KR20240040589A - Method for controlling wearable apparatus for user's safety and wearable apparatus performing the same - Google Patents

Abstract

A method of controlling a wearable device for user safety and a wearable device that performs the same are disclosed. The wearable device includes a drive module that generates torque applied to the user's body, a leg drive frame for transmitting the generated torque to the user's legs, and a thigh fastener that is connected to the leg drive frame and secures the leg drive frame to the user's legs. It includes a unit, a sensor module that acquires sensor data including movement information of the wearable device, and a control module that controls the driving module based on the sensor data. The control module determines a motion score indicating the degree to which the wearable device moves during a time period based on sensor data acquired by the sensor module during a time period, and controls whether or not the torque is generated based on the determined motion score. .

Description

Method for controlling a wearable device for user safety and a wearable device performing the same {METHOD FOR CONTROLLING WEARABLE APPARATUS FOR USER'S SAFETY AND WEARABLE APPARATUS PERFORMING THE SAME}

The following embodiments relate to a method of controlling a wearable device for user safety and a wearable device that performs the same.

In general, a walking assistance device refers to an instrument or device that helps patients who cannot walk on their own due to various diseases or accidents perform walking exercises for rehabilitation treatment. Recently, as the aging society has intensified, the number of people who have difficulty walking normally or who complain of discomfort in walking due to leg joint problems has increased, leading to increasing interest in walking assistance devices. A walking assistance device is worn on the user's body to assist the user with the muscle strength necessary for walking, and can guide the user's walking so that the user can walk with a normal walking pattern.

A wearable device worn on a user's body according to an embodiment includes a driving module that generates torque applied to the user's body, a leg driving frame for transmitting the generated torque to the user's legs, and a leg driving frame to the leg driving frame. connected to a thigh fastener for fixing the leg drive frame to the user's leg, a sensor module for acquiring sensor data including movement information of the wearable device, and controlling the drive module based on the sensor data. May include a control module. The control module determines a motion score indicating the degree to which the wearable device moves during the one-time interval based on sensor data acquired by the sensor module during the one-hour interval, and determines the torque based on the determined motion score. You can control whether to create or not.

A method of controlling a wearable device according to an embodiment includes receiving a control command to start operation of the wearable device, in response to receiving the control command, for a period of one hour after receiving the control command. Obtaining sensor data including movement information of the wearable device using a sensor module of the wearable device, and determining a motion score indicating the degree to which the wearable device moves during the one time period based on the sensor data. It may include an operation and an operation of controlling whether a driving module\ of the wearable device generates torque based on the determined motion score.

A method of controlling a wearable device according to an embodiment includes generating torque applied to the user's legs through a driving module of the wearable device, and controlling the wearable device using a sensor module of the wearable device for a period of one time. Obtaining sensor data including motion information, determining a motion score indicating the degree to which the wearable device moves during the one time period based on the sensor data, and based on the determined motion score, the torque It may include an operation to determine whether to stop the creation of .

FIG. 1 is a diagram illustrating an overview of a wearable device worn on a user's body according to an embodiment.
FIG. 2 is a diagram for explaining a management system including a wearable device and an electronic device according to an embodiment.
Figure 3 shows a schematic diagram of the back of a wearable device according to one embodiment.
Figure 4 shows a left side view of a wearable device according to one embodiment.
FIGS. 5A and 5B are diagrams illustrating the configuration of a control system for a wearable device according to an embodiment.
FIG. 6 is a diagram illustrating interaction between a wearable device and an electronic device according to an embodiment.
Figure 7 is a flowchart explaining a control method of a wearable device according to an embodiment.
FIG. 8 is a diagram showing change values of sensor data over time according to an embodiment.
FIG. 9 is a diagram illustrating an example of controlling a wearable device based on sensor data according to an embodiment.
Figure 10 is a flowchart explaining a control method of a wearable device according to an embodiment.
FIG. 11 is a diagram illustrating an example of controlling a wearable device based on sensor data according to an embodiment.
FIG. 12 is a diagram illustrating the configuration of an electronic device according to an embodiment.

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 disclosure includes changes, equivalents, or substitutes included in the technical idea described in the embodiments.

Singular expressions include plural expressions unless the context clearly dictates otherwise. In the present disclosure, 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 such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted in an idealized or overly formal sense unless explicitly defined in the present disclosure. 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.

FIG. 1 is a diagram illustrating an overview of a wearable device worn on a user's body according to an embodiment.

Referring to FIG. 1, in one embodiment, the wearable device 100 is worn on the body of the user 110 to assist the user 110 in walking, exercising, and/or working. It could be a device. In one embodiment, the wearable device 100 may be used to measure the physical capabilities of the user 110, such as walking ability, exercise ability, and exercise posture. In embodiments, the term 'wearable device 100' may be replaced with 'wearable robot', 'walking assistance device', or 'exercise assistance device'. User 110 may be a human or an animal, but is not limited thereto. The wearable device 100 is worn on the body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), and/or waist) of the user 110 and monitors the body movements of the user 110. External force of assistance force and/or resistance force may be applied. The assisting force is a force applied in the same direction as the direction of body movement of the user 110, and represents a force that assists the body movement of the user 110. Resistance force is a force applied in a direction opposite to the direction of body movement of the user 110, and represents a force that hinders the body movement of the user 110. The term 'resistance' may also be referred to as 'exercise load'.

In one embodiment, the wearable device 100 may operate in a walking assistance mode to assist the user 110 in walking. In the walking assistance mode, the wearable device 100 may assist the user 110 in walking by applying assistance force generated from the driving module 120 of the wearable device 100 to the user 110's body. The wearable device 100 can expand the walking ability of the user 110 by assisting the user 110 with the force required for walking, thereby enabling the user 110 to walk independently or by enabling walking for a long time. there is. The wearable device 100 may help improve the walking of pedestrians with abnormal walking habits or abnormal walking posture.

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

In one embodiment, the wearable device 100 may operate in a physical ability measurement mode (or exercise ability measurement mode) to measure the physical ability of the user 110 (including measurement of exercise ability). The wearable device 100 uses one or more sensors (e.g., an angle sensor 125, an inertial measurement unit (IMU)) provided in the wearable device 100 while the user 110 walks or exercises. Alternatively, the user's movement information can be measured using an inertial sensor (135), and the wearable device 100 or an electronic device that works with the wearable device 100 (e.g., the electronic device 210 in FIG. 2) The user's physical ability or athletic ability can be evaluated based on the measured movement information. For example, a walking index or an exercise ability index (e.g., muscle strength, endurance, balance, exercise movement) of the user 110 may be estimated through movement information of the user 110 measured by the wearable device 100. . The physical ability measurement mode may include an exercise motion evaluation mode for evaluating the user's exercise motion (or exercise posture) when the user performs exercise.

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

According to one embodiment, the wearable device 100 includes a support frame for supporting the user's body when the wearable device 100 is worn on the user's body (e.g., the waist support frame 20 in FIG. 3). , a drive module 120 that generates torque applied to the legs of the user 110 (e.g., the drive modules 35 and 45 in FIG. 3), and the torque generated by the drive module 120 is applied to the legs of the user 110. A leg drive frame for transmitting to the legs (e.g., leg drive frames 50 and 55 in FIG. 3), sensor data containing movement information about the body movement of the user 110 (e.g., leg movement, upper body movement) A sensor module including one or more sensors for acquisition (e.g., sensor module 520 in FIG. 5A), and a control module 130 for controlling the wearable device 100 (e.g., the control module in FIGS. 5A and 5B (e.g., 510)) may be included.

The sensor module may include an angle sensor 125 and an inertial measurement unit (IMU) 135. The angle sensor 125 may measure the rotation angle of the leg driving frame of the wearable device 100 corresponding to the hip joint angle value of the user 110. The rotation angle of the leg driving frame measured by the angle sensor 125 may be estimated to be the hip joint angle value (or leg angle value) of the user 110. The angle sensor 125 may include, for example, an encoder and/or a Hall sensor. In one embodiment, the angle sensor 125 may be disposed near where the motor included in the drive module 120 is connected to the leg drive frame. The inertial sensor 135 may include an acceleration sensor and/or an angular velocity sensor, and may measure changes in acceleration and/or angular velocity according to the movement of the user 110. For example, the inertial sensor 135 may measure the movement value of the waist support frame or base body (eg, base body 80 of FIG. 3) of the wearable device 100. The movement value of the waist support frame or base body measured by the inertial measurement device 135 may be estimated to be the upper body movement value of the user 110.

In one embodiment, the control module 130 and the inertial sensor 135 may be disposed within the base body (eg, base body 80 of FIG. 3) of the wearable device 100. The base body may be located on the lower back (waist region) of the user 110 while the user 110 is wearing the wearable device 100. The base body may be formed or attached to the outside of the waist support frame of the wearable device 100.

In one embodiment, the control module 130 may control whether the driving module 120 generates torque based on sensor data acquired by the sensor module. For example, the control module 130 may allow the generation of torque when the motion score determined based on sensor data satisfies a condition (eg, is greater than a threshold value). If the motion score does not satisfy the above conditions (eg, is below a threshold value), the control module 130 may not allow the generation of torque or may stop the generation of torque.

In one embodiment, the control module 130 may determine whether the user 110 is wearing the wearable device 100 (eg, wearing it normally) based on sensor data. When it is determined that the user 110 is wearing the wearable device 100, the control module 130 may control the driving module 120 to generate torque. When it is determined that the user 110 is not wearing the wearable device 100, the control module 130 controls the driving module 120 not to generate torque, thereby preventing the user 110 from wearing the wearable device 100. In this state, it is possible to prevent a safety accident for the user 110 that may occur due to the leg drive frame moving by the torque generated by the drive module 120. In various embodiments of the present disclosure, when it is determined that the user 110 is not wearing the wearable device 100, not only does the user 110 not wear the wearable device 100 at all, but also when the user 110 is not wearing the wearable device 100. 100) may also include cases where it is not worn properly.

In one embodiment, when the user 110 issues a command to start driving the wearable device 100, but it is determined that the user 110 is not wearing the wearable device 100, the control module 130 starts the driving. The drive module 120 may be controlled not to generate torque despite the command. In addition, when the control module 130 determines that the user 110 is not wearing the wearable device 100 while the wearable device 100 is driving, the control module 130 stops the operation of the wearable device 100 and The module 120 can be controlled not to generate torque.

After the torque generation of the drive module 120 stops, the wearable device 100 notifies that the wearable device 100 is not worn normally and provides a guide notification to guide (or induce) normal wearing of the wearable device 100. may be provided to the user 110 through the wearable device 100 or an electronic device that works with the wearable device 100 (eg, the electronic device 210 of FIG. 2). In one embodiment, the guide notification may be provided in the form of voice guidance output from the wearable device 100 or a pop-up window and/or sound (or voice) alarm displayed on the electronic device. The guide notification may include a guide on how to wear the wearable device 100 preferably.

If the wearable device 100 is driven while the user 110 is not wearing the wearable device 100 at all or is not wearing it normally, there is a safety issue in which the user 110 may be injured due to movement of the leg driving frame. may occur. According to various embodiments of the present disclosure, the wearable device 100 may be controlled so that the wearable device 100 is not driven when the wearable device 100 is not normally worn on the user's 110 body. In one embodiment, the wearable device 100 does not immediately generate torque when the user 110 starts walking or exercising, but rather collects sensor data (e.g., sensor data from the angle sensor 125 and the inertial sensor 135). When it is determined that the user 110 is wearing the wearable device 100 normally based on changes in sensor data, torque may be generated. The wearable device 100 has a small amount of change in the sensor data measured by the angle sensor 125 during the user's 110 walking or exercise, or a change in the sensor data of the angle sensor 125 in only one direction or one leg. If this occurs, it may be determined that the user 110 is not wearing the wearable device 100 normally, and the generation of torque may be stopped. The wearable device 100 may notify the user 110 of an abnormal wearing condition through a guide notification and guide the user 110 to wear the wearable device 100 normally.

As above, the wearable device 100 generates torque when it is confirmed that the wearable device 100 is worn normally, and does not generate torque or stops generating torque when normal wearing is not confirmed, so that the wearable device 100 ) It is possible to prevent the leg driving frame from unexpectedly causing harm (injury) to the body of the user 110. In some embodiments, control for determining normal wearing of the wearable device 100 and determining whether torque is generated (or stopped) may be performed by an electronic device (e.g., the electronic device 210 of FIG. 2). .

FIG. 2 is a diagram illustrating an exercise management system including a wearable device and an electronic device according to an embodiment.

Referring to FIG. 2 , the exercise management system 200 may include a wearable device 100, an electronic device 210, another wearable device 220, and a server 230. In one embodiment, exercise management system 200 omits at least one of these devices (e.g., other wearable device 220 or server 230), or adds one or more other devices (e.g., wearable device 100). A dedicated controller device) may be added.

In one embodiment, the wearable device 100 may be worn on the user's body in a walking assistance mode to assist the user's movements. For example, the wearable device 100 may be worn on the user's legs and help the user walk by generating assistive force (or torque) to assist the user's leg movements.

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

In one embodiment, the wearable device 100 may be used to measure the user's physical capabilities in conjunction with the electronic device 210. The wearable device 100 may operate in a physical ability measurement mode, which is a mode for measuring the user's physical ability, under the control of the electronic device 210, and may use sensor data acquired by the user's movement in the physical ability measurement mode as an electronic device. It can be transmitted to device 210. The electronic device 210 may analyze the sensor data received from the wearable device 100 to evaluate the user's physical capabilities.

The electronic device 210 may communicate with the wearable device 100, remotely control the wearable device 100, or monitor the status of the wearable device 100 (e.g., booting state, charging status, sensing state, error state). Status information about can be provided to the user. The electronic device 210 may receive sensor data acquired by a sensor module of the wearable device 100 from the wearable device 100, and estimate the user's physical ability or exercise results based on the received sensor data. there is. The electronic device 210 may provide the user's physical abilities or exercise results to the user through a graphical user interface.

In one embodiment, a user may run a program (e.g., an application) on the electronic device 210 to control the wearable device 100, and the user may control the operation or setting values of the wearable device 100 through the program. (Example: torque intensity output from a drive module (e.g., drive modules 35 and 45 in FIG. 3), loudness of audio output from an audio output module (e.g., audio output module 550 in FIGS. 5A and 5B) , the brightness of the light unit (e.g., the light unit 85 in FIG. 3) can be adjusted. A program running on the electronic device 210 may provide a graphical user interface (GUI) for interaction with the user. The electronic device 210 may be of various types. For example, electronic device 210 includes a portable communication device (e.g., a smartphone), a computer device, an access point, a portable multimedia device, or a home appliance device (e.g., a television, an audio device, a projector device). However, it is not limited to the above-described devices.

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

According to one embodiment, the wearable device 100 and/or the electronic device 210 may be connected to another wearable device 220. Other wearable devices 220 may be, for example, wireless earphones 222, smartwatches 224, or smartglasses 226, but are not limited to the above-described devices. In one embodiment, the smartwatch 224 may measure a bio-signal including the user's heart rate information and transmit the measured bio-signal to the electronic device 210 and/or the wearable device 100. The electronic device 210 can estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) based on the biosignal received from the smartwatch 224, and provide the estimated heart rate information to the user. You can.

In one embodiment, the user's exercise result information, physical ability information, and/or exercise motion evaluation information determined by the electronic device 210 is transmitted to another wearable device 220 to provide information to the user through the other wearable device 220. can be provided. Status information of the wearable device 100 may also be transmitted to another wearable device 220 and provided to the user through the other wearable device 220 . In one embodiment, the wearable device 100, the electronic device 210, and another wearable device 220 may be connected to each other through wireless communication (eg, Bluetooth communication, Wi-Fi communication).

In one embodiment, the wearable device 100 provides feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device 100 according to the control signal received from the electronic device 210. (or print). For example, the wearable device 100 may provide visual feedback through a light unit (e.g., the light unit 85 in FIG. 3) and an audio output module (e.g., the audio output module in FIGS. 5A and 5B). Auditory feedback can be provided through 550)).

3 shows a schematic diagram of the back of a wearable device according to one embodiment. Figure 4 shows a left side view of a wearable device according to one embodiment.

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

The base body 80 may be located on the user's lower back while the user is wearing the wearable device 100. The base body 80 is mounted on the user's lower back and can provide a cushioning sensation to the user's waist and support the user's waist. The base body 80 may be placed on the user's buttocks (hip area) to prevent the wearable device 100 from falling downward due to gravity while the user is wearing the wearable device 100. The base body 80 may distribute a portion of the weight of the wearable device 100 to the user's waist while the user is wearing the wearable device 100. The base body 80 may be connected to the waist support frame 20. Both ends of the base body 80 may be provided with lumbar support frame connection elements (not shown) that can be connected to the lumbar support frame 20.

In one embodiment, the lighting unit 85 may be disposed on the outer surface of the base body 80. The lighting unit 85 may include a light source (eg, a light emitting diode (LED)). The lighting unit 85 may emit light under the control of a processor (not shown) (eg, processor 512 in FIGS. 5A and 5B). Depending on the embodiment, the processor may control the lighting unit 85 so that visual feedback corresponding to the state of the wearable device 100 is provided (or output) through the lighting unit 85.

The waist support frame 20 may support the user's body (eg, waist) when the wearable device 100 is worn on the user's body. The waist support frame 20 may extend from both ends of the base body 80. The user's lower back may be accommodated inside the waist support frame 20. The lumbar support frame 20 may include at least one rigid body beam. Each beam may have a curved shape with a preset curvature so as to surround the user's waist. A waist fastener 60 may be connected to an end of the waist support frame 20. Drive modules 35 and 45 may be connected to the waist support frame 20.

In one embodiment, the inside of the base body 80 includes a processor, memory, inertial measurement device (e.g., inertial measurement device 135 in FIG. 1, inertial measurement device 522 in FIG. 5B), and communication module (e.g., FIG. A communication module 516 of FIGS. 5A and 5B), an audio output module (eg, the audio output module 550 of FIGS. 5A and 5B), and a battery (not shown) may be disposed. The base body 80 can protect components placed therein. The processor may generate a control signal that controls the operation of the wearable device 100. The processor may control the actuators of the driving modules 35 and 45. A processor and memory may be included in the control circuit. The control circuit may further include a power supply circuit for supplying battery power to each component of the wearable device 100.

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

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

The driving modules 35 and 45 may generate external force (or torque) applied to the user's body based on the control signal generated by the processor. For example, the drive modules 35 and 45 may generate assistive force or resistance force applied to the user's legs. In one embodiment, the driving modules 35 and 45 include a first driving module 45 located in a position corresponding to the user's right hip joint position and a second driving module 35 located in a position corresponding to the user's left hip joint position. may include. The first driving module 45 may include a first actuator and a first joint member, and the second driving module 35 may include a second actuator and a second joint member. The first actuator may provide power transmitted to the first joint member, and the second actuator may provide power transmitted to the second joint member. The first actuator and the second actuator may each include a motor (eg, motors 534 and 534-1 in FIG. 5B) that generate power (or torque) by receiving power from a battery. When driven with power supplied, the motor can generate a force to assist the user's body movement (assistive force) or a force to hinder the body movement (resistive force). In one embodiment, the control module may adjust the intensity and direction of force generated by the motor by adjusting the voltage and/or current supplied to the motor.

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

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

In one embodiment, the leg drive frames 50 and 55 may transmit the torque generated by the drive modules 35 and 45 to the user's body (e.g., legs) when the wearable device 100 is worn on the user's legs. there is. The transmitted torque may act as an external force applied to the user's leg movements. One end of the leg drive frames (50, 55) is connected to the joint member and can be rotated, and the other end of the leg drive frames (50, 55) is connected to the thigh fastening portions (1, 2), so that the leg drive frame (50, 55) may support the user's thigh and transmit the torque generated by the drive modules (35, 45) to the user's thigh. For example, the leg drive frames 50 and 55 may push or pull the user's thighs. The leg drive frames 50 and 55 may extend along the longitudinal direction of the user's thighs. The leg drive frames 50 and 55 may be bent to wrap at least a portion of the user's thigh circumference. The leg driving frames 50 and 55 may include a first leg driving frame 55 for transmitting torque to the user's right leg and a second leg driving frame 50 for transmitting torque to the user's left leg. there is.

The thigh fastening units 1 and 2 are connected to the leg driving frames 50 and 55 and can secure the wearable device 100 to the user's legs (particularly, thighs). For example, the thigh fastening units 1 and 2 are a first thigh fastening unit 2 for fixing the wearable device 100 to the user's right thigh and a first thigh fastening unit 2 for fixing the wearable device 100 to the user's left thigh. It may include a second thigh fastening portion (1).

In one embodiment, the first thigh fastener 2 may include a first cover, a first fastener frame, and a first strap, and the second thigh fastener 1 may include a second cover, a second fastener frame, and It may include a second strap. The first cover and the second cover may apply the torque generated by the driving modules 35 and 45 to the user's thigh. The first cover and the second cover are disposed on one side of the user's thigh and can push or pull the user's thigh. The first cover and the second cover may be placed on the front of the user's thigh, for example. The first cover and the second cover may be arranged along the circumferential direction of the user's thigh. The first cover and the second cover may extend on both sides around the other ends of the leg driving frames 50 and 55, and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be connected to the fastening frame, and the other end may be connected to a strap.

For example, the first fastening frame and the second fastening frame are arranged to surround at least a portion of the user's thigh, thereby preventing the user's thigh from being separated from the wearable device 100 . The first fastening frame may have a fastening structure that connects the first cover and the first strap, and the second fastening frame may have a fastening structure that connects the second cover and the second strap.

The first strap may surround the remaining portion not surrounded by the first cover and the first fastening frame around the user's right thigh, and the second strap may surround the second cover and the second fastening frame around the user's left thigh. The remaining part that is not wrapped can be wrapped. The first strap and the second strap may include, for example, an elastic material (eg, a band).

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

Referring to FIG. 5A , a wearable device (eg, wearable device 100) may be controlled by the control system 500. The control system 500 may include a control module 510, a communication module 516, a sensor module 520, a driving module 530, an input module 540, and an audio output module 550. The driving module 530 may include a motor 534 capable of generating power (eg, torque) and a motor driver circuit 532 for driving the motor 534. In the embodiment of Figure 5A, a drive module 530 including one motor driver circuit 532 and one motor 534 is shown, but this is only an example. Referring to FIG. 5B, as in the embodiment shown in FIG. 5B, the control system 500-1 includes a plurality of motor driver circuits 532 and 532-1 and motors 534 and 534-1 (e.g., two). or more). The driving module 530 including the motor driver circuit 532 and the motor 534 may correspond to the first driving module 45 in FIG. 3, and the motor driver circuit 532-1 and the motor 534-1 The driving module 530-1 including may correspond to the second driving module 35 of FIG. 3. The description of each of the motor driver circuit 532 and motor 534 described below may also be applied to the motor driver circuit 532-1 and motor 534-1 shown in FIG. 5B.

Returning to FIG. 5A, sensor module 520 may include at least one sensor. The sensor module 520 may include sensor data including movement information of the user or movement information of the wearable device. The sensor module 520 may transmit the acquired sensor data to the control module 510. The sensor module 520 may include an inertial sensor 522 and an angle sensor (eg, a first angle sensor 524 and a second angle sensor 524-1) as shown in FIG. 5B. The inertial sensor 522 can measure the user's upper body movement value. For example, the inertial sensor 522 may sense the acceleration of the X-axis, Y-axis, and Z-axis and the angular velocity of the X-axis, Y-axis, and Z-axis according to the user's movement. Additionally, the inertial sensor 522 may acquire movement values (eg, acceleration values and angular velocity values) of the waist support frame of the wearable device. The angle sensor can measure the hip joint angle value according to the user's leg movement. Sensor data that can be measured by the angle sensor may include, for example, a hip joint angle value of the right leg, a hip joint angle value of the left leg, and information about the direction of movement of the leg. The first angle sensor 524 of FIG. 5B may obtain the hip joint angle value of the user's right leg, and the second angle sensor 524-1 may obtain the hip joint angle value of the user's left leg. Each of the first angle sensor 524 and the second angle sensor 524-1 may include, for example, an encoder and/or a Hall sensor. Additionally, the first and second angle sensors 520 and 520-1 may acquire movement values of the leg driving frame of the wearable device. For example, the first angle sensor 524 acquires the movement value of the first leg driving frame 55, and the second angle sensor 524-1 acquires the movement value of the second leg driving frame 50. can do.

In one embodiment, the sensor module 520 includes a position sensor for acquiring the position value of the wearable device, a proximity sensor for detecting the proximity of an object, a biosignal sensor for detecting the user's biosignal, and a sensor for measuring the surrounding temperature. It may further include a temperature sensor, etc.

The input module 540 may receive commands or data to be used in a component of the wearable device (e.g., the processor 512) from outside the wearable device (e.g., a user). Input module 540 may include, for example, keys (e.g., buttons) or a touch screen.

The sound output module 550 can output sound signals to the outside of the wearable device. The sound output module 550 may include a speaker that plays guide sound signals (e.g., drive start sound, operation error notification sound), music content, or guide voice.

In one embodiment, the control system 500 may further include a battery (not shown) to supply power to each component of the wearable device. A wearable device can convert battery power to suit the operating voltage of each component of the wearable device and supply it to each component.

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

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

Processor 512 may control at least one other component (e.g., hardware or software component) of a wearable device connected to processor 512, for example by executing software, and may perform various data processing or operations. You can. According to one embodiment, as at least part of data processing or computation, processor 512 stores instructions or data received from another component (e.g., communication module 516) in memory 514; Commands or data stored in the memory 514 are processed, and the resulting data after processing can be stored in the memory 514. According to one embodiment, the processor 512 is a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor that can operate independently or together (e.g., a graphics processing unit, a neural processing unit (NPU)). , an image signal processor, a sensor hub processor, or a communication processor). The auxiliary processor may be implemented separately from the main processor or as part of it.

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

The communication module 516 provides direct (e.g., direct) communication between the control module 510 and other components of the wearable device 100 or an external electronic device (e.g., the electronic device 210 of FIG. 2 or another wearable device 220). It can support the establishment of a wired) communication channel or a wireless communication channel, and the performance of communication through the established communication channel. For example, the communication module 516 may transmit sensor data acquired by the sensor module 520 to an external electronic device (e.g., the electronic device 210 of FIG. 2) and receive a control signal from the electronic device. there is. According to one embodiment, communication module 516 operates independently of processor 512 and may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module 516 may include a wireless communication module (eg, a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and/or a wired communication module. Among these communication modules, the corresponding communication module is, for example, a short-range communication network such as Bluetooth, WiFi (wireless fidelity), ANT, or IrDA (infrared data association), or a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or The wearable device may communicate with other components and/or external electronic devices through a telecommunications network, such as a computer network (e.g., LAN or WAN).

The wearable device 100 according to an embodiment includes drive modules 530 and 530-1 that generate torque applied to the user's body, and leg drive frames 50 and 55 that transmit the generated torque to the user's legs. ), thigh fasteners (1, 2) connected to the leg drive frames (50, 55) and for fixing the leg drive frames (50, 55) to the user's legs, and containing movement information of the wearable device (100) It may include a sensor module 520 that acquires sensor data and a control module 510 that controls the driving modules 530 and 530-1 based on the sensor data. The sensor module 520 includes angle sensors 524 and 524-1 that acquire sensor data including movement values of the leg driving frames 50 and 55 and movement values of the waist support frame 20 of the wearable device 100. It may include an inertial sensor 522 that acquires sensor data including (e.g. acceleration and/or angular velocity values).

In one embodiment, the control module 510 may perform a test to determine whether the wearable device 100 is correctly or normally worn on the user's body based on sensor data from the sensor module 520. The control module 510 may control to provide a guide notification regarding the progress of the test to the user before proceeding with the test. For example, the control module 510 can control the sound output module 550 to output a guide voice to the user, saying, "We are going to test whether or not you are wearing the wearable device from now on. Please walk comfortably while wearing the wearable device." there is.

The control module 510 may perform the test based on sensor data from the first angle sensor 524, the second angle sensor 524-1, and the inertial sensor 522. In one embodiment, the control module 510 detects the first angle sensor for the last 3 seconds at the beginning of operation of the wearable device 100 (e.g., when the user wants to start walking or exercising using the wearable device 100). (524), when the sensor values of each of the second angle sensor 524-1 and the inertial sensor 522 change sufficiently and it is determined that the user has walked more than 3 steps, the drive modules 530 and 530-1 provide torque. You can control what happens. Here, sufficient variation in the sensor value indicates sufficient variation in both directions rather than one direction.

In one embodiment, the control module 510 detects the first angle sensor 524 and the second angle sensor 524 for the last 5 seconds while the wearable device 100 starts operating and the user is walking or exercising. -1) If the sensor values of each of the inertial sensor 522 and the inertial sensor 522 do not change sufficiently or it is determined that the user is sitting for more than 3 seconds, the torque generation of the drive modules 530 and 530-1 can be stopped. . Here, sufficient variation in the sensor value indicates sufficient variation in both directions rather than one direction. A determination as to whether to stop the generation of torque may be performed periodically (or aperiodically) while the wearable device 100 is operating.

The control module 510 may determine a motion score indicating the degree to which the wearable device 100 moves during a time period based on sensor data acquired by the sensor module 520 during a time period. One time interval may be a predefined time interval from the start of the test, and the length of the defined time interval may vary. The daily time period can be adjusted to be optimized for the user.

In one embodiment, the control module 510 may control whether to generate torque of the driving modules 530 and 530-1 based on the determined motion score. The control module 510 determines whether the user is wearing the wearable device 100 normally based on the movement score, and when it is determined that the user is not wearing the wearable device 100 normally, the control module 510 does not generate torque or The driving modules 530 and 530-1 can be controlled to stop generating torque.

The timing at which the test begins to determine the movement score may vary. For example, in response to the wearable device 100 receiving a control command to start driving from the electronic device 210, the control module 510 operates for a period of time (e.g., 3 seconds) after receiving the control command. ) The movement score can be determined based on the sensor data acquired during. As another example, the control module 510 responds to detection of movement of the wearable device 100 after the wearable device 100 is initially powered on, and operates for a period of one hour after the movement is detected. The motion score can be determined based on sensor data acquired for (e.g., 3 seconds). For example, the control module 510 detects movement of the leg drive frames 50 and 55 after the wearable device 100 is powered on or detects a specific number of steps of the user (e.g., two steps or three steps). The motion score can be determined based on sensor data acquired over a period of one hour from the time when is detected. As another example, the control module 510 may perform the test periodically or aperiodically not only before the wearable device 100 attempts to start operation, but also while the wearable device 100 is in operation. The control module 510 may determine a motion score based on sensor data acquired for one time period (eg, 3 seconds) while torque is being generated by the driving modules 530 and 530-1.

In one embodiment, the control module 510 may determine the motion score based on at least one of sensor data from the angle sensors 524 and 524-1 and sensor data from the inertial sensor 522.

In one embodiment, the control module 510 determines, based on sensor data from the angle sensors 524 and 524-1, a first cumulative value and a second value for the first angle change with respect to the first leg drive frame 55. A second accumulated value for the second angle change with respect to the leg driving frame 50 may be determined, and a movement score may be determined based on the first accumulated value and the second accumulated value. The first accumulated value may correspond to the smaller cumulative value of the cumulative value of the positive first angle change amount measured during one time period and the cumulative value of the negative first angle change amount measured during one time period. You can. The second cumulative value may correspond to a smaller cumulative value among the cumulative value of the positive second angle change amount measured during one time period and the cumulative value of the negative second angle change amount measured during one time period. The movement score may be based on a result of multiplying the first cumulative value and the second cumulative value. For example, the motion score may correspond to a result of multiplying the first and second accumulation values or a weighted product. However, the method of calculating the movement score is not limited to this.

In one embodiment, the control module 510 provides a control module 510 with respect to the direction of the first axis (e.g., 1 A third cumulative value of the movement change amount, a fourth accumulated value of the second movement change amount in the direction of the second axis (e.g., Y axis) of the lumbar support frame 20, and the third axis of the lumbar support frame 20 ( Example: further determine a fifth cumulative value of the third motion change amount for the Z-axis) direction, and include the first accumulated value, the second accumulated value, the third accumulated value, the fourth accumulated value, and the fifth accumulated value. Based on this, the movement score can be determined. The third cumulative value may correspond to a smaller cumulative value among the cumulative value of the positive first motion change amount measured during one time period and the cumulative value of the negative first motion change amount measured during one time period. The fourth cumulative value may correspond to a smaller cumulative value among the cumulative value of the positive second motion change amount measured during one time period and the cumulative value of the negative second motion change amount measured during one time period. The fifth cumulative value may correspond to a smaller cumulative value among the cumulative value of the positive third motion change amount measured during one time period and the cumulative value of negative third motion change amount measured during one time period. The movement score may be based on a result of multiplying the first accumulation value, the second accumulation value, the third accumulation value, the fourth accumulation value, and the fifth accumulation value. For example, the motion score may correspond to a result value of multiplying the first accumulation value, the second accumulation value, the third accumulation value, the fourth accumulation value, and the fifth accumulation value, or the result value of a weighted product. However, the method of calculating the movement score is not limited to this. The first accumulated value, the second accumulated value, the third accumulated value, the fourth accumulated value, and the fifth accumulated value each correspond to the actual kinetic energy as the amount of change returned in the opposite direction compared to the large amount of change in one direction in the sensor data. can be considered. As at least one of the first accumulation value, second accumulation value, third accumulation value, fourth accumulation value, and fifth accumulation value approaches 0, the motion score may also approach 0. In one embodiment, the first accumulation value, the second accumulation value, the third accumulation value, the fourth accumulation value, and the fifth accumulation value may be values converted into a unified unit of radians.

In the present disclosure, the positive angle change amount and the motion change amount represent the change amount in the first direction (e.g., forward direction) with respect to the user, and the negative angle change amount and the movement change amount represent the change amount with respect to the user. It may represent the amount of change in a second direction (e.g., backward direction) opposite to the first direction.

In one embodiment, the control module 510 may control torque generation of the driving modules 530 and 530-1 based on the motion score and the threshold value. In response to the motion score being greater than the threshold value, the control module 510 may control the driving modules 530 and 530-1 to start driving to generate torque or to continue driving. The fact that the motion score is greater than the threshold may correspond to the fact that the user is wearing the wearable device 100 normally. The fact that the movement score is below the threshold may correspond to the fact that the user is not wearing the wearable device 100 normally.

In one embodiment, the control module 510 may control the drive modules 530 and 530-1 to not generate torque or to stop generating torque in response to the motion score being below a threshold. If the result of performing the test while the driving modules 530 and 530-1 are in operation is that the movement score is determined to be less than the threshold value, the control module 510 turns off the power of the driving modules 530 and 530-1. The drive modules 530 and 530-1 can be controlled to block supply or prevent torque from being generated.

In one embodiment, in response to the motion score being below the threshold, the control module 510 sends a guide notification (e.g., a guide voice to guide normal wearing) to guide the user to wear the wearable device 100 normally. You can control it to provide. Guide notifications may be provided to the user through the electronic device 210.

In one embodiment, the control module 510 operates based on at least one of the first angle change amount with respect to the first leg drive frame 55 and the second angle change amount with respect to the second leg drive frame 50 during a period of time. A first movement score may be determined. The control module 510 determines the first proportion and the The second movement score may be determined based on at least one of the second proportions occupied by the amount of movement of the two-leg driving frame 50. The control module 510 may control whether torque is generated based on the first motion score and the second motion score. For example, in response to the first motion score being greater than the first threshold and the second motion score being greater than the second threshold, the control module 510 initiates driving to generate torque or maintains the driving state. The driving modules 530 and 530-1 can be controlled to continue operating. In response to the first motion score being less than or equal to the first threshold or the second motion score being less than or equal to the second threshold, the control module 510 controls the drive module 530, 530 to not generate torque or to stop generating torque. -1) can be controlled.

In one embodiment, the cumulative value of the positive first angle change may correspond to the cumulative value of the angle change of the first leg driving frame 55 caused by the user's right leg moving forward with respect to the user. The negative cumulative value of the first angle change may correspond to the cumulative value of the angle change of the first leg driving frame 55 caused by the user's right leg moving backward with respect to the user. The cumulative value of the positive first movement change amount may correspond to the cumulative value of the first movement change amount of the waist support frame 20 due to the user moving the upper body toward the front (eg, +X-axis direction). The accumulated value of the negative first movement change amount may correspond to the accumulated value of the first movement change amount of the waist support frame 20 caused by the user moving the upper body toward the rear (eg, -X-axis direction). The control module 510 may obtain information about the user's actual movement by dividing the accumulated value based on sensor data into positive and negative accumulated values according to the direction in which the user moved.

A small movement score may mean that the user's leg and/or upper body movement amount is small, and a large movement score may mean that the user's leg and/or upper body movement amount is relatively large. If there is no or little movement of at least one of the legs or upper body, the movement score will be very small, and the control module 510 determines the state in which the user's leg movement and/or upper body movement is low by comparing this movement score with a threshold value. can be distinguished. If it is determined that the movement score of the wearable device 100 is below the threshold, the control module 510 determines that the wearable device 100 is not normally worn on the user's body, and transmits torque from the driving modules 530 and 530-1. can be prevented from being created.

FIG. 6 is a diagram illustrating interaction between a wearable device and an electronic device according to an embodiment.

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

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

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

Figure 7 is a flowchart explaining a control method of a wearable device according to an embodiment.

The flowchart of FIG. 7 shows that when the wearable device 100 according to an embodiment wants to start operation, it is determined whether the user is wearing the wearable device 100 normally, and the wearable device 100 is driven depending on whether the wearable device 100 is worn normally. The operations of the control method for controlling are shown. In one embodiment, at least one of the operations of FIG. 7 may be performed simultaneously or in parallel with other operations, and the order between the operations may be changed. Additionally, at least one of the operations may be omitted, and another operation may be additionally performed.

The wearable device 100 may receive a control command to start driving the wearable device 100. The wearable device 100 may receive the control command from the electronic device 210 or may receive the control command from a user input input through the input module 540 of the wearable device 100. For example, the user can select a desired operation mode (e.g., walking assistance mode, exercise assistance mode) for the wearable device 100 through an application installed on the electronic device 210, and the electronic device 210 performs the selected operation. A control command to start driving for the mode may be transmitted to the wearable device 100.

In response to receiving the control command, the wearable device 100 uses the sensor module 520 of the wearable device 100 for a period of one hour after receiving the control command in operation 710 to control the wearable device ( 100) sensor data including movement information can be obtained.

As described above, the sensor module 520 includes angle sensors 524 and 524-1 that acquire sensor data including movement values of the leg drive frames 50 and 55, and a waist support frame of the wearable device 100 ( 20) may include an inertial sensor 522 that acquires sensor data including the movement value.

In operation 720, the wearable device 100 may determine a motion score indicating the degree to which the wearable device 100 moves during a period of time based on sensor data. For example, the wearable device 100 may determine a motion score based on sensor data for the last 3 seconds. Here, ‘3 seconds’ is just an example.

In one embodiment, the wearable device 100 generates a first cumulative value and a second value for the first angle change with respect to the first leg drive frame 55 based on sensor data from the angle sensors 524 and 524-1. A second accumulated value for the second angle change with respect to the leg driving frame 50 may be determined, and a movement score may be determined based on the first accumulated value and the second accumulated value.

According to one embodiment, the wearable device 100 controls the waist support frame 20 of the wearable device 100 based on sensor data from the inertial sensor 522 as well as the first and second accumulated values. a third cumulative value of the first motion change amount with respect to the first axis direction, a fourth cumulative value of the second movement change amount with respect to the second axis direction of the lumbar support frame 20, and a third cumulative value of the lumbar support frame 20. A fifth cumulative value of the third movement change amount in the axial direction may be determined. The wearable device 100 may determine a motion score based on the first accumulation value, the second accumulation value, the third accumulation value, the fourth accumulation value, and the fifth accumulation value.

In operation 730, the wearable device 100 may determine whether the motion score satisfies a condition. For example, the wearable device 100 may determine whether the motion score is greater than a threshold value. If the motion score is greater than the threshold, the condition may be determined to be satisfied, and if the motion score is less than or equal to the threshold, the condition may be determined not to be satisfied. The wearable device 100 may determine whether the user is wearing the wearable device 100 normally based on the movement score. If the motion score is greater than the threshold value, it may be determined that the user is wearing the wearable device 100 normally, and if the motion score is less than the threshold value, it may be determined that the user is not wearing the wearable device 100 normally.

The wearable device 100 may control whether the driving modules 530 and 530-1 of the wearable device 100 generate torque based on the determined motion score. If the movement score does not satisfy the condition (in the case of 'No' in operation 730), the wearable device 100 controls the driving modules 530 and 530-1 not to generate torque, and performs operation 710. You can return to and re-perform the operation of acquiring sensor data for one hour through the sensor module. If the motion score satisfies the condition (yes in operation 730), the wearable device 100 may generate torque through the driving modules 530 and 530-1 in operation 740. The wearable device 100 may start operating according to the operation mode selected by the user.

In one embodiment, after the wearable device 100 begins to operate normally and torque begins to be generated through the drive modules 530 and 530-1, the wearable device 100 periodically or aperiodically performs the method described above and Likewise, a movement score may be determined based on sensor data, and whether the user is wearing the wearable device 100 normally may be determined based on the movement score. If it is determined that the user is not wearing the wearable device 100 normally, the wearable device 100 may stop the operation of the driving modules 530 and 530-1 that were being driven and stop generating torque. The control method while driving the wearable device 100 will be described in more detail with reference to FIG. 10 .

FIG. 8 is a diagram showing change values of sensor data over time according to an embodiment.

The sensor module 520 included in the wearable device 100 according to one embodiment may include an inertial sensor 522 and angle sensors 524 and 524-1. The angle sensors 524 and 524-1 may measure angle changes according to the movement of the leg driving frames 50 and 55 corresponding to the user's leg movements. As an example, the angle sensors 524 and 524-1 may measure a first angle with respect to the first leg drive frame 55 and a second angle with respect to the second leg drive frame 50. The control module 510 generates a first accumulated value of the first angle change amount with respect to the first leg drive frame 55 and a second accumulated value of the second angle change amount with respect to the second leg drive frame 50 based on the measured angle data. The cumulative value can be determined.

The inertial sensor 522 may measure changes in acceleration and/or rotational speed according to the movement of the waist support frame 20 corresponding to the movement of the user's upper body (or waist). For example, the inertial sensor 522 may measure acceleration in the first axis direction, acceleration in the second axis direction, and acceleration in the third axis direction according to the movement of the waist support frame 20. Based on the measured acceleration data, the control module 510 generates a third accumulated value of the first motion change amount in the first axis direction, a fourth accumulated value of the second movement change amount in the second axis direction, and a third accumulated value in the third axis direction. The fifth cumulative value of the third axis movement change amount can be determined.

For example, the graph 810 shown in FIG. 8 may include a first accumulated value for the first angle change amount, a second accumulated value for the second angle change amount, a third accumulated value for the first motion change amount, and the first accumulated value for the first angle change amount. 2 It may be a graph showing a change over time in any one of the fourth cumulative value of the motion change amount and the fifth cumulative value of the third motion change amount. Hereinafter, for convenience of explanation, it is assumed that the graph 810 represents a change over time in the first cumulative value for the first angle change amount.

In one embodiment, the user may initially be stationary while wearing the wearable device 100 at time ta. Afterwards, the user commands the wearable device 100 to start operating through the application of the electronic device 210 or the input module 540 of the wearable device 100, and while wearing the wearable device 100, the user commands the wearable device 100 to start operating. You can move. For example, for a walking motion, the user may extend or step forward with his or her right leg while wearing the wearable device 100 between time ta and time tb. Between time ta and time tb, the first cumulative value of the first angular change for the first leg drive frame 55 may represent a positive first angular change. Accordingly, the first accumulated value may gradually increase in the section from time ta to time tb.

The user may extend the right leg forward until time (tb), then raise the right leg to the maximum angle at time (tb) and then begin to lower it. The user's right leg begins to move toward the rear of the user after achieving the maximum angle. From this point on, the first angle change with respect to the first leg drive frame 55 may represent a negative first angle change. Accordingly, the first accumulation value may gradually decrease starting from time tb. The first cumulative value may gradually decrease until the right leg achieves a maximum angle in the rearward direction.

In one embodiment, the wearable device 100 determines a motion score based on sensor data acquired in a section from time (ta) to time (tc) corresponding to one time section in the graph 810, and adds the motion score to the motion score. Based on this, it can be determined whether to generate torque through the driving modules 530 and 530-1. For example, the section from time (ta) to time (tc) may be a time section of 3 seconds after movement is detected while the user is wearing the wearable device 100, but is not limited thereto.

Based on the sensor data, the wearable device 100 provides a first cumulative value for the first angle change with respect to the first leg driving frame 55 in one time period corresponding to the section between time ta and time tc. The value can be determined. The first cumulative value of the first angle change measured in one time period is the cumulative value of the first angle change for the first leg driving frame 55 in the forward direction with respect to the user and the first cumulative value of the first angle change with respect to the user in the backward direction with respect to the user. may include a cumulative value of the first angle change amount with respect to the first leg driving frame 55. The wearable device 100 includes a cumulative value of the amount of change in which the first leg driving frame 55 moves in the positive direction (forward relative to the user) measured from time (ta) to time (tb), and time (tb) The movement score may be determined based on the smaller value among the cumulative values of the amount of change in which the first leg driving frame 55 moves in the negative direction (backward with respect to the user) measured from tc to time tc.

In a similar manner to determining the first accumulated value for the first angle change in the one time period described above, the wearable device 100 determines the second accumulated value, the third accumulated value, the fourth accumulated value, and the fifth accumulated value. can be decided.

FIG. 9 is a diagram illustrating an example of controlling a wearable device based on sensor data according to an embodiment.

Referring to FIG. 9, first sensor data 920 indicating a change in the first angle with respect to the first leg driving frame 55 of the wearable device 100 over time, and the first sensor data 920 with respect to the second leg driving frame 50 Second sensor data 910 indicating a first angle change, first torque data 940 indicating a change in the first torque to be transmitted by the driving modules 530 and 530-1 to the first leg driving frame 55, and driving Second torque data 930 is shown, which represents a change in the second torque that the modules 530 and 530-1 will transmit to the second leg drive frame 50.

In one embodiment, in order to initially use the wearable device 100, the user may wear the wearable device 100 and select to start exercising (or walking) through an application on the electronic device 210. The user may move his or her body while wearing the wearable device 100 according to the movement guide requested from the application. In this case, as in the time section 950, changes in the first sensor data 920 and the second sensor data 910 may be detected by the sensor module 520 of the wearable device 100. Even if the user's body movement is detected at the beginning of use of the wearable device 100, the wearable device 100 does not immediately generate torque through the drive modules 530 and 530-1, but rather requires the user to use the wearable device before generating torque. You can first check whether (100) is worn normally. For example, the wearable device 100 may perform a test to determine whether the user is wearing the wearable device 100 normally, as described in FIGS. 5 and 7 . The wearable device 100 may determine whether the wearing conditions of the wearable device 100 are satisfied based on sensor data from each of the angle sensor and the inertial sensor acquired during a recent predetermined time period. The wearable device 100 may determine that only the amount of sensor data measured from each of the angle sensor and the inertial sensor is actual kinetic energy as it returns in the opposite direction in preparation for a large change in one direction. For example, the wearable device 100 may measure the angle value of the first angle sensor 524, the angle value of the second angle sensor 524-1, and each axis (X-axis, Y-axis, Z-axis) of the inertial sensor 522. ) The movement score can be determined based on the angular velocity value. The wearable device 100 may determine whether the user has worn the wearable device 100 normally based on the comparison result between the movement score and the threshold value.

If it is determined that the user is not wearing the wearable device 100 normally, the wearable device 100 may control the driving modules 530 and 530-1 not to generate torque. When it is determined that the user is wearing the wearable device 100 normally, the wearable device 100 may start generating torque through the driving modules 530 and 530-1. In the illustrated embodiment, it is determined that the user is wearing the wearable device 100 normally, and from the time when it is determined that the wearable device 100 is worn after the time interval 950 in which the user's leg movement is first detected (e.g. From time interval 960), it can be seen that a first torque for the right leg and a second torque for the left leg are generated. In this way, the wearable device 100 does not immediately generate torque in the time section 950 in which the user's movement is first detected, but allows the user to use the wearable device based on sensor data acquired through the sensor module 520 for a certain period of time. By performing a test process to determine whether the user is wearing the wearable device 100 normally, the generation of torque may begin after it is determined that the user is wearing the wearable device 100 normally. Through this, even though the user is not wearing the wearable device 100 or is wearing it abnormally, the wearable device 100 generates torque to prevent accidents that may occur (e.g., the leg support frame is damaged by torque). The risk of an accident that is driven and strikes the user's body can be reduced.

Figure 10 is a flowchart explaining a control method of a wearable device according to an embodiment. The flowchart of FIG. 10 shows that after the wearable device 100 according to an embodiment starts operating, the wearable device 100 periodically or non-periodically determines whether the user has normally worn the wearable device 100. , shows the operations of a control method for controlling the wearable device 100 depending on whether it is worn or not. In one embodiment, the wearable device 100 selects to start exercising (or walking) through an application on the electronic device 210, and the user normally operates the wearable device 100 every 5 seconds while the wearable device 100 is running. You can determine whether it was worn or not. Here, '5 seconds' is just an example.

In one embodiment, at least one of the operations of FIG. 10 may be performed simultaneously or in parallel with another operation, and the order between the operations may be changed. Additionally, at least one of the operations may be omitted, and another operation may be additionally performed.

In operation 1010, the wearable device 100 may generate torque applied to the user's legs through the drive modules 530 and 530-1 of the wearable device 100. As an example, operation 1010 of FIG. 10 may correspond to operation 740 of FIG. 7 .

In operation 1020, the wearable device 100 may acquire sensor data using the sensor module 520 while the wearable device 100 is operating. The wearable device 100 may acquire sensor data including movement information of the wearable device 100 using the sensor module 520 for a period of one hour. In one embodiment, the wearable device 100 may acquire sensor data at predetermined time intervals. For example, the wearable device 100 may acquire sensor data for testing whether the device is worn at a specific time period (eg, every 10 seconds).

In operation 1030, the wearable device 100 may determine a motion score indicating the degree to which the wearable device 100 moves during one time period based on sensor data. Operation 1030 corresponds to operation 720 of FIG. 7, and redundant description will be omitted.

In one embodiment, the wearable device 100 may determine whether the user is wearing the wearable device 100 based on sensor data acquired at predetermined time intervals after torque begins to be generated. In one embodiment, the wearable device 100 requires (1) the user to move sufficiently after wearing the wearable device 100, (2) the user to move both legs, and (3) the user to move the legs in only one direction. If the user moves the leg in the opposite direction again, it may be determined that the user is wearing the wearable device 100.

In operation 1040, the wearable device 100 may determine whether the motion score satisfies a condition. For example, the wearable device 100 may determine whether the motion score is greater than a threshold value. If the motion score is greater than the threshold, the condition may be determined to be satisfied, and if the motion score is less than or equal to the threshold, the condition may be determined to be not satisfied. Operation 1040 corresponds to operation 730 of FIG. 7, and redundant description will be omitted.

The wearable device 100 may control whether the driving modules 530 and 530-1 of the wearable device 100 generate torque based on the motion score. For example, the wearable device 100 may determine whether to stop torque generation based on the movement score.

If the motion score does not satisfy the condition (in the case of 'No' in operation 1040) (e.g., if the movement score is less than or equal to a threshold value), in operation 1050, the wearable device 100 performs the driving modules 530 and 530. -1) The generation of torque can be stopped. Thereafter, the wearable device 100 may notify the user of abnormal wearing of the wearable device 100 and output a guide notification (eg, a guide voice) to guide normal wearing. If the movement score satisfies the condition (yes in operation 1040) (e.g., the movement score is greater than the threshold value), the wearable device 100 returns to operation 1010 and continues to perform driving. can do.

Through the above control method, the wearable device 100 can prevent safety accidents caused by movement of the leg drive frames 50 and 55 by stopping the generation and supply of the planned torque when the user stops moving. there is.

FIG. 11 is a diagram illustrating an example of controlling a wearable device based on sensor data according to an embodiment.

Referring to FIG. 11, first sensor data 1120 indicating a change in the first angle with respect to the first leg driving frame 55 of the wearable device 100 over time, and the first sensor data 1120 with respect to the second leg driving frame 50 Second sensor data 1110 indicating a first angle change, first torque data 1140 indicating a change in the first torque to be transmitted by the driving modules 530 and 530-1 to the first leg driving frame 55, and driving Second torque data 1130 is shown representing a change in the second torque that the modules 530 and 530-1 will transmit to the second leg drive frame 50.

Even while the user is wearing and using the wearable device 100, the wearable device 100 may continuously check whether the user is wearing the wearable device 100 normally. For example, the wearable device 100 may continuously check whether the user is wearing the wearable device 100 according to the operations described in FIG. 10 . The wearable device 100 may stop the driving modules 530 and 530-1 from generating torque when it is determined that the user is not wearing the wearable device 100 normally while driving the wearable device 100. .

For example, if the fastening of the wearable device 100 to the user's right leg is loosened at a certain point in time, the first angle with respect to the one-leg driving frame 55 in a certain time interval, such as in the time interval 1150, can be detected as a small value, unlike the previous cycle. In this case, the wearable device 100 may determine that the wearable device 100 is not worn normally and may stop operating the wearable device 100 to prevent the occurrence of a safety accident. For example, when the wearable device 100 detects abnormal wearing of the wearable device 100 by the user, it stops torque generation from the drive modules 530 and 530-1 as in the time section 1160, or The amount of torque generated can be gradually reduced. In the time section 1160, it can be seen that the first torque and the second torque are not being generated after the user's abnormal wearing of the wearable device 100 is detected in the time section 1150. Afterwards, the wearable device 100 may enter standby mode, notify the user of abnormal wearing of the wearable device 100, and provide a guide notification to guide normal wearing. The guide notification may be provided in the form of a voice guide output from the wearable device 100 or a notification output on the electronic device 210 linked with the wearable device 100. Afterwards, the wearable device 100 continues to check whether the user is wearing the wearable device 100 normally. If it is determined that the user is wearing the wearable device 100 normally, the wearable device 100 releases the standby mode and restarts the driving module 530 again. , 530-1) can be started.

FIG. 12 is a diagram illustrating the configuration of an electronic device according to an embodiment.

Referring to FIG. 12, the electronic device 210 may include a processor 1210, a memory 1220, a communication module 1230, a display module 1240, an audio output module 1250, and an input module 1260. there is. In one embodiment, at least one of these components (e.g., sound output module 1250) is omitted or one or more other components (e.g., sensor module, haptic module, battery) are added to the electronic device 210. It can be.

The processor 1210 may control at least one other component (eg, hardware or software component) of the electronic device 210 and may perform various data processing or calculations. According to one embodiment, as at least part of data processing or computation, the processor 1210 stores commands or data received from another component (e.g., the communication module 1230) in the memory 1220, and the memory 1220 ) can be processed, and the resulting data can be stored in the memory 1220.

According to one embodiment, the processor 1210 is a main processor (e.g., central processing unit or application processor) or an auxiliary processor that can operate independently or together (e.g., graphics processing unit, neural network processing unit (NPU), image signal processor , sensor hub processor, or communication processor).

The memory 1220 may store various data used by at least one component (eg, the processor 1210 or the communication module 1230) of the electronic device 210. Data may include, for example, input data or output data for a program (eg, application) and instructions related thereto. Memory 1220 may include at least one instruction executable by processor 1210. Memory 1220 may include volatile memory or non-volatile memory.

The communication module 1230 is a direct (e.g., wired) communication channel or wireless communication channel between the electronic device 210 and another electronic device (e.g., wearable device 100, other wearable device 220, server 230). It can support establishment and communication through established communication channels. The communication module 1230 may include a communication circuit to perform a communication function. The communication module 1230 operates independently of the processor 1210 (e.g., an application processor) and may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module 290 is a wireless communication module that performs wireless communication (e.g., a Bluetooth communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) or a wired communication module (e.g., a LAN communication module). , or a power line communication module). For example, the communication module 1230 transmits a control command to the wearable device 100 and receives sensor data including body movement information of the user wearing the wearable device 100 from the wearable device 100. ) may receive at least one of status data or control result data corresponding to a control command.

The display module 1240 may visually provide information to the outside of the electronic device 210 (eg, a user). Display module 1240 may include, for example, an LCD or OLED display, a holographic device, or a projector device. The display module 1240 may further include a control circuit for controlling display operation. In one embodiment, the display module 1240 may further include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of force generated by the touch. The display module 1240 may control the wearable device 100 or output a user interface screen for providing various information (eg, exercise evaluation information, setting information of the wearable device 100). In response to the electronic device 210 receiving a notification signal from the wearable device 100 indicating that the wearable device 100 is not properly worn on the user's body, the display module 1240 displays the wearable device 100 to the user. ), a guide screen can be output to inform of abnormal wearing or to guide normal wearing.

The sound output module 1250 may output sound signals to the outside of the electronic device 210. The sound output module 1250 may include a speaker that plays a guide sound signal (e.g., drive start sound, operation error notification sound), music content, or a guide voice based on the state of the wearable device 100. In response to the electronic device 210 receiving a notification signal from the wearable device 100 indicating that the wearable device 100 is not properly worn on the user's body, the sound output module 1250 informs the user of the wearable device ( 100), a guide voice may be output to announce normal wearing or to guide normal wearing.

The input module 1260 may receive instructions or data to be used in a component of the electronic device 210 (e.g., the processor 1210) from outside the electronic device 210 (e.g., a user). Input module 1260 may include input component circuitry and may receive user input. The input module 1260 may include, for example, a touch recognition circuit to recognize keys (eg, buttons) and/or touches on the screen.

The various embodiments of this disclosure and the terms used therein are not intended to limit the technical features described in this disclosure to specific embodiments, and should be understood to include various modifications, equivalents, or replacements of the embodiments. do. In connection with the description of the drawings, similar reference numbers may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of the above items, unless the relevant context clearly indicates otherwise. In the present disclosure, “A or B”, “at least one of A and B”, “at least one of A or B”, “A, B or C”, “at least one of A, B and C”, and “A Each of phrases such as “at least one of , B, or C” may include any one of the items listed together in the corresponding phrase, or any possible combination thereof. Terms such as "first", "second", or "first" or "second" may be used simply to distinguish one component from another, and to refer to that component in other respects (e.g., importance or order) is not limited. One (e.g., first) component is said to be “coupled” or “connected” to another (e.g., second) component, with or without the terms “functionally” or “communicatively.” When mentioned, it means that any of the components can be connected to the other components directly (e.g. wired), wirelessly, or through a third component.

The term “module” used in various embodiments of the present disclosure may include a unit implemented in hardware, software, or firmware, and is interchangeable with terms such as logic, logic block, component, or circuit, for example. It can be used as A module may be an integrated part or a minimum unit of the parts or a part thereof that performs one or more functions. For example, according to one embodiment, the module may be implemented in the form of an application-specific integrated circuit (ASIC).

Software may include a computer program, code, instructions, or a combination of one or more of 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, or computer storage medium to be interpreted by or to provide instructions or data to a processing device. It can be permanently or temporarily embodied in the device. Software may be distributed over networked computer systems and thus stored or executed in a distributed manner. Software and data may be stored on a computer-readable recording medium. Various embodiments of the present disclosure may be implemented as software including one or more instructions stored in a storage medium that can be read by a machine. For example, the processor of the device may call at least one instruction among one or more instructions stored in the storage medium and execute it. This allows the device to be operated to perform at least one function according to the at least one instruction called. The one or more instructions may include code generated by a compiler or code that can be executed by an interpreter. A storage medium that can be read by a device may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' only means that the storage medium is a tangible device and does not contain signals (e.g. electromagnetic waves), and this term refers to cases where data is semi-permanently stored in the storage medium. There is no distinction between temporary storage cases.

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

According to various embodiments, each component (e.g., module or program) of the above-described components may include a single or plural entity, and some of the plurality of entities may be separately placed in other components. there is. According to various embodiments, one or more of the components or operations described above may be omitted, or one or more other components or operations may be added. Alternatively or additionally, multiple components (eg, modules or programs) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each component of the plurality of components in the same or similar manner as those performed by the corresponding component of the plurality of components prior to the integration. . According to various embodiments, operations performed by a module, program, or other component may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, or omitted. Alternatively, one or more other operations may be added.

Claims (20)

In the wearable device 100 worn on the user's body,
A driving module (530; 530-1) that generates torque applied to the user's body;
Leg driving frames (50; 55) for transmitting the generated torque to the user's legs;
A thigh fastening portion (1; 2) connected to the leg drive frame (50; 55) and for fixing the leg drive frame (50; 55) to the user's leg;
A sensor module 520 that acquires sensor data including movement information of the wearable device 100; and
It includes a control module 510 that controls the driving module 530 (530-1) based on the sensor data,
The control module 510,
A motion score indicating the degree to which the wearable device 100 moves during the one-hour interval is determined based on sensor data acquired by the sensor module 520 during the one-hour interval, and based on the determined motion score, the Controlling whether torque is generated,
Wearable device (100).
According to paragraph 1,
The control module 510,
In response to the wearable device 100 receiving a control command to start driving from the electronic device 210, the motion score is determined based on sensor data acquired for one hour after receiving the control command. doing,
Wearable device (100).
According to paragraph 1,
The control module 510,
In response to detection of movement of the wearable device 100 after the wearable device 100 is powered on, based on sensor data acquired for a period of one hour after the movement is detected Determining the movement score,
Wearable device (100).
According to paragraph 1,
The control module 510,
Determining the motion score based on sensor data acquired during a one-hour period while the torque is being generated,
Wearable device (100).
According to paragraph 1,
The control module 510,
In response to the motion score being below a threshold, controlling the drive module (530; 530-1) not to generate the torque or to stop generating the torque.
Wearable device (100).
According to paragraph 1,
The control module 510,
Determine whether the user is wearing the wearable device 100 normally based on the movement score,
When it is determined that the user is not wearing the wearable device 100 normally, controlling the drive module (530; 530-1) not to generate the torque or to stop generating the torque.
Wearable device (100).
According to paragraph 1,
The sensor module 520 is,
An angle sensor (524; 524-1) that acquires sensor data including movement values of the leg driving frame (50; 55); and
An inertial sensor 522 that acquires sensor data including movement values of the waist support frame 20 of the wearable device 100.
Wearable device 100 including.
In clause 7,
The control module 510,
Determining the motion score based on at least one of sensor data from the angle sensor (524; 524-1) and sensor data from the inertial sensor (522),
Wearable device (100).
In clause 7,
The control module 510,
Based on the sensor data of the angle sensor 524 (524-1), a first accumulated value for the first angle change amount for the first leg drive frame 55 and a second value for the second leg drive frame 50 determine a second cumulative value for the angular change;
Determining the motion score based on the first accumulated value and the second accumulated value,
Wearable device (100).
According to clause 9,
The first accumulated value is the smaller of the cumulative value of the positive first angle change measured during the one time period and the accumulated value of the negative first angle change measured during the one time period. corresponds to the value,
The second accumulated value corresponds to a smaller cumulative value among the accumulated value of the positive second angle change amount measured during the one time period and the accumulated value of the negative second angle change amount measured during the one time period,
Wearable device (100).
According to clause 9,
The control module 510,
Based on the movement value of the lumbar support frame 20, a third cumulative value of the first movement change amount with respect to the first axis direction of the lumbar support frame 20, the second axis direction of the lumbar support frame 20 Further determine a fourth cumulative value of the second motion change amount with respect to and a fifth cumulative value of the third movement change amount with respect to the third axis direction of the lumbar support frame 20,
Determining the motion score based on the first accumulation value, the second accumulation value, the third accumulation value, the fourth accumulation value, and the fifth accumulation value,
Wearable device (100).
According to clause 11,
The third cumulative value corresponds to a smaller cumulative value among the cumulative value of the positive first motion change amount measured during the one time interval and the cumulative value of the negative first motion change amount measured during the one time interval,
The fourth cumulative value corresponds to a smaller cumulative value among the cumulative value of the positive second motion change amount measured during the one time interval and the cumulative value of the negative second motion change amount measured during the one time interval,
The fifth cumulative value corresponds to a smaller cumulative value among the cumulative value of the positive third motion change amount measured during the one time interval and the cumulative value of the negative third motion change amount measured during the one time interval.
Wearable device (100).
According to clause 11,
The movement score is,
Based on a result of multiplying the first accumulation value, the second accumulation value, the third accumulation value, the fourth accumulation value, and the fifth accumulation value,
Wearable device (100).
In clause 7,
The control module 510,
Determining a first movement score based on at least one of a first angle change amount with respect to the first leg drive frame 55 and a second angle change amount with respect to the second leg drive frame 50 during the one time period,
In the total movement amount of the first leg drive frame 55 and the second leg drive frame 50 during the one time period, the first proportion of the movement amount of the first leg drive frame 55 and the second Determine a second movement score based on at least one of the second proportions occupied by the movement amount of the leg drive frame 50,
Controlling whether to generate the torque based on the first motion score and the second motion score,
Wearable device (100).
According to paragraph 1,
The control module 510,
In response to the motion score being below a threshold, controlling to provide a guide notification to guide the user to normal wearing of the wearable device 100,
Wearable device (100).
In a method of controlling the wearable device 100,
An operation of receiving a control command to start operation of the wearable device 100;
In response to receiving the control command, movement information of the wearable device 100 is included using the sensor module 520 of the wearable device 100 for a period of one hour after receiving the control command. An operation of acquiring sensor data;
determining a motion score indicating the degree to which the wearable device 100 moves during the one time period based on the sensor data; and
An operation of controlling whether the driving module 530 (530-1) of the wearable device 100 generates torque based on the determined movement score.
How to include .
According to clause 16,
The operation of determining the movement score is,
Based on the sensor data, a first accumulated value for the first angle change amount for the first leg drive frame 55 and a second accumulated value for the second angle change amount for the second leg drive frame 50 are determined. action;
Based on the sensor data, a third cumulative value of the first movement change amount with respect to the first axis direction of the waist support frame 20 of the wearable device 100, and a third cumulative value in the second axis direction of the waist support frame 20 of the wearable device 100. determining a fourth cumulative value of the second motion change amount with respect to the lumbar support frame 20 and a fifth cumulative value of the third movement change amount with respect to the third axis direction of the lumbar support frame 20; and
Determining the motion score based on the first accumulation value, the second accumulation value, the third accumulation value, the fourth accumulation value, and the fifth accumulation value
How to include .
In a method of controlling the wearable device 100,
An operation of generating torque applied to the user's legs through the drive module (530; 530-1) of the wearable device (100);
Obtaining sensor data including movement information of the wearable device 100 using the sensor module 520 of the wearable device 100 for a period of one time;
determining a motion score indicating the degree to which the wearable device 100 moves during the one time period based on the sensor data; and
An operation of determining whether to stop generating the torque, based on the determined motion score.
How to include .
According to clause 18,
The operation of determining the movement score is,
Based on the sensor data, a first accumulated value for the first angle change amount for the first leg drive frame 55 and a second accumulated value for the second angle change amount for the second leg drive frame 50 are determined. action;
Based on the sensor data, a third cumulative value of the first movement change amount with respect to the first axis direction of the waist support frame 20 of the wearable device 100, the second axis direction of the waist support frame 20 determining a fourth cumulative value of the second motion change amount with respect to and a fifth cumulative value of the third movement change amount with respect to the third axis direction of the lumbar support frame 20; and
Determining the motion score based on the first accumulation value, the second accumulation value, the third accumulation value, the fourth accumulation value, and the fifth accumulation value
How to include .
A computer-readable recording medium recording instructions that, when executed by a processor, cause the processor to perform the method of any one of claims 15 to 19.

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