terminal through the established communication link; and determining first motor control information for controlling the motor based on the received first motion information, and receiving each of the obtained first and second motion data from each of the first and second motion sensors. , determines the exercise state of the user based on at least a portion of the received first motion data and at least a portion of the received second motion data, and determines the exercise state as a first exercise state requiring assistance from the wearable exercise device. When it is determined, the processor 210 may include a processor 210 that controls the motor driver circuit based on the determined first motor control information so that the motor is driven through the motor driver circuit.

In one embodiment, the processor 210 uses rotation angle data about the first axis among the received first motion data and rotation angle data about the first axis among the received second motion data. Calculate the bent angle of the user's joint, check whether a certain period of time elapses while the calculated angle is less than the set angle, and determine the exercise state when the predetermined time elapses while the calculated angle is less than the set angle. It can be determined by the first exercise state.

In one embodiment, if the predetermined time does not elapse while the calculated angle is less than the set angle or if the calculated angle exceeds the set angle, the processor 210 provides the assistance in the exercise state. If it is determined that the second exercise state is not necessary, and the exercise state is determined to be the second exercise state, the motor may be prevented from being driven by the motor driver circuit.

In one embodiment, the first exercise information includes information related to the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and the intensity of force for the assistance. It can be included.

In one embodiment, the processor 210 determines the rotation direction of the motor as a first rotation direction for performing the assistance, and uses the information related to the intensity and the maximum torque intensity of the motor to determine the rotation direction of the motor. The intensity of torque to be generated can be determined.

In one embodiment, the communication module receives second exercise information from the user terminal, including the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and the weight value. can receive.

In one embodiment, the processor 210 determines second motor control information based on the received second motion information, and operates the determined second motor so that the motor is driven in a direction opposite to the direction for assistance. The motor driver circuit can be controlled based on control information.

In one embodiment, the processor 210 determines whether the time required for each of the N consecutive repetitions of the exercise is less than a certain time, and if the time required for each of the consecutive repetitions is less than the certain time, The motor driver circuit may be controlled based on the determined second motor control information.

The N may be an integer of 2 or more.

In one embodiment, the processor 210 counts the number of repetitions of the user's exercise based on at least some peaks of the received first and second movement data, and calculates the number of repetitions based on the counted number of repetitions. Determine whether one set of exercise has ended, and if it is determined that the one set has ended, send a set end notification to the user terminal, and send the received first and Second motion data may be transmitted.

In one embodiment, the user terminal detects peaks in at least some of the first and second motion data received from the communication module, and moves the first and second motion data received from the communication module based on the detected peaks. Movement data for each exercise repeated during the set may be extracted from the movement data, and the posture of each repeated exercise may be evaluated based on at least some of the extracted movement data.

In one embodiment, the wearable exercise device (120, 200, 1200) is worn on a first part of the user's body and includes a first body unit (310) in which a motor (1250) is located; a second body unit 320 worn on a second part of the body and connected to the motor; A motion sensor 1220 that acquires motion data by sensing the user's movement; a motor driver circuit 1240 that drives the motor; a communication module 1230 that forms a communication link with a user terminal and receives third exercise information set by the user from the user terminal through the established communication link; And receiving a signal from the encoder 1250-1 of the motor, receiving the obtained motion data from the motion sensor, and determining third motor control information for controlling the motor based on the third motion information. The user's exercise state is determined based on the signal received from the encoder, and when the exercise state is determined to be a first exercise state requiring assistance from the wearable exercise device, the motor is driven through the motor driver circuit. It may include a processor 1210 that controls the motor driver circuit based on the determined third motor control information.

In one embodiment, the processor 1210 calculates the rotation speed of the motor using the received signal, and calculates the bent angle of the user's joint using the calculated rotation speed and the reduction ratio of the motor. It is checked whether a certain period of time passes while the calculated angle is less than or equal to the set angle, and if the predetermined time passes while the calculated angle is less than or equal to the set angle, the exercise state is determined as the first exercise state. You can.

In one embodiment, if the predetermined time does not elapse while the calculated angle is less than the set angle or if the calculated angle exceeds the set angle, the processor 1210 provides the assistance in the exercise state. If it is determined that the second exercise state is not necessary, and the exercise state is determined to be the second exercise state, the motor may be prevented from being driven.

In one embodiment, the third exercise information includes information related to the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and the intensity of force for the assistance. It can be included.

In one embodiment, the processor 1210 receives the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and the weight value from the user terminal. It is possible to receive fourth exercise information including.

In one embodiment, the processor 1210 determines fourth motor control information based on the received fourth motion information, and drives the determined fourth motor so that the motor is driven in a direction opposite to the direction for assistance. The motor driver circuit can be controlled based on control information.

In one embodiment, the processor 1210 determines whether the time required for each of the N consecutive repetitions of the exercise is less than a certain time, and if the time required for each of the consecutive repetitions is less than the certain time, The motor driver circuit can be controlled based on the determined fourth motor control information.

The N may be an integer of 2 or more.

In one embodiment, the processor 1210 counts the number of repetitions of the user's exercise based on at least some peaks of the received motion data, and selects one set of the exercise based on the counted number of repetitions. It is determined whether the set has ended, and if it is determined that the one set has ended, a set end notification is sent to the user terminal, and the received motion data can be transmitted to the user terminal through the communication module.

In one embodiment, the method of operating the wearable exercise device 120, 200, or 1200 includes forming a communication link with a user terminal 110, and performing a first exercise set by the user from the user terminal through the established communication link. The act of receiving information; Obtaining first movement data by sensing movement of a first part of the user's body; Obtaining second movement data by sensing movement of a second part of the body; determining first motor control information for controlling the motor based on the received first motion information; determining an exercise state of the user based on at least a portion of the acquired first motion data and at least a portion of the obtained second motion data; and when the exercise state is determined to be a first exercise state requiring assistance from the wearable exercise device, controlling the motor driver circuit based on the determined first motor control information so that the motor is driven through the motor driver circuit. It can be included.

In one embodiment, the exercise posture evaluation method performed by the evaluation device (e.g., the user terminal 110 or the server) indicates that one set of the user's exercises has been completed from the wearable exercise device (120, 200, 1200). The act of receiving a notification; An operation of receiving movement data obtained by sensing the user's movement during the one set by a motion sensor of the wearable exercise device from the wearable exercise device; detecting peaks in at least some of the received motion data; extracting motion data for each exercise repeated during the set from the received motion data based on the detected peaks; and evaluating the posture of each of the repeated movements based on at least some of the extracted movement data.

In one embodiment, the evaluating operation may include determining whether one or more evaluation items for the exercise are satisfied through at least some of the extracted motion data.

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

Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing unit to operate as desired, or may be processed independently or collectively. You can command the device. Software and/or data may be used on any type of machine, component, physical device, virtual equipment, computer storage medium or device to be interpreted by or to provide instructions or data to a processing device. , or may be permanently or temporarily embodied in a transmitted signal wave. Software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on a computer-readable recording medium.

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

The hardware devices described above may be configured to operate as one or multiple software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can apply various technical modifications and variations based on this. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent.

Therefore, other implementations, other embodiments and equivalents of the claims also fall within the scope of the following claims.

110: user terminal
120: Wearable exercise device

Claims (20)

In the wearable exercise device,
a first body unit worn on a first part of the user's body and in which a motor is located;
a second body unit worn on a second part of the body and connected to the motor;
a first motion sensor located in the first body unit and acquiring first motion data by sensing movement of the first part;
a second motion sensor located in the second body unit and acquiring second motion data by sensing movement of the second part;
a motor driver circuit that drives the motor;
a communication module that forms a communication link with a user terminal and receives first exercise information set by the user from the user terminal through the established communication link; and
Determine first motor control information for controlling the motor based on the received first motion information, and receive each of the obtained first and second motion data from each of the first and second motion sensors, Determining the exercise state of the user based on at least a portion of the received first motion data and at least a portion of the received second motion data, and converting the exercise state into a first exercise state requiring assistance from the wearable exercise device When it is determined, a processor controls the motor driver circuit based on the determined first motor control information so that the motor is driven through the motor driver circuit.
Including,
Wearable exercise device.
According to paragraph 1,
The processor,
Calculating a bent angle of the user's joint using rotation angle data about the first axis among the received first movement data and rotation angle data about the first axis among the received second movement data, and calculating Checking whether a certain period of time elapses while the calculated angle is less than or equal to the set angle, and determining the exercise state as the first exercise state when the predetermined time elapses while the calculated angle is less than or equal to the set angle,
Wearable exercise device.
According to paragraph 2,
The processor,
If the predetermined time does not elapse while the calculated angle is less than or equal to the set angle, or if the calculated angle exceeds the set angle, determining the exercise state as a second exercise state in which the assistance is not required, When the exercise state is determined to be the second exercise state, preventing the motor from being driven by the motor driver circuit,
Wearable exercise device.
According to paragraph 1,
The first exercise information is,
Information related to the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and the magnitude of the force for the assistance. containing,
Wearable exercise device.
According to paragraph 1,
The processor,
Determining the rotation direction of the motor as a first rotation direction for performing the assistance, and determining the intensity of torque to be generated by the motor using information related to the intensity and the maximum torque intensity of the motor,
Wearable exercise device.
According to paragraph 1,
The communication module receives second exercise information including the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and a weight value from the user terminal,
The processor determines second motor control information based on the received second motion information, and the motor driver circuit based on the determined second motor control information so that the motor is driven in a direction opposite to the direction for the assistance. to control,
Wearable exercise device.
According to clause 6,
The processor,
It is determined whether the time required for each of the N consecutive repetitions of the exercise is less than a certain time, and if the time required for each of the consecutive repetitions is less than the certain time, the motor is based on the determined second motor control information. Control the driver circuit,
Wherein N is an integer of 2 or more,
Wearable exercise device.
According to paragraph 1,
The processor,
Counting the number of repetitions of the user's exercise based on at least some peaks of the received first and second movement data, and determining whether one set of the exercise is completed based on the counted number of repetitions; , When it is determined that the one set has ended, sending a set end notification to the user terminal, and transmitting the received first and second motion data to the user terminal through the communication module,
Wearable exercise device.
According to clause 8,
The user terminal is,
Detect peaks in at least some of the first and second motion data received from the communication module, and repeat during the one set in the first and second motion data received from the communication module based on the detected peaks. Extracting movement data for each exercise, and evaluating the posture of each repeated exercise based on at least some of the extracted movement data,
Wearable exercise device.
In the wearable exercise device,
a first body unit worn on a first part of the user's body and in which a motor is located;
a second body unit worn on a second part of the body and connected to the motor;
A motion sensor that acquires motion data by sensing the user's movement;
a motor driver circuit that drives the motor;
a communication module that forms a communication link with a user terminal and receives third exercise information set by the user from the user terminal through the established communication link; and
Receive a signal from the encoder of the motor, receive the obtained motion data from the motion sensor, determine third motor control information for controlling the motor based on the third motion information, and receive it from the encoder. The user's exercise state is determined based on the signal, and when the exercise states are determined to be a first exercise state requiring assistance from the wearable exercise device, the determined third motor is driven so that the motor is driven through the motor driver circuit. Processor that controls the motor driver circuit based on control information
Including,
Wearable exercise device.
According to clause 10,
The processor,
The number of rotations of the motor is calculated using the received signal, the bent angle of the user's joint is calculated using the calculated number of rotations and the gear ratio of the motor, and the calculated angle is set. Checking whether a certain period of time elapses while the angle is below the angle, and determining the exercise state as the first exercise state when the predetermined time elapses while the calculated angle is below the set angle,
Wearable exercise device.
According to clause 11,
If the predetermined time does not elapse while the calculated angle is less than or equal to the set angle, or if the calculated angle exceeds the set angle, determining the exercise state as a second exercise state in which the assistance is not required, When the exercise state is determined to be the second exercise state, preventing the motor from being driven,
Wearable exercise device.
According to clause 10,
The third exercise information is,
Containing information related to the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and the intensity of force for the assistance,
Wearable exercise device.
According to clause 10,
The communication module receives fourth exercise information including the type of exercise to be performed by the user, the number of sets of the exercise, the number of repetitions of the exercise per set, and the weight value from the user terminal,
The processor determines fourth motor control information based on the received fourth motion information, and the motor driver circuit based on the determined fourth motor control information so that the motor is driven in a direction opposite to the direction for the assistance. to control,
Wearable exercise device.
According to clause 14,
The processor,
Determine whether the time required for each of the N consecutive repetitions of the exercise is less than a certain time, and if the time required for each of the consecutive repetitions is less than the certain time, the motor is based on the determined fourth motor control information. Control the driver circuit,
Wherein N is an integer of 2 or more,
Wearable exercise device.
According to clause 10,
The processor,
Counting the number of repetitions of the user's exercise based on at least some peaks of the received movement data, determining whether one set of the exercise is completed based on the counted repetition number, and determining whether the one set of the exercise is completed When it is determined that it has ended, sending a set end notification to the user terminal and transmitting the received motion data to the user terminal through the communication module,
Wearable exercise device.
According to clause 16,
The user terminal is,
Detecting peaks in at least some of the motion data received from the wearable exercise device, and extracting motion data for each exercise repeated during the one set from the motion data received from the wearable exercise device based on the detected peaks. And evaluating the posture of each of the repeated movements based on at least some of the extracted movement data,
Wearable exercise device.
In a method of operating a wearable exercise device,
Forming a communication link with a user terminal and receiving first exercise information set by the user from the user terminal through the established communication link;
Obtaining first movement data by sensing movement of a first part of the user's body;
Obtaining second movement data by sensing movement of a second part of the body;
determining first motor control information for controlling a motor of the wearable exercise device based on the received first exercise information;
determining an exercise state of the user based on at least a portion of the acquired first motion data and at least a portion of the obtained second motion data; and
When the exercise state is determined to be a first exercise state requiring assistance from the wearable exercise device, controlling the motor driver circuit based on the determined first motor control information so that the motor is driven through the motor driver circuit.
Including,
How a wearable exercise device operates.
In an exercise posture evaluation method performed by an evaluation device,
Receiving a notification from a wearable exercise device indicating that one set of exercises of the user has ended;
An operation of receiving movement data obtained by sensing the user's movement during the one set by a motion sensor of the wearable exercise device from the wearable exercise device;
detecting peaks in at least some of the received motion data;
extracting motion data for each exercise repeated during the set from the received motion data based on the detected peaks; and
An operation of evaluating the posture of each of the repeated movements based on at least some of the extracted movement data
Including,
How to evaluate exercise posture.
According to clause 19,
The evaluation operation is,
An operation of determining whether one or more evaluation items for the exercise are satisfied through at least some of the extracted motion data
Including,
How to evaluate exercise posture.

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