KR20240072011A - Method of correcting walking posture of user and wearable device performing the method - Google Patents

Abstract

According to one embodiment, a method of controlling a wearable device includes determining whether the user's walking state is in a normal state based on test movement information of the user of the wearable device obtained through test walking, and the walking state is in a normal state. If not, it may include determining first correction torque information based on the test motion information, and outputting the first correction torque corresponding to the first correction torque information through at least one of the driving module and the additional driving module. You can.

Description

Method for correcting a user's walking posture and a wearable device performing the method {METHOD OF CORRECTING WALKING POSTURE OF USER AND WEARABLE DEVICE PERFORMING THE METHOD}

This application relates to technology for controlling wearable devices.

As we enter an aging society, the number of people complaining of discomfort and pain while walking due to muscle weakness or joint abnormalities due to aging is increasing. Walking assistance devices that can help elderly people with weakened muscles or patients with joint problems walk smoothly Interest in is increasing.

According to one embodiment, a wearable device includes a base body positioned at the user's waist when the wearable device is worn on the user's body, a waist support frame and a leg support frame for supporting at least a portion of the user's body. , a thigh fastening unit for fixing the leg support frame to the user's thigh, an inertial measurement unit (IMU) disposed in the base body, a drive module that generates torque applied to the user's legs - the drive module is configured to the waist Positioned between a support frame and the leg support frame, the leg support frame includes a control module including an angle sensor for measuring a rotation angle of the leg support frame and at least one processor to control the wearable device, the leg support frame , a first partial leg support frame connected to the driving module, a second partial leg support frame connected to the thigh fastening unit, a hinge connecting the first partial leg support frame and the second partial leg frame, and an additional driving module that controls movement of the second partial leg support frame with respect to the first partial leg support frame.

According to one embodiment, a method of controlling a wearable device, performed by a wearable device, determines whether the user's walking state is normal based on test movement information of the user of the wearable device obtained through a test walk. An operation of determining, if the walking state is not a normal state, an operation of determining first correction torque information based on test movement information, wherein the first correction torque information is transmitted to at least one of a drive module and an additional drive module of the wearable device. and outputting a first correction torque corresponding to the first correction torque information through at least one of the driving module and the additional driving module.

FIG. 1 is a diagram illustrating an overview of a wearable device worn on a user's body, according to an embodiment.
Figure 2 is a diagram for explaining an exercise management system including a wearable device and an electronic device, according to an embodiment.
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 for explaining mutual operations between a wearable device and an electronic device, according to an embodiment.
FIG. 7 is a diagram illustrating the configuration of an electronic device according to an embodiment.
8A shows a leg support frame including a first partial leg support frame and a second partial leg support frame, according to one embodiment.
Figure 8b shows a further drive module controlling the movement of the second partial leg support frame relative to the first partial leg support frame, according to one embodiment.
Figure 9 is a flowchart of a method for outputting a first correction torque for correcting a user's walking posture, according to an embodiment.
FIG. 10 illustrates a method of obtaining information on a user's straight leg movement, according to an embodiment.
Figure 11 illustrates a method of obtaining test pelvic movement information of a user, according to one embodiment.
FIG. 12 illustrates a method of obtaining lateral leg movement information of a user, according to an embodiment.
FIG. 13 is a flowchart of a method for determining whether a user's walking state is normal based on a test movement range and a reference movement whiplash, according to an embodiment.
Figure 14 is a flowchart of a method of executing a muscle strengthening exercise program based on the first corrected movement range and the test movement range, according to one embodiment.
Figure 15 is a flowchart of a method of executing a muscle strength assistance exercise program when the user's walking state is normal, according to an embodiment.
Figure 16A is a flowchart of a method of executing a muscle strength assistance exercise program, according to one embodiment.
FIG. 16B illustrates gain values of an operation protocol in a walking assistance mode that change over time, according to an embodiment.
Figure 17 is a flowchart of a method for outputting a second correction torque to correct a user's walking posture, according to an embodiment.
Figure 18A is a flowchart of a method of executing a muscle strengthening exercise program according to one embodiment.
18B to 18D each show gain values of an operation protocol in cardiorespiratory strength mode that change over time, according to one embodiment.
18E to 18G each show gain values of an operation protocol in a muscle strength strengthening mode that change over time, according to an embodiment.
18H to 18J each show gain values of an operation protocol in an interval training mode that change with time, according to one embodiment.

Hereinafter, various embodiments of the present disclosure are described with reference to the attached drawings. However, this is not intended to limit the present description to specific embodiments, and should be understood to include various modifications, equivalents, and/or alternatives to the embodiments of the present description.

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 (eg, walking ability, exercise ability, exercise posture) of the user 110. In embodiments, the term 'wearable device' 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.), or waist) of the user 110 and assists the body movements of the user 110. An 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's 110 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 give. 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 to measure the physical ability of the user 110. The wearable device 100 uses sensors (e.g., an angle sensor 125, an inertial measurement unit (IMU) 135) provided in the wearable device 100 while the user walks or exercises. The user's movement information can be measured and the user's physical 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 100 measured by the wearable device 100. . The physical ability measurement mode may include an exercise motion measurement mode for measuring the user's exercise motion.

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 depending on the body part on which it is worn, the wearable device ( 100) The form and composition may vary.

According to one embodiment, the wearable device 100 includes a support frame (e.g., a leg support frame in FIG. 3) for supporting the body of the user 110 when the wearable device 100 is worn on the body of the user 110. 50, 55), waist support frame 20), a sensor module (e.g., the sensor in FIG. 5A) that acquires sensor data containing movement information about body movements (e.g., leg movements, upper body movements) of the user 110 A control module ( 130) (e.g., the control module 510 of FIGS. 5A and 5B).

The sensor module may include an angle sensor 125 and an inertial measurement device 135. The angle sensor 125 may measure the rotation angle of the leg support frame of the wearable device 100 corresponding to the hip joint angle value of the user 110. The rotation angle of the leg support 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 present near the right hip joint and the left hip joint of the user 110, respectively. The inertial measurement device 135 may include an acceleration sensor and/or an angular velocity sensor, and may measure changes in acceleration and/or angular velocity according to the movement of the user 110. For example, the inertial measurement device 135 measures the upper body movement value of the user 110 corresponding to the movement value of the waist support frame (or base body (base body 80 in FIG. 3) of the wearable device 100. The movement value of the waist support frame 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 measurement device 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. The base body is mounted on the lower back of the user 110 to provide a cushioning sensation to the user's waist, and can support the user's 110 waist together with the waist support frame.

Figure 2 is a diagram for explaining 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 worn on the user's body, an electronic device 210, another wearable device 220, and a server 230. In one embodiment, the exercise management system 200 omits at least one of these devices (e.g., the other wearable device 220 or the server 230) or includes one or more other devices (e.g., the wearable device 100). A dedicated controller device) can 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 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 or 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 ability 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 estimate the user's physical capabilities by analyzing sensor data received from the wearable device 100.

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 of the wearable device 100 from the wearable device 100, and may estimate the user's physical ability or exercise results based on the received sensor data. . In one embodiment, when a user wears the wearable device 100 and exercises, the wearable device 100 acquires sensor data including the user's movement information using sensors, and transmits the obtained sensor data to an electronic device ( 210). The electronic device 210 may extract the user's motion value from sensor data and evaluate the user's exercise motion based on the extracted motion value. The electronic device 210 may provide exercise motion measurement values and exercise motion evaluation information regarding the user's exercise motion to the user through a graphical user interface.

In one embodiment, the electronic device 210 may execute a program (e.g., an application) for controlling the wearable device 100, and the user may control the operation or setting values (e.g., of the wearable device 100) through the program. : Torque intensity output from the driving module (e.g., the driving modules 35 and 45 in Figure 3), size of audio output from the sound output module (e.g., the sound output module 550 in Figures 6a and 5b), light The brightness of the 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 evaluated by the electronic device 210 is transmitted to another wearable device 220 to allow the user to use the other wearable device 220. can be provided to 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)). The wearable device 100 may include a haptic module and provide tactile feedback in the form of vibration to the user's body through the haptic module. The electronic device 210 may also provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device 100.

In one embodiment, the electronic device 210 may present personalized exercise goals to the user in an exercise assistance mode. The personalized exercise goal may include an exercise amount target for each type of exercise (e.g., strength exercise, balance exercise, aerobic exercise) that the user wishes to exercise, as determined by the electronic device 210 and/or the server 230. . When the server 230 determines the exercise amount target value, the server 230 may transmit information about the determined exercise amount target value to the electronic device 210. The electronic device 210 may be configured to include an exercise program intended to perform exercise volume targets for exercise types of strength training, aerobic exercise, and balance exercise (e.g., squats, split lunges, lunges and kneeups) and/or physical characteristics of the user (e.g., age, It can be personalized and presented according to height, weight, BMI). The electronic device 210 may display a GUI screen indicating the exercise amount target value for each exercise type on the display.

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

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 support 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, lighting unit 85) may be omitted, or one or more other components (eg, haptic module) 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 outside the base body 80. The lighting unit 85 may include a light source (eg, a light emitting diode (LED)). The lighting unit 85 may emit light under the control of a control module (not shown) (eg, the control module 510 in FIGS. 5A and 5B). Depending on the embodiment, the control module may control the lighting unit 85 so that visual feedback corresponding to the state of the wearable device 100 is provided (or output) to the user through the lighting unit 85.

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

In one embodiment, the wearable device 100 may include a sensor module (not shown) that acquires sensor data from one or more sensors (eg, sensor module 520 in FIG. 5A). The sensor module can acquire sensor data that changes depending on the user's movement. In one embodiment, the sensor module may acquire sensor data including movement information of the user 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 support frames 50, 55 (e.g., the angle sensor 125 in FIG. 1, the first angle sensor 520 in FIG. 5B, and the second An angle sensor 520-1) may be included, but is not limited thereto. For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a biosignal sensor, or a proximity sensor.

The waist 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 control module. 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 at a location corresponding to the user's right hip joint position and a second driving module 35 located at a location 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 that generates 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 support 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 of the first joint member (corresponding to the user's joint angle) may be disposed on one side of the first joint member. One side of the second joint member may be connected to the second actuator, and the other side may be connected to the second leg support frame 50. The second joint member 333 may be rotated by power 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 may be disposed on one side of the second joint member.

In one embodiment, the first actuator may be disposed in a lateral direction of the first joint member, and the second actuator may be disposed in a lateral direction of the second joint member. The rotation axis of the first actuator and the rotation axis of the first joint member may be arranged to be spaced apart from each other, and the rotation axis of the second actuator and the rotation axis of the second joint member may also be arranged to be spaced apart from each other. However, 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 to be 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 support frames 50 and 55 may support the user's legs (eg, thighs) when the wearable device 100 is worn on the user's legs. For example, the leg support frames 50 and 55 may transmit the power (torque) generated by the drive modules 35 and 45 to the user's thighs, and the power may act as an external force applied to the user's leg movements. . One end of the leg support frames (50, 55) is connected to the joint member and can be rotated, and the other end of the leg support frames (50, 55) is connected to the thigh fastening portions (1, 2), so that the leg support frame (50, 55) may support the user's thigh and transmit the power generated by the drive modules (35, 45) to the user's thigh. For example, the leg support frames 50 and 55 may push or pull the user's thighs. The leg support frames 50 and 55 may extend along the longitudinal direction of the user's thighs. The leg support frames 50 and 55 may be bent to surround at least a portion of the user's thigh circumference. The leg support frames 50 and 55 may include a first leg support frame 55 for supporting the user's right leg and a second leg support frame 50 for supporting the user's left leg.

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

In one embodiment, the first thigh fastening unit 2 may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening unit 1 may include a second cover, a second fastening 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 support frames 50 and 55, and may include curved surfaces corresponding to the user's thighs. 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 leg support frames 50 and 55. 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 , the 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. In one embodiment, at least one of these components (eg, sound output module 550) may be omitted, or one or more other components (eg, haptic module) may be added to the control system 500.

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 FIG. 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 control system 500-1 shown in FIG. 5B, there are a plurality of motor driver circuits 532 and 532-1 and a plurality of motors 534 and 534-1 (e.g., two or more). ) can be. 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 a sensor circuit including 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 100. The sensor module 520 may transmit the acquired sensor data to the control module 510. The sensor module 520 may include an inertial measurement device 522 and an angle sensor (eg, a first angle sensor 520 and a second angle sensor 520-1) as shown in FIG. 5B. The inertial measurement device 522 can measure the user's upper body movement value. For example, the inertial measurement device 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. The inertial measurement device 522 may be used, for example, to measure at least one of forward and backward tilt, left and right tilt, or rotation of the user's body. Additionally, the inertial measurement device 522 may acquire movement values (e.g., acceleration values and angular velocity values) of the waist support frame of the wearable device (e.g., the waist support frame 20 of FIG. 3). Waist support frame 100 The movement value of ) may correspond to the user's upper body movement value.

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. For example, the first angle sensor 520 in FIG. 5B may acquire the hip joint angle value of the user's right leg, and the second angle sensor 520-1 may obtain the hip joint angle value of the user's left leg. You can. Each of the first angle sensor 520 and the second angle sensor 520-1 may include, for example, an encoder and/or a Hall sensor. Additionally, the angle sensor can obtain movement values of the leg support frame of the wearable device. For example, the first angle sensor 520 acquires the movement value of the first leg support frame 55, and the second angle sensor 520-1 acquires the movement value of the second leg support frame 50. can do. The movement value of the leg support frame may correspond to the hip joint angle value.

In one embodiment, the sensor module 520 is a position sensor for acquiring the position value of the wearable device 100, a proximity sensor for detecting the proximity of an object, a biosignal sensor for detecting the user's biosignal, or an ambient temperature sensor. It may further include at least one of the temperature sensors for measuring.

The input module 540 may receive commands or data to be used in a component of the wearable device 100 (e.g., the processor 512) from outside the wearable device 100 (e.g., a user). Input module 540 may include input component circuitry. Input module 540 may include, for example, keys (e.g., buttons) or a touch screen.

The sound output module 550 may output sound signals to the outside of the wearable device 100. The sound output module 550 may provide auditory feedback to the user. For example, the sound output module 550 provides guide sound signals (e.g., drive start sound, motion error notification sound, exercise start notification sound), music content, or specific information (e.g., exercise result information, exercise motion evaluation information). It may include a speaker that plays a guide voice for auditory notification.

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 driving module 530 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. The motor driver circuit 532 may control the operation of the motor 534 by generating a current signal (or voltage signal) corresponding to the control signal and supplying it to the motor 534. In some cases, a 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 torque for an auxiliary force that assists the movement of the user's legs or a resistance force 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, the communication module 516 and the 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. The software may include an application for providing a GUI. According to one embodiment, as at least part of data processing or computation, the processor 512 stores instructions or data received from another component (e.g., the communication module 516) in the 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. The communication module 516 may include a communication circuit to perform communication functions. For example, the communication module 516 may receive a control signal from an electronic device (e.g., the electronic device 210) and may transmit sensor data obtained by the sensor module 520 to the electronic device. According to one embodiment, the communication module 516 operates independently of the processor 512 and may include one or more communication processors (not shown) 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, wireless fidelity (WiFi), or infrared data association (IrDA), or a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network. The wearable device 100 may communicate with other components and/or external electronic devices through a long-distance communication network such as LAN or WAN.

In one embodiment, the control systems 500 and 500-1 may further include a haptic module (not shown). The haptic module may provide tactile feedback to the user under the control of the processor 512. The haptic module can convert electrical signals into mechanical stimulation (e.g., vibration or movement) or electrical stimulation that the user can perceive through tactile or kinesthetic senses. Haptic modules may include motors, piezoelectric elements, or electrical stimulation devices. In one embodiment, the haptic module may be located in at least one of the base body (eg, base body 80), the first thigh fastening unit 2, or the second thigh fastening unit 1.

FIG. 6 is a diagram for explaining mutual operations 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.

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

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

The processor 710 may control at least one other component (eg, hardware or software component) of the electronic device 210 and may perform various data processing or operations. According to one embodiment, as at least part of data processing or computation, the processor 710 stores commands or data received from another component (e.g., the communication module 730) in the memory 720, and the memory 720 ) can be processed, and the resulting data can be stored in the memory 720.

According to one embodiment, the processor 710 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 720 may store various data used by at least one component (eg, the processor 710 or the communication module 730) 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 720 may include at least one instruction executable by processor 710. Memory 720 may include volatile memory or non-volatile memory.

The communication module 730 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 730 may include a communication circuit to perform a communication function. Communication module 730 operates independently of processor 710 (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 730 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 740 may visually provide information to the outside of the electronic device 210 (eg, a user). Display module 740 may include, for example, an LCD or OLED display, a hologram device, or a projector device. The display module 740 may further include a control circuit for controlling display operation. In one embodiment, the display module 740 may further include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of force generated by the touch.

The sound output module 750 may output sound signals to the outside of the electronic device 210. The sound output module 750 may include a speaker that 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. If it is determined that the wearable device 100 is not worn correctly on the user's body, for example, the sound output module 750 may inform the user of abnormal wearing or output a guide voice to encourage normal wearing. For example, the sound output module 750 may output a guide voice corresponding to exercise evaluation information or exercise result information that evaluates the user's exercise.

The input module 760 may receive instructions or data to be used in a component of the electronic device 210 (e.g., the processor 710) from outside the electronic device 210 (e.g., a user). Input module 760 may include input component circuitry and may receive user input. Input module 760 may include, for example, keys (e.g., buttons) or a touch screen.

8A shows a leg support frame including a first partial leg support frame and a second partial leg support frame, according to one embodiment.

According to one example, the wearable device 800 (eg, the wearable device 100 of FIG. 1) may include a leg support frame 810. The leg support frame 810 of the wearable device 800 includes a first partial leg support frame 820 connected to a drive module (e.g., the drive modules 35 and 45 in FIG. 3) and a thigh fastener (e.g., FIG. 3). A second partial leg support frame 830 connected to the thigh fastening portions 1 and 2, a hinge 840 connecting the first partial leg support frame 820 and the second partial leg frame 830. ), and an additional driving module 850 that controls the movement of the second partial leg support frame 830 with respect to the first partial leg support frame 820. The additional drive module 850 may include a rod 860 for controlling the movement of the second partial leg support frame 830. Additional drive module 850 may include a linear actuator. The linear actuator may include a motor and a rod 860. The additional driving module 850 may control the movement of the second partial leg support frame 830 connected to the bar 860 by linearly moving the bar 860 using a motor. Below, a method for controlling the movement of the second partial leg support frame 830 using the additional drive module 850 is described in detail with reference to FIG. 8B.

According to one example, the leg support frame 810 may further include an additional angle sensor that measures the angle between the first partial leg support frame 820 and the second partial leg support frame 830. For example, additional angle sensors could be placed around the hinge 840 to directly measure the angle of the hinge 840. For example, the additional angle sensor may be a sensor that measures the rotation angle of the motor of the additional drive module 850, and the angle between the first partial leg support frame 820 and the second partial leg support frame 830 is the additional angle sensor. It may be indirectly determined based on the rotation angle of the motor of the driving module 850. For example, the additional angle sensor may be a sensor that measures the position of the rod 860 of the additional drive module 850 and the angle between the first partial leg support frame 820 and the second partial leg support frame 830 can be indirectly determined based on the position of the bar 860.

Figure 8b shows a further drive module controlling the movement of the second partial leg support frame relative to the first partial leg support frame, according to one embodiment.

According to one embodiment, the first partial leg support frame 820 may further include a housing 822 including an additional drive module 850. The additional driving module 850 may control the position of the bar 860 using a motor. The rod 860 may be connected to a connection portion 832 connected to the second partial leg support frame 830. The first end of the connection portion 832 may be connected to the housing 822. The second end of the connection portion 832 may be connected to the second partial leg support frame 830.

When the position of the rod 860 is changed by the motor, the position of the connection part 832 may also change. For example, the center picture of FIG. 8B shows a state in which the bar 860 and the connection part 832 are arranged side by side, the left picture shows a state in which the second end of the connection part 832 is moved to the left, and the right picture shows a state in which the second end of the connection part 832 is moved to the left. The figure shows a state in which the second end of the connection portion 832 is moved to the right. Depending on the direction and distance in which the second end of the connection portion 832 moves, the angle of the second partial leg support frame 830 with respect to the first partial leg support frame 820 may change.

Figure 9 is a flowchart of a method for outputting a first correction torque for correcting a user's walking posture, according to an embodiment.

Operations 910 to 950 below may be performed by a wearable device (eg, the wearable device 100 of FIG. 1 or the wearable device 800 of FIG. 8).

In operation 910, the wearable device may determine whether the wearable device is normally worn on the user's body. For example, the wearable device detects that the thigh fasteners 1 and 2 and the waist fasteners 60 are attached to the user's body through wear detection sensors located in each of the thigh fasteners 1 and 2 and the waist fastener 60. It is possible to determine whether it has been worn properly. For example, the wearing detection sensor can determine whether the thigh fastening parts 1 and 2 and the waist fastening part 60 are normally worn on the user's body through a mechanical or electromagnetic method, and the wearing detection sensor The operation method is not limited to the described embodiment.

According to one embodiment, when it is determined that any one of the thigh fasteners 1 and 2 and the waist fastener 60 is not normally worn on the user's body, it is determined that the wearable device is not normally worn on the user's body. You can.

In operation 920, the wearable device may acquire test movement information when the wearable device is normally worn on the user's body.

According to one embodiment, a user may perform a test walk while wearing a wearable device, and the wearable device may obtain test movement information about the user's walk through the test walk. A test walk can be performed to check what form the user's walk is performed in, and information about the user's walk can be obtained as test movement information. During the test walk, the wearable device may not output torque to the user.

The test movement information may include the user's test pelvic movement information obtained through an IMU (eg, IMU 135 in FIG. 1). Pelvis movement information may include angle information and angular velocity information at which the pelvis moves in the X-axis, Y-axis, and Z-axis. The user's pelvic movement information is described in detail below with reference to FIG. 11.

The test movement information may include the user's straight leg movement information obtained through an angle sensor. The straight leg movement information may include maximum front angle information and maximum rear angle information of the left/right leg. The user's straight leg movement information is described in detail below with reference to FIG. 10.

The test movement information may include the user's lateral leg movement information obtained through an additional angle sensor that measures the angle between the first partial leg support frame and the second partial leg support frame of the leg support frame. For example, the lateral leg movement information may include angle information between the first partial leg support frame 820 and the second partial leg frame 830 described above with reference to FIG. 8 . The user's lateral leg movement information is described in detail below with reference to FIG. 12.

In operation 930, the wearable device may determine whether the user's walking state is normal based on the user's test movement information obtained through the test walk.

According to one embodiment, the wearable device may determine whether the user's walking state is normal based on test motion information and reference motion information. For example, reference movement information may be movement information that appears on average when a person walks normally. Below, with reference to FIG. 13 , a method for determining whether the user's walking state is normal based on the user's test movement information is described in detail.

When the user's walking state is determined to be normal, operation A below may be performed to provide the user with a muscle strength assistance exercise program. Operation A is described in detail below with reference to FIGS. 15 and 16A.

If it is determined that the user's walking state is not in a normal state, operation 940 below may be performed.

In operation 940, if the user's walking state is not normal, the wearable device may determine first correction torque information based on test movement information. For example, the first corrected torque information includes a control signal for at least one of a drive module (e.g., drive module 120 in FIG. 1) and an additional drive module (e.g., additional drive module 850 in FIG. 8). can do.

According to one embodiment, the wearable device may determine the first correction torque information based on the difference (or deviation) between the test movement range and the preset reference movement range.

For example, if the range between the maximum front angle and the maximum rear angle of the user's left/right leg is smaller than the reference movement range, the first correction torque information may be determined to increase the range between the maximum front angle and the maximum rear angle. . For example, if the reference maximum front angle is +30 degrees and the reference maximum rear angle is -15 degrees, the reference movement range may be 45 degrees. If the user's test movement range is 30 degrees, the difference between the test movement range and the preset reference movement range may be calculated as 15 degrees. The wearable device may determine first correction torque information to provide assistance torque to the user such that the range between the maximum forward angle and the maximum rear angle of the user's legs increases. The wearable device may determine first correction torque information so that an angle of a preset ratio to the difference between the test movement range and the preset reference movement range can be additionally displayed when the user walks. For example, if the above difference is 15 degrees, the first correction torque information may be determined so that an angle of 5% of 15 degrees can be additionally displayed when the user walks. 5% disclosed as a preset ratio corresponds to an example, and the preset ratio is not limited to the disclosed embodiment. The first correction torque information for increasing the range between the user's maximum front angle and maximum rear angle is a drive module (e.g., the drive module 120 in FIG. 1 or the drive modules 530 and 530-1 in FIG. 5). This may be information for control.

For example, if the user's test pelvic range of motion is greater than the reference range of motion, first correction torque information may be determined to reduce the pelvic range of motion. For example, if the X-axis angle range of the reference pelvic movement is 10 degrees and the X-axis angle range of the test pelvic movement is 20 degrees, the difference between the test movement range and the preset reference movement range may be calculated as 10 degrees. The wearable device may determine first correction torque information to provide assistance torque to the user so that the user's pelvic range of motion is reduced. For example, if the difference is 10 degrees, first correction torque information may be determined so that an angle of 5% of 10 degrees can be reduced when the user walks. 5% disclosed as a preset ratio corresponds to an example, and the preset ratio is not limited to the disclosed embodiment. The reference movement range for pelvic movement may be set differently for each of the X-axis, Y-axis, and Z-axis. The first correction torque information for reducing the user's pelvic range of motion may be information for controlling the drive module and the additional drive module (eg, the additional drive module 850 in FIG. 8).

For example, if the angular range between the user's first partial leg support frame 820 and the second partial leg frame 830 is greater than the reference range of movement, the first partial leg support frame 820 and the second partial leg frame 830 First corrective torque information may be determined to reduce the angular range between 830. The first correction torque information for reducing the angle range between the first partial leg support frame 820 and the second partial leg frame 830 may be information for controlling an additional driving module.

In operation 950, the wearable device may output the first correction torque corresponding to the first correction torque information through at least one of the driving module and the additional driving module. For example, the first corrective torque output may be in the form of a torque trajectory corresponding to the user's entire walking cycle. For example, when the user's left leg goes forward, a first torque and a first additional torque are output to assist in swinging the left leg, and when the user's left leg goes backward, a first torque and a first additional torque are output to assist in supporting the left leg. A first additional torque may be output.

According to one embodiment, the first torque value of the first correction torque may be calculated using [Equation 1] and [Equation 2] described above with reference to FIG. 6. For example, in the process of calculating the first torque value, a gain κ and a delay Δt to increase the range between the maximum front angle and the maximum rear angle of the user's leg may be determined.

According to one embodiment, the first corrective torque may include a first additional torque that controls the additional drive module to reduce lateral movement of the user's legs. For example, to reduce movement of the user's legs inward to the torso when walking, the first additional torque may be a control signal of an additional drive module to move the second partial leg frame 830 outward to the torso. The term “first additional torque value” may refer to the size of the first additional torque output at a specific point in time.

According to one embodiment, the first correction torque may be provided to the user for a preset time. For example, the first correction torque may be output by the wearable device while the user is walking for 20 minutes.

The user's walking condition may be improved by the first correction torque including the first torque and the first additional torque. For example, the range of movement of the user's pelvis is reduced by the first torque and the first additional torque, the range between the maximum forward angle and the maximum posterior angle of the leg is increased, or the first partial leg support frame 820 and the first partial leg support frame 820 and the first partial leg support frame 820 The angular range between the two partial leg frames 830 can be reduced.

FIG. 10 illustrates a method of obtaining information on a user's straight leg movement, according to an embodiment.

According to one embodiment, the wearable device 100 described above with reference to FIG. 1 (e.g., the wearable device 800 of FIG. 8) measures (or senses) the user's left hip joint angle q_l and right hip joint angle q_r. )do. For example, the wearable device may measure the user's right hip joint angle q_r through a right angle sensor (e.g., the first angle sensor 520 in FIG. 5B) and the left angle sensor (e.g., the second angle sensor 520 in FIG. 5B). The user's left hip joint angle q_l can be measured through the angle sensor 520-1. In the example shown in FIG. 10, the left leg is ahead of the baseline 1010, so the left hip joint angle q_l can be a negative number, and the right leg is behind the baseline 1010, so the right hip joint angle q_r can be a positive number. It may be a (positive number). Depending on the implementation, the right hip joint angle q_r may be negative when the right leg is ahead of the baseline 1010 and the left hip joint angle q_l may be positive when the left leg is behind the baseline 1010. Based on the right hip joint angle q_r , maximum front angle information and maximum rear angle information of the right leg can be obtained. Based on the left hip joint angle q_l , maximum front angle information and maximum rear angle information of the left leg may be obtained.

According to one embodiment, in walking where the first correction torque is provided to the user, the first correction torque information may be determined to increase the range between the maximum front angle and the maximum rear angle of the user's left/right legs compared to the test walk. there is.

According to one embodiment, the wearable device 100 measures the first raw angle (e.g., q_r_raw ) of the first joint (e.g., right hip joint) measured by the first angle sensor 520 and the second angle sensor 520- The first angle (e.g., q_r ) and the second angle ( q_l ) can be obtained by filtering the second raw angle (e.g., q_l_raw ) of the second joint (e.g., left hip joint) measured by 1). For example, the wearable device 100 may filter the first raw angle and the second raw angle based on the first previous angle and the second previous angle measured for the previous time.

According to one embodiment, the wearable device 100 generates a torque value τ(t ) based on the left hip joint angle q_l , right hip joint angle q_r , offset angle c, sensitivity α, gain κ , and delay Δt. ) can be determined, and the motor driver circuits 532 and 532-1 of the wearable device 100 can be controlled so that the determined torque value τ(t) is output. The force provided to the user by the torque value τ(t) may be named force feedback. For example, the wearable device 100 may determine the torque value τ(t) based on [Equation 1] below. The term “first torque value” may refer to the magnitude of the first torque output at a specific point in time.

[Equation 1]

In [Equation 1], y may be a state factor, q_r may be the right hip joint angle, and q_l may be the left hip joint angle. According to [Equation 1] above, the state factor y may be related to the distance between the two legs. For example, when y is 0, it indicates a state in which the distance between legs is 0 (i.e., crossing state), and when the absolute value of y is maximum, it indicates a state in which the angle between legs is maximum (i.e., landing state). status) can be indicated. According to one embodiment, when q_r and q_l are measured at time t, the state factor may be expressed as y(t) .

Gain κ is a parameter that indicates the magnitude and direction of the output torque. The larger the gain κ , the stronger the torque can be output. If the gain κ is a negative number, torque acting as a resistance force to the user may be output, and if gain κ is a positive number, torque acting as an assisting force may be output to the user. Delay △t is a parameter related to the output timing of torque. The value of the gain κ and the value of the delay Δt may be set in advance and may be adjusted by the user or the wearable device 100. [Equation 1], a model that outputs torque that acts as an auxiliary force to the user based on parameters such as gain κ and delay Δt may be defined as a torque output model (or torque output algorithm). The size and delay of the torque to be output can be determined by inputting the values of the input parameters received through the sensors of the wearable device 100 into the torque output model.

According to one embodiment, the wearable device 100 applies the first gain value and the first delay value as parameter values determined for the state factor y(t) to the first state factor y(t) to obtain the following [Equation 2], the first torque value can be determined.

[Equation 2]

Since it must be applied to both legs, the calculated first torque value may include a value for the first joint and a value for the second joint. for example, may be a value for the left hip joint, which is the second joint, may be a value for the right hip joint, which is the first joint. and The magnitude may be the same and the direction of torque may be opposite. The wearable device 100 may control the motor driver circuits 532 and 532-1 of the wearable device 100 to output torque corresponding to the first torque value. The first correction torque information may include the first torque described through [Equation 2].

According to one embodiment, when the user walks asymmetrically between the left and right legs, the wearable device 100 may provide asymmetric torque to both legs of the user to assist the asymmetric walking. For example, stronger assistance can be provided to the leg with a short stride or slow swing speed. Hereinafter, the leg with a short stride or slow swing speed is referred to as the affected leg or target leg.

In general, the swing time of the affected leg may be shorter or the stride length may be shorter than that of the sound leg. According to one embodiment, a method of adjusting the timing of torque acting on the affected leg to assist the user's walking may be considered. For example, an offset angle may be added to the actual joint angle for the affected leg to increase the output time of torque to assist the swing motion of the affected leg. c may be a value of a parameter indicating the offset angle between joint angles. By adding the offset angle to the actual joint angle of the affected leg, the value of the input parameter input to the torque output model mounted (or applied) to the wearable device 100 can be adjusted. For example, the values of q_r and q_l can be adjusted through [Equation 3] below. c _r may mean an offset angle for the right hip joint, and c _l may mean an offset angle for the left hip joint.

[Equation 3]

According to one embodiment, the wearable device 100 may filter state factors to reduce discomfort felt by the user due to irregular torque output. For example, the wearable device 100 determines the initial state factor y _raw (t) at the current time t based on the first angle of the first joint and the second angle of the second joint, and determines the initial state factor y raw (t) at the previous time t-1. The first state factor y(t) can be determined based on the previous state factor y ^prv and the initial state factor y _raw (t) determined for. The current time t may mean the processing time for the t-th data (or sample), and the previous time t-1 may mean the processing time for the t-1-th data. For example, the difference between the current time t and the previous time t-1 may be the operation cycle of the processor that generates or processes the corresponding data. Sensitivity α may be a value of a parameter indicating sensitivity. For example, the sensitivity value may be continuously adjusted during the test walk, but the sensitivity value may be preset to a constant value to reduce computational complexity.

In the above-described embodiment, the method by which the values of the control parameters are determined by the wearable device 100 has been described, but instead of the wearable device 100, an electronic device (e.g., the electronic device 210 of FIG. 2 or the server 230) )), the values of the control parameters can be determined. For example, the electronic device may receive sensing data from the wearable device 100, determine values of control parameters based on the sensing data, and control the operation of the wearable device 100 based on the determined values of the control parameters. can do.

Figure 11 illustrates a method of obtaining test pelvic movement information of a user, according to one embodiment.

According to one embodiment, the IMU 135 of the wearable device 100 described above with reference to FIG. 1 (e.g., the wearable device 800 of FIG. 8) detects the user's It can be arranged to be located in the pelvis 1102. The IMU 135 can sense the angle ranges of each of the X-axis, Y-axis, and Z-axis of the pelvic movement according to the user's movement. In Figure 11, the user's side direction is set to the X-axis, the gravity direction is set to the Y-axis, and the user's frontal direction is set to the Z-axis.

Information on the user's test pelvic movement may be obtained through the user's test walk. For example, the test pelvic movement information may include an X-axis angle range 1110, a Y-axis angle range 1120, and a Z-axis angle range 1130.

According to one embodiment, the wearable device 100 may determine whether the user's walking state is normal based on test pelvic movement information and reference pelvic movement information. The reference pelvic movement information is pelvic movement information of a person performing normal walking, and the reference pelvic movement information may include an X-axis reference angle range, a Y-axis reference angle range, and a Z-axis reference angle range. For example, the X-axis reference angle range may be ±5 degrees, the Y-axis reference angle range may be ±7 degrees, and the Z-axis reference angle range may be ±4 degrees. If the values of the test pelvic movement information are within the values of the corresponding reference pelvic movement information, the user's walking state may be determined to be normal.

FIG. 12 illustrates a method of obtaining lateral leg movement information of a user, according to an embodiment.

According to one embodiment, the additional angle sensor included in the leg support frame 810 of a wearable device (e.g., the wearable device 100 in FIG. 1 or the wearable device 800 in FIG. 8) is a first partial leg support frame ( The angle between 820) and the second partial leg support frame 830 can be sensed. For example, an additional angle sensor can directly sense the angle of the hinge 840. For example, the additional angle sensor may be a sensor that measures the rotation angle of the motor of the additional drive module 850, and the additional angle sensor may be connected to the first partial leg support frame 820 and the second partial leg support frame 830. The angle between the two can be indirectly sensed based on the rotation angle of the motor of the additional drive module 850. For example, the additional angle sensor may be a sensor that measures the position of the rod 860 of the additional drive module 850, and the additional angle sensor may be a sensor that measures the position of the first partial leg support frame 820 and the second partial leg support frame ( 830) can be indirectly determined based on the position of the rod 860.

If the user's walking state is not normal, the second partial leg support frame 830 may move in the lateral direction 1230 while walking. The user's test lateral leg movement information may be obtained through the user's test walk.

According to one embodiment, the wearable device may determine whether the user's walking state is normal based on the test lateral leg movement information and the reference lateral leg movement information. The reference lateral leg movement information is lateral leg movement information of a person walking normally, and the value of the reference lateral leg movement information may be set in advance. If the value of the test lateral leg movement information is within the value of the reference lateral leg movement information, the user's walking state may be determined to be normal.

FIG. 13 is a flowchart of a method for determining whether a user's walking state is normal based on a test motion range and a reference motion range, according to an embodiment.

According to one embodiment, operation 930 described above with reference to FIG. 9 may include operations 1310 to 1330 below. Operations 1310 to 1330 may be performed by a wearable device (eg, the wearable device 100 of FIG. 1 or the wearable device 800 of FIG. 8).

In operation 1310, the wearable device may calculate the difference between the test motion range and the reference motion range.

For example, if the test movement information includes the user's test pelvic movement information acquired through an IMU (e.g., IMU 135 in FIG. 1), the difference between the values of the test pelvic movement information and the values of the reference pelvic movement information (hereinafter, first difference) can be calculated.

For example, if the test movement information includes the user's straight leg movement information acquired through an angle sensor, the value of the test front maximum angle information and the value of the test rear maximum angle information of the leg and the value of the reference front maximum angle information and the value of the reference rear maximum angle information (hereinafter, the second difference) may be calculated.

For example, if the test movement information includes angle information between the first partial leg support frame and the second partial leg support frame of the leg support frame, the angle information between the first partial leg support frame and the second partial leg support frame A difference (hereinafter referred to as a third difference) between the value and the value of the reference angle information may be calculated.

In operation 1315, the wearable device may determine whether the difference between the test motion range and the reference motion range exceeds a first preset threshold. For example, if the difference between the calculated test range of motion and the reference range of motion includes a first difference, a second difference and a third difference, then the first difference, the second difference and the third difference and the first difference, the second Preset threshold values may be compared for the difference and the third difference, respectively.

In operation 1320, if the difference between the test movement range and the reference movement range exceeds a preset first threshold, the wearable device may determine that the user's walking state is not in a normal state.

For example, if the difference between the test range of motion and the reference range of motion includes a first difference, a second difference, and a third difference, then any one of the first difference, second difference, and third difference has a threshold set for each. If it exceeds, it may be determined that the user's walking state is not normal.

In operation 1330, the wearable device may determine that the user's walking state is in a normal state if the difference between the test motion range and the reference motion range does not exceed a first preset threshold.

According to one embodiment, when it is determined that the user's walking state is normal, operation 1510, which will be described later with reference to FIG. 15, may be performed.

Figure 14 is a flowchart of a method of executing a muscle strengthening exercise program based on the first corrected movement range and the test movement range, according to one embodiment.

According to one embodiment, after operation 950 described above with reference to FIG. 9 is performed, operations 1410 to 1440 below may be performed. Operations 1410 to 1440 may be performed by a wearable device (eg, wearable device 100 of FIG. 1 or wearable device 800 of FIG. 8).

In operation 1410, the wearable device may determine whether the user's walking state is normal based on the user's first corrected movement information obtained through corrected walking after the first corrected torque is output. Unlike test walking, for corrective walking, the wearable device may output a first corrective torque to the user while the user walks.

The description of the method for obtaining the first correction motion information is omitted below because the description of the method for acquiring the test motion information can be similarly applied.

The description of the method of determining whether the user's walking state is normal based on the first corrected movement information is described below, as the description of operation 930 described above with reference to FIGS. 9 and 10 can be similarly applied. Omit it.

According to one embodiment, when the user's walking state is determined to be normal, operation A below may be performed to provide a muscle strength assistance exercise program to the user. Operation A is described in detail below with reference to FIGS. 15 and 16A.

According to one embodiment, when the user's walking state is not determined to be normal, operation 1420 may be performed.

In operation 1420, the wearable device may determine the difference between the first calibration motion range for the first calibration motion information and the test motion range for the test motion information.

The description of the method for determining the difference between the first calibration movement range and the test movement range may be similarly applied to the description of the method for determining the difference between the test movement range and the reference movement range. For example, in the description of operation 1310 described above with reference to FIG. 13, “test range of motion” may be replaced with “first calibration range of motion” and “reference range of motion” may be replaced with “test range of motion”. there is.

In operation 1430, the wearable device may determine whether the difference between the first calibration motion range and the test motion range is within a second preset threshold.

A description of a method for determining whether a difference between a first calibration motion range and a test motion range is within a second preset threshold, and determining whether a difference between a test motion range and a reference motion range exceeds a first threshold. The description of how to do this can be applied similarly. For example, in the description of operation 1315 described above with reference to FIG. 13, “difference between test range of motion and reference range of motion” is replaced with “difference between first calibration range of motion and test range of motion,” and “difference between first calibration range of motion and range of test motion.” “threshold value” may be replaced with “second threshold value”.

Operations 1420 to 1430 may be operations for checking how much the user's movement has been corrected compared to before by using the first correction torque.

According to one embodiment, when the difference between the first correction motion range and the test motion range is not within the second threshold, operation B below may be performed. If the difference between the first correction movement range and the test movement range is not within the second threshold, it may mean that the user's gait is being corrected to the first correction torque.

According to one embodiment, when the difference between the first correction motion range and the test motion range is within the second threshold, operation 1440 below may be performed. If the difference between the first correction movement range and the test movement range is within the second threshold, it may mean that the user's gait is not properly corrected for the first correction torque.

In operation 1440, if the difference between the first correction movement range and the test movement range is within a second threshold, the wearable device may execute a preset muscle strength strengthening exercise program to strengthen the user's muscle strength. The muscle strengthening exercise program is described in detail below with reference to FIG. 18A.

Figure 15 is a flowchart of a method of executing a muscle strength assistance exercise program when the user's walking state is normal, according to an embodiment.

According to one embodiment, when the user's walking state is normal, operation 1510 below may be performed. Operation 1510 may be performed by a wearable device (eg, the wearable device 100 of FIG. 1 or the wearable device 800 of FIG. 8).

In operation 1510, the wearable device may execute a preset muscle assistance exercise program to assist the user's muscle strength when the user's walking state is normal. Even when the user's walking state is normal, assistance torque may be provided to the user through a wearable device to increase the user's walking speed. As walking speed increases, the user's oxygen intake may increase, and an increase in oxygen intake may lead to increased calorie consumption.

According to one embodiment, a muscle assistance exercise program is described in detail with reference to FIG. 16A.

Figure 16A is a flowchart of a method of executing a muscle strength assistance exercise program, according to one embodiment.

According to one embodiment, operation 1510 described above with reference to FIG. 15 may include operations 1610 to 1670 below. Operations 1610 to 1670 may be performed by a wearable device (eg, the wearable device 100 of FIG. 1 or the wearable device 800 of FIG. 8).

In operation 1610, the wearable device may determine whether reference data for the user is stored. For example, the reference data may include the most recently measured user's movement information. For example, the reference data may be the level of exercise program performed by the user.

For example, operation 1620 may be performed when the level of the muscle strength assistance exercise program performed by the user is stored as reference data. If reference data is not stored, operation 1640 may be performed.

In operation 1620, the wearable device may determine whether the user has achieved walking at an average speed of 4.5 km/h or more based on reference data. When the user achieves walking at an average speed of 4.5 km/h or more, operation 1630 may be performed. If the user fails to achieve walking at an average speed of 4.5 km/h or more, operation 1640 may be performed.

In operation 1630, the wearable device may determine whether the user has achieved walking at an average speed of 5.0 km/h or more based on reference data. When the user achieves walking at an average speed of 5.0 km/h or more, operation 1660 may be performed. If the user fails to achieve walking at an average speed of 5.0 km/h or more, operation 1650 may be performed.

In operation 1640, the wearable device may provide the user with an assistance mode for achieving a walking speed of 4.5 km/h. An example of the operation protocol of the walking assistance mode provided to the user to achieve a walking speed of 4.5 km/h is described with reference to [Table 1] below.

Operation protocol of walking assistance mode for walking speed of 4.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - - - 2 3 4 3 2 aqua mode -One -2 -3 -2 -One - - - - - Speed (km/h) 4.5 4.5 4.5 4.5 4.5 4.5 4.5 4.5 4.5 4.5

In [Table 1], the boost mode may be a mode in which an assistive force is provided to assist the user's walking, and the aqua mode may be a mode in which a resistance force is provided to hinder the user's walking. For example, in boost mode, a positive torque value may be output, and in aqua mode, a negative torque value may be output. The boost mode and aqua mode values in [Table 1] may be a gain value used to calculate the torque value or a level representing the gain value. For example, levels -5, -4, -3, -2, -1, 1, 2, 3, 4, and 5 have gains of -9, -7.5, -6, -4, -2, 2, 4. , 6, 7.5, and 9(Nm), respectively. The above protocol may be provided to the user for a total of 10 minutes, and the size of the torque provided to the user may change every minute. The operation protocol in [Table 1] is illustrated in Figure 16b.

In operation 1650, the wearable device may provide the user with an assistance mode for achieving a walking speed of 5.0 km/h. An example of the operation protocol of the walking assistance mode provided to the user to achieve a walking speed of 5.0 km/h is described with reference to [Table 2] below.

Operation protocol of walking assistance mode for walking speed of 5.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - - - 2 3 4 3 2 aqua mode -One -2 -3 -2 -One - - - - - speed
(km/h) 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0

According to one example, the gain value of the torque of the operation protocol in [Table 2] may be the same as the gain value of the operation protocol in [Table 1], but as the user's walking speed is set to 5.0 km/h, the torque gain value may be the same as that of the operation protocol in [Table 1]. The values of other parameters (e.g., delay) for output may be different from the values of the corresponding parameters of the operation protocol in [Table 1]. The operation protocol illustrated in Table 2 may correspond to FIG. 16B.

In operation 1660, the wearable device may provide the user with an assistance mode for achieving a walking speed of 5.5 km/h. An example of the operation protocol of the walking assistance mode provided to the user to achieve a walking speed of 5.5 km/h is described with reference to [Table 3] below.

Operation protocol of walking assistance mode for walking speed of 5.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - - - 2 3 4 3 2 aqua mode -One -2 -3 -2 -One - - - - - speed
(km/h) 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5

According to one example, the torque gain value of the motion protocol in [Table 3] may be the same as the gain value of the motion protocol in [Table 1] or [Table 2], but the user's walking speed is 5.5 km/h, respectively. As set, the values of other parameters (e.g. delay) for torque output may be different from the values of the corresponding parameters of the operation protocol in [Table 1] or [Table 2]. The operation protocol illustrated in Table 3 may correspond to FIG. 16B.

The assistance mode through operation 1640, operation 1650, or operation 1660 may provide the user with two or more cycles for one exercise by using a preset time (e.g., 10 minutes) as one cycle. Additional time may be provided to the user if the user desires.

In operation 1670, the wearable device may store data about the exercise performed by the user. For example, the user's movement information measured during exercise may be stored. For example, the level of the strength assistance exercise program performed by the user may be stored as data.

According to one embodiment, the wearable device may basically perform the assistance mode for one or more cycles (eg, two cycles). For example, the wearable device may basically perform 2 cycles of the auxiliary mode and then end performance of the auxiliary mode. For example, after performing the basic two-cycle assist mode, the wearable device may ask the user whether to perform an additional cycle of assist mode, and perform the additional cycle of assist mode based on the user's reply.

Figure 17 is a flowchart of a method for outputting a second correction torque to correct a user's walking posture, according to an embodiment.

According to one embodiment, in the above-described operation 1430 with reference to FIG. 14, if it is determined that the difference between the first correction movement range and the test movement range is not within the second threshold, the following operations 1710 and 1720 may be performed. . Operations 1710 and 1720 may be performed by a wearable device (eg, wearable device 100 in FIG. 1 or wearable device 800 in FIG. 8).

In operation 1710, the wearable device may determine second correction torque information based on the first correction motion information. For example, the second corrected torque information includes a control signal for at least one of a drive module (e.g., drive module 120 in FIG. 1) and an additional drive module (e.g., additional drive module 850 in FIG. 8). can do.

According to one embodiment, the wearable device may determine second correction torque information based on the difference between the first correction movement range and the test movement range. For the description of the method of determining the second correction torque information, the description of operation 940 described above with reference to FIG. 9 may be similarly applied.

If the difference between the first correction movement range and the test movement range is not within the second threshold, it may mean that the user is well adapted to the first correction torque. If the user adapts well to the first correction torque, a correction torque that is stronger than the first correction torque may be provided to the user. Although 5% is exemplified as a preset ratio for calculating the first correction torque information in the description of operation 940, the ratio may be adjusted to exceed 5% for calculating the second correction torque information. The adjusted ratio may be determined to be proportional based on the difference between the first calibration range of motion and the test range of motion.

In operation 1720, the wearable device generates a second correction torque information corresponding to the second correction torque information through at least one of a driving module (e.g., driving module 120 in FIG. 1) and an additional driving module (e.g., additional driving module 850 in FIG. 8). 2 Correction torque can be output. For example, the output second correction torque may be in the form of a torque trajectory corresponding to the user's entire walking cycle. For example, when the user's left leg goes forward, a second torque and a second additional torque are output to assist in swinging the left leg, and when the user's left leg goes backward, the second torque and a second additional torque are output to assist in supporting the left leg. A second additional torque may be output.

Figure 18A is a flowchart of a method of executing a muscle strengthening exercise program according to one embodiment.

According to one embodiment, operation 1440 described above with reference to FIG. 14 may include operations 1802 to 1842 below. Operations 1802 to 1842 may be performed by a wearable device (eg, wearable device 100 of FIG. 1 or wearable device 800 of FIG. 8).

In operation 1802, the wearable device may determine whether reference data for the user is stored. For example, the reference data may include the most recently measured user's movement information. For example, the reference data may be the level of exercise program performed by the user.

For example, operation 1806 may be performed when the level of the exercise program performed by the user is stored as reference data. If reference data is not stored, operation 1804 may be performed.

In operation 1806, the wearable device may determine whether the previous exercise mode was an interval enhancement mode based on the reference data. If the previous exercise mode is the interval enhancement mode, operation 1808 may be performed. If the previous exercise mode is not an interval enhancement mode, operation 1818 may be performed.

In operation 1818, the wearable device may determine whether the previous exercise mode was a cardiopulmonary intensity mode based on the reference data. If the previous exercise mode is the cardiopulmonary strengthening mode, operation 1820 may be performed. If the previous exercise mode is not a cardiorespiratory strength mode, operation 1832 may be performed.

In operation 1808, the wearable device may determine the exercise mode to be cardiorespiratory strength mode.

In operation 1810, the wearable device may determine whether the user has achieved walking at an average speed of 5.5 km/h or more based on reference data. When the user achieves walking at an average speed of 5.5 km/h or more, operation 1812 may be performed. If the user fails to achieve walking at an average speed of 5.5 km/h or more, operation 1804 may be performed.

In operation 1812, the wearable device may determine whether the user has achieved walking at an average speed of 6.0 km/h or more based on reference data. When the user achieves walking at an average speed of 6.0 km/h or more, operation 1816 may be performed. If the user fails to achieve walking at an average speed of 6.0 km/h or more, operation 1814 may be performed.

In operation 1804, the wearable device may provide the user with an exercise mode for achieving a walking speed of 5.5 km/h. Examples of operation protocols in the cardiorespiratory strength mode provided to the user for cardiopulmonary strengthening while achieving a walking speed of 5.5 km/h are described with reference to [Table 4], [Table 5], and [Table 6] below.

Exercise protocol in cardiorespiratory strength mode for walking speed of 5.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - 3 - 3 - 3 - 3 - 3 aqua mode -3 - -3 - -3 - -3 - -3 - speed
(km/h) 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5

The operation protocol according to [Table 4] can dramatically change the user's heart rate by combining a section in which strong resistance is provided to the user and a section in which a strong assistive force is provided to the user. Functions can be strengthened. The operation protocol in [Table 4] is illustrated in Figure 18b.

Exercise protocol in cardiorespiratory strength mode for walking speed of 5.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - 4 - 4 - 4 - 4 - 4 aqua mode -4 - -4 - -4 - -4 - -4 - speed
(km/h) 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5

The operation protocol according to [Table 5] may provide the user with a stronger resistance and/or assistance force than the resistance and/or assistance force of the operation protocol in [Table 4]. The operation protocol in [Table 5] is illustrated in FIG. 18C.

Exercise protocol in cardiorespiratory strength mode for walking speed of 5.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - 5 - 5 - 5 - 5 - 5 aqua mode -5 - -5 - -5 - -5 - -5 - speed
(km/h) 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5

The operation protocol according to [Table 6] can provide the user with a stronger resistance and/or assistance force than the resistance and/or assistance force of the operation protocol in [Table 5]. The operation protocol in [Table 6] is illustrated in FIG. 18D.

In operation 1814, the wearable device may provide the user with an exercise mode for achieving a walking speed of 6.0 km/h. Examples of operation protocols in the cardiorespiratory strength mode provided to the user for cardiopulmonary strengthening while achieving a walking speed of 6.0 km/h are described with reference to [Table 7], [Table 8], and [Table 9] below.

Movement protocol in cardiorespiratory strength mode for walking speed of 6.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - 3 - 3 - 3 - 3 - 3 aqua mode -3 - -3 - -3 - -3 - -3 - speed
(km/h) 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0

According to one example, the gain value of the torque of the operation protocol in [Table 7] may be the same as the gain value of the operation protocol in [Table 4], but as the user's walking speed is set to 6.0 km/h, the torque gain value may be the same as that of the operation protocol in [Table 4]. The values of other parameters (e.g. delay) for output may be different from the values of the corresponding parameters of the operation protocol in [Table 4]. The operation protocol illustrated in [Table 7] may correspond to FIG. 18B.

Movement protocol in cardiorespiratory strength mode for walking speed of 6.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - 4 - 4 - 4 - 4 - 4 aqua mode -4 - -4 - -4 - -4 - -4 - speed
(km/h) 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0

The operation protocol according to [Table 8] can provide the user with a stronger resistance and/or assistance force than the resistance and/or assistance force of the operation protocol in [Table 7]. The operation protocol illustrated in Table 8 may correspond to FIG. 18C.

Movement protocol in cardiorespiratory strength mode for walking speed of 6.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - 5 - 5 - 5 - 5 - 5 aqua mode -5 - -5 - -5 - -5 - -5 - speed
(km/h) 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0

The operation protocol according to [Table 9] can provide the user with a stronger resistance and/or assistance force than the resistance and/or assistance force of the operation protocol in [Table 8]. The operation protocol illustrated in Table 9 may correspond to FIG. 18D.

In operation 1816, the wearable device may provide the user with an exercise mode for achieving a walking speed of 6.5 km/h. Examples of operation protocols in the cardiorespiratory strength mode provided to the user for cardiopulmonary strengthening while achieving a walking speed of 6.5 km/h are described with reference to [Table 10], [Table 11], and [Table 12] below.

Exercise protocol in cardiorespiratory strength mode for walking speed of 6.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - 3 - 3 - 3 - 3 - 3 aqua mode -3 - -3 - -3 - -3 - -3 - speed
(km/h) 6.5 6.5 6.5 6.5 6.5 6.5 6.5 6.5 6.5 6.5

According to one example, the torque gain value of the operation protocol in [Table 10] may be the same as the gain value of the operation protocol in [Table 4] or [Table 7], but the user's walking speed is 6.5 km/h, respectively. As set, the values of other parameters (e.g. delay) for torque output may be different from the values of the corresponding parameters of the operation protocol in [Table 4] or [Table 7]. The operation protocol illustrated in [Table 10] may correspond to FIG. 18B.

Exercise protocol in cardiorespiratory strength mode for walking speed of 6.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - 4 - 4 - 4 - 4 - 4 aqua mode -4 - -4 - -4 - -4 - -4 - speed
(km/h) 6.5 6.5 6.5 6.5 6.5 6.5 6.5 6.5 6.5 6.5

The operation protocol according to [Table 11] may provide the user with a stronger resistance and/or assistance force than the resistance and/or assistance force of the operation protocol of [Table 10]. The operation protocol illustrated in Table 11 may correspond to FIG. 18C.

Exercise protocol in cardiorespiratory strength mode for walking speed of 6.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - 5 - 5 - 5 - 5 - 5 aqua mode -5 - -5 - -5 - -5 - -5 - speed
(km/h) 6.5 6.5 6.5 6.5 6.5 6.5 6.5 6.5 6.5 6.5

The operation protocol according to [Table 12] may provide the user with a stronger resistance and/or assistance force than the resistance and/or assistance force of the operation protocol of [Table 11]. The operation protocol illustrated in Table 12 may correspond to FIG. 18D.

In operation 1820, the wearable device may determine the exercise mode to be a muscle strengthening mode.

In operation 1822, the wearable device may determine whether the user has achieved walking at an average speed of 5.0 km/h or more based on reference data. When the user achieves walking at an average speed of 5.0 km/h or more, operation 1826 may be performed. If the user fails to achieve walking at an average speed of 5.0 km/h or more, operation 1824 may be performed.

In operation 1826, the wearable device may determine whether the user has achieved walking at an average speed of 5.5 km/h or more based on the reference data. When the user achieves walking at an average speed of 5.5 km/h or more, operation 1830 may be performed. If the user fails to achieve walking at an average speed of 5.5 km/h or more, operation 1828 may be performed.

In operation 1824, the wearable device may provide the user with an exercise mode for achieving a walking speed of 5.0 km/h. Examples of operation protocols in the muscle strength strengthening mode provided to the user to strengthen muscle strength while achieving a walking speed of 5.0 km/h are described with reference to [Table 13], [Table 14], and [Table 15] below.

Movement protocol in muscle strengthening mode for walking speed of 5.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - - - - - - - - aqua mode -One -One -One -2 -2 -3 -3 -4 -4 -5 speed
(km/h) 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0

The operation protocol according to [Table 13] can strengthen the user's muscle strength by providing the user with gradually increasing resistance. The movement protocol according to [Table 4] involves more adjacent muscles (e.g. hamstrings or glutes) in addition to the main muscles in the front of the leg (e.g. quadriceps femoris) and can induce muscle development through high muscle stimulation. The operation protocol in [Table 13] is illustrated in FIG. 18E.

Movement protocol in muscle strengthening mode for walking speed of 5.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - - - - - - - - aqua mode -One -One -2 -2 -3 -3 -4 -4 -5 -5 speed
(km/h) 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0

The operation protocol according to [Table 14] can provide the user with stronger resistance than the resistance of the operation protocol in [Table 13]. The operation protocol in [Table 14] is illustrated in Figure 18f.

Movement protocol in muscle strengthening mode for walking speed of 5.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - - - - - - - - aqua mode -One -2 -2 -3 -3 -4 -4 -5 -5 -5 speed
(km/h) 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0

The operation protocol according to [Table 15] can provide the user with stronger resistance than the resistance of the operation protocol in [Table 13] or [Table 14]. The operation protocol in [Table 15] is illustrated in Figure 18g.

In operation 1828, the wearable device may provide the user with an exercise mode for achieving a walking speed of 5.5 km/h. Examples of operation protocols in the muscle strength strengthening mode provided to the user to strengthen muscle strength while achieving a walking speed of 5.5 km/h are described with reference to [Table 16], [Table 17], and [Table 18] below.

Movement protocol in muscle strengthening mode for walking speed of 5.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - - - - - - - - aqua mode -One -One -One -2 -2 -3 -3 -4 -4 -5 speed
(km/h) 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5

According to one example, the gain value of the torque of the operation protocol in [Table 16] may be the same as the gain value of the operation protocol in [Table 13], but as the user's walking speed is set to 5.5 km/h, the torque gain value may be the same as that of the operation protocol in [Table 13]. The values of other parameters (e.g. delay) for output may be different from the values of the corresponding parameters of the operation protocol in [Table 13]. The operation protocol illustrated in Table 16 may correspond to FIG. 18E.

Movement protocol in muscle strengthening mode for walking speed of 5.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - - - - - - - - aqua mode -One -One -2 -2 -3 -3 -4 -4 -5 -5 speed
(km/h) 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5

The operation protocol according to [Table 17] can provide the user with stronger resistance than the resistance of the operation protocol in [Table 16]. The operation protocol illustrated in Table 17 may correspond to FIG. 18F.

Movement protocol in muscle strengthening mode for walking speed of 5.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - - - - - - - - aqua mode -One -2 -2 -3 -3 -4 -4 -5 -5 -5 speed
(km/h) 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5

The operation protocol according to [Table 18] can provide the user with stronger resistance than the resistance of the operation protocol in [Table 17]. The operation protocol illustrated in Table 18 may correspond to FIG. 18g.

In operation 1830, the wearable device may provide the user with an exercise mode for achieving a walking speed of 6.0 km/h. Examples of operation protocols in the muscle strength strengthening mode provided to the user to strengthen muscle strength while achieving a walking speed of 6.0 km/h are described with reference to [Table 19], [Table 20], and [Table 21] below.

Movement protocol in muscle strengthening mode for walking speed of 6.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - - - - - - - - aqua mode -One -One -One -2 -2 -3 -3 -4 -4 -5 speed
(km/h) 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0

According to one example, the torque gain value of the operation protocol in [Table 19] may be the same as the gain value of the operation protocol in [Table 13] or [Table 16], but the user's walking speed is 6.0 km/h, respectively. As set, the values of other parameters (e.g. delay) for torque output may be different from the values of the corresponding parameters of the operation protocol in [Table 13] or [Table 16]. The operation protocol illustrated in Table 19 may correspond to FIG. 18E.

Movement protocol in muscle strengthening mode for walking speed of 6.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - - - - - - - - aqua mode -One -One -2 -2 -3 -3 -4 -4 -5 -5 speed
(km/h) 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0

The operation protocol according to [Table 20] can provide the user with stronger resistance than the resistance of the operation protocol in [Table 19]. The operation protocol illustrated in Table 20 may correspond to FIG. 18F.

Movement protocol in muscle strengthening mode for walking speed of 6.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - - - - - - - - aqua mode -One -2 -2 -3 -3 -4 -4 -5 -5 -5 speed
(km/h) 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0

The operation protocol according to [Table 21] can provide the user with stronger resistance than the resistance of the operation protocol in [Table 20]. The operation protocol illustrated in [Table 21] may correspond to FIG. 18g.

In operation 1832, the wearable device may determine the exercise mode to be the interval enhancement mode.

In operation 1834, the wearable device may determine whether the user has achieved walking at an average speed of 5.0 km/h or more based on reference data. When the user achieves walking at an average speed of 5.0 km/h or more, operation 1838 may be performed. If the user fails to achieve walking at an average speed of 5.0 km/h or more, operation 1836 may be performed.

In operation 1838, the wearable device may determine whether the user has achieved walking at an average speed of 5.5 km/h or more based on the reference data. When the user achieves walking at an average speed of 5.5 km/h or more, operation 1842 may be performed. If the user fails to achieve walking at an average speed of 5.5 km/h or more, operation 1840 may be performed.

In operation 1836, the wearable device may provide the user with an exercise mode for achieving a walking speed of 5.0 km/h. Examples of operation protocols of the interval training mode provided to the user for interval training with the achievement of a walking speed of 5.0 km/h are described with reference to [Table 22], [Table 23], and [Table 24] below.

Operation protocol of interval training mode for walking speed of 5.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - 2 2 - - - 2 2 aqua mode -2 -3 -2 - - -2 -3 -2 - - speed
(km/h) 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0

The operation protocol according to [Table 22] maximizes the exercise effect in the sprint section and assists walking in the recovery section to quickly stabilize the user's heart rate, resulting in higher calorie consumption for the user compared to general walking exercise. can be derived. The operation protocol in [Table 22] is illustrated in Figure 18h.

Operation protocol of interval training mode for walking speed of 5.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - 2 2 - - - 2 2 aqua mode -3 -4 -3 - - -3 -4 -3 - - speed
(km/h) 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0

The operation protocol according to [Table 23] can provide the user with stronger resistance than the resistance of the operation protocol in [Table 22]. The operation protocol in [Table 23] is illustrated in Figure 18i.

Operation protocol of interval training mode for walking speed of 5.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - 2 2 - - - 2 2 aqua mode -4 -5 -4 - - -4 -5 -4 - - speed
(km/h) 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0

The operation protocol according to [Table 24] can provide the user with stronger resistance than the resistance of the operation protocol in [Table 23]. The operation protocol in [Table 24] is illustrated in FIG. 18J.

In operation 1840, the wearable device may provide the user with an exercise mode for achieving a walking speed of 5.5 km/h. Examples of operation protocols in the interval training mode provided to the user for interval training with the achievement of a walking speed of 5.5 km/h are described with reference to [Table 25], [Table 26], and [Table 27] below.

Movement protocol of interval training mode for walking speed of 5.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - 2 2 - - - 2 2 aqua mode -2 -3 -2 - - -2 -3 -2 - - speed
(km/h) 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5

According to one example, the gain value of the torque of the operation protocol in [Table 25] may be the same as the gain value of the operation protocol in [Table 22], but as the user's walking speed is set to 5.5 km/h, the torque gain value may be the same as that of the operation protocol in [Table 22]. The values of other parameters (e.g. delay) for output may be different from the values of the corresponding parameters of the operation protocol in [Table 22]. The operation protocol illustrated in Table 25 may correspond to FIG. 18H.

Movement protocol of interval training mode for walking speed of 5.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - 2 2 - - - 2 2 aqua mode -3 -4 -3 - - -3 -4 -3 - - speed
(km/h) 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5

The operation protocol according to [Table 26] can provide the user with stronger resistance than the resistance of the operation protocol in [Table 25]. The operation protocol illustrated in Table 26 may correspond to FIG. 18I.

Movement protocol of interval training mode for walking speed of 5.5 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - 2 2 - - - 2 2 aqua mode -4 -5 -4 - - -4 -5 -4 - - speed
(km/h) 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5

The operation protocol according to [Table 27] can provide the user with stronger resistance than the resistance of the operation protocol in [Table 26]. The operation protocol illustrated in Table 27 may correspond to FIG. 18J.

In operation 1842, the wearable device may provide the user with an exercise mode for achieving a walking speed of 6.0 km/h. An example of the operation protocol of the interval training mode provided to the user for interval training with the achievement of a walking speed of 6.0 km/h is described with reference to [Table 28], [Table 29], and [Table 30] below.

Operation protocol of interval training mode for walking speed of 6.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - 2 2 - - - 2 2 aqua mode -2 -3 -2 - - -2 -3 -2 - - speed
(km/h) 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0

According to one example, the gain value of the torque of the operation protocol in [Table 28] may be the same as the gain value of the operation protocol in [Table 25], but as the user's walking speed is set to 6.0 km/h, the torque gain value may be the same as that of the operation protocol in [Table 25]. The values of other parameters (e.g. delay) for output may be different from the values of the corresponding parameters of the operation protocol in [Table 27]. The operation protocol illustrated in Table 28 may correspond to FIG. 18H.

Operation protocol of interval training mode for walking speed of 6.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - 2 2 - - - 2 2 aqua mode -3 -4 -3 - - -3 -4 -3 - - speed
(km/h) 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0

The operation protocol according to [Table 29] can provide the user with stronger resistance than the resistance of the operation protocol in [Table 28]. The operation protocol illustrated in Table 29 may correspond to FIG. 18I.

Operation protocol of interval training mode for walking speed of 6.0 km/h hour
(min) 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 1:00 boost mode - - - 2 2 - - - 2 2 aqua mode -4 -5 -4 - - -4 -5 -4 - - speed
(km/h) 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0

The operation protocol according to [Table 30] can provide the user with stronger resistance than the resistance of the operation protocol in [Table 29]. The operation protocol illustrated in Table 30 may correspond to FIG. 18J.

In operation 1805, the wearable device may store data about the exercise performed by the user. For example, the user's movement information measured during exercise may be stored. For example, the level of the exercise program performed by the user may be stored as data.

According to one embodiment, the wearable device can basically perform an exercise mode of one cycle or more (eg, two cycles). For example, the wearable device may basically perform two cycles of exercise mode and then end performance of the exercise mode. For example, after performing the basic two-cycle exercise mode, the wearable device may ask the user whether to perform an additional cycle of exercise mode, and perform the additional cycle of exercise mode based on the user's response.

The method of improving the user's walking condition by providing corrective torque to the user described above with reference to FIGS. 1 to 18A may be provided one-time after the user wears the wearable device, and may also be provided to the user for a long period of time. can be provided. For example, a muscle strengthening exercise program using a wearable device may be provided to the user for several weeks (eg, 4 to 8 weeks). Users can improve their walking condition through long-term use of a wearable device.

According to one embodiment, the wearable device 100 (800) includes a base body 80 located at the waist of the user when the wearable device is worn on the body of the user 110, and supporting at least a portion of the user's body. A waist support frame 20 and a leg support frame 50; 55; 810, a thigh fastening part 1; 2 for fixing the leg support frame to the user's thigh, an IMU 135 disposed within the base body, and a user A drive module (35; 45; 120) that generates a torque applied to the legs - the drive module is located between the waist support frame and the leg support frame -, an angle sensor (125) that measures the rotation angle of the leg support frame, It may include a control module 130 (510) including at least one processor that controls the wearable device.

According to one embodiment, the leg support frame includes a first partial leg support frame 820 connected to the drive module, a second partial leg support frame 830 connected to the thigh fastening unit, a first partial leg support frame, and a second leg support frame. It may include a hinge 840 connecting the two partial leg frames, and an additional driving module 850 that controls movement of the second partial leg support frame with respect to the first partial leg support frame.

According to one embodiment, the wearable device may further include a battery that supplies power to the wearable device.

According to one embodiment, the wearable device may further include a communication module 516 that performs short-range wireless communication with an external device 210.

According to one embodiment, the leg support frame may further include an additional angle sensor that measures the angle between the first partial leg support frame and the second partial leg support frame.

According to one embodiment, the additional drive module may include a linear actuator.

According to one embodiment, the at least one processor may perform an operation 930 of determining whether the user's walking state is in a normal state based on the user's test movement information obtained through the test walk, and determining whether the walking state is not in a normal state. An operation 940 of determining first correction torque information based on the case test motion information, wherein the first correction torque information includes a control signal for at least one of the drive module and the additional drive module, and the drive module and the additional drive. An operation 950 of outputting the first correction torque corresponding to the first correction torque information may be performed through at least one of the modules.

According to one embodiment, the at least one processor performs an operation 910 of determining whether the wearable device is normally worn on the user's body, and acquiring test movement information when the wearable device is normally worn on the user's body. Operation 920 may be further performed.

According to one embodiment, the test movement information may include the user's test pelvic movement information obtained through the IMU.

According to one embodiment, the test movement information may include the user's straight leg movement information obtained through an angle sensor.

According to one embodiment, the test movement information may include the user's lateral leg movement information obtained through an additional angle sensor that measures the angle between the first partial leg support frame and the second partial leg support frame of the leg support frame. You can.

According to one embodiment, the operation 930 of determining whether the user's walking state is normal is performed by comparing the test movement range obtained based on test movement information and a preset reference movement range to determine whether the user's walking state is normal. It may include an operation to determine whether a state is present or not.

According to one embodiment, the operation of determining whether the user's walking state is normal by comparing the test movement range obtained based on the test movement information and the preset reference movement range includes the difference between the test movement range and the reference movement range. An operation 1310 of calculating , and an operation 1320 of determining that the user's walking state is not in a normal state when the difference between the test movement range and the reference movement range exceeds a preset first threshold. .

According to one embodiment, when the walking state is not in a normal state, the operation 940 of determining the first correction torque information based on the test movement information includes the first correction torque information based on the difference between the test movement range and the preset reference movement range. An operation of determining correction torque information may be included.

According to one embodiment, the at least one processor determines whether the user's walking state is normal based on the user's first corrected movement information obtained through corrected walking after the first corrected torque is output. (1410), if the gait state is not a normal state, determine the difference between the first corrected motion range for the first corrected motion information and the test motion range for the test motion information (1420), and the first corrected motion range. And if the difference between the test movements is within a preset second threshold, an operation 1440 of executing a preset muscle strength strengthening exercise program to strengthen the user's muscle strength may be further performed.

According to one embodiment, when the walking state is normal, the at least one processor may further perform an operation 1510 of executing a preset muscle strength assistance exercise program to assist the user's muscle strength.

According to one embodiment, a method of controlling a wearable device (100; 800) performed by a wearable device includes determining that the user's walking state is in a normal state based on test movement information of the user of the wearable device obtained through test walking. An operation 930 to determine whether the walking state is not normal, and an operation 940 to determine first correction torque information based on test movement information - the first correction torque information is stored in the driving module of the wearable device and the additional It may include a control signal for at least one of the driving modules, and an operation 950 of outputting a first calibration torque corresponding to the first calibration torque information through at least one of the driving module and the additional driving module. .

According to one embodiment, a method of controlling a wearable device includes an operation 910 of determining whether the wearable device is normally worn on the user's body, and, if the wearable device is normally worn on the user's body, test movement information. An acquisition operation 920 may be further included.

According to one embodiment, the operation 930 of determining whether the user's walking state is normal is performed by comparing the test movement range obtained based on test movement information and a preset reference movement range to determine whether the user's walking state is normal. It may include an operation to determine whether a state is present or not.

According to one embodiment, a method of controlling a wearable device determines whether the user's walking state is normal based on the user's first corrected movement information obtained through corrected walking after the first corrected torque is output. An operation 1410, if the walking state is not in a normal state, an operation 1420 of determining the difference between the first correction movement range for the first correction movement information and the test movement range for the test movement information, and the first correction If the difference between the range of motion and the test movement is within a second preset threshold, an operation 1440 of executing a preset muscle strength strengthening exercise program to strengthen the user's muscle strength may be further included.

According to one embodiment, the method of controlling the wearable device may further include an operation 1510 of executing a preset muscle strength assistance exercise program to assist the user's muscle strength when the walking state is normal.

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

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

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

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

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

Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims (20)

The wearable device (100; 800) is,
When the wearable device is worn on the body of the user 110, the base body 80 is located at the waist of the user;
A waist support frame 20 and a leg support frame 50; 55; 810 for supporting at least part of the user's body;
Thigh fastening parts (1; 2) for fixing the leg support frame to the user's thigh;
an inertial measurement unit (IMU) 135 disposed within the base body;
a drive module (35; 45; 120) that generates a torque applied to the user's legs, the drive module being located between the waist support frame and the leg support frame;
An angle sensor 125 that measures the rotation angle of the leg support frame
A control module (130; 510) including at least one processor that controls the wearable device.
Including,
The leg support frame is,
A first partial leg support frame 820 connected to the driving module;
a second partial leg support frame 830 connected to the thigh fastening portion;
A hinge 840 connecting the first partial leg support frame and the second partial leg frame; and
An additional driving module 850 for controlling the movement of the second partial leg support frame relative to the first partial leg support frame.
Including,
Wearable devices.
According to paragraph 1,
A battery that supplies power to the wearable device
Containing more,
Wearable devices.
According to paragraph 1,
Communication module 516 that performs short-range wireless communication with an external device 210
Containing more,
Wearable devices.
According to paragraph 1,
The leg support frame is,
An additional angle sensor measuring the angle between the first partial leg support frame and the second partial leg support frame.
Containing more,
Wearable devices.
According to paragraph 1,
The additional drive module includes a linear actuator,
Wearable devices.
According to paragraph 1,
The at least one processor,
An operation 930 of determining whether the user's walking state is normal based on the user's test movement information obtained through test walking;
An operation 940 of determining first correction torque information based on test movement information when the walking state is not a normal state - the first correction torque information is a control signal for at least one of the driving module and the additional driving module Contains -; and
An operation 950 of outputting a first correction torque corresponding to the first correction torque information through at least one of the driving module and the additional driving module.
To perform,
Wearable devices.
According to clause 6,
The at least one processor,
Operation 910 of determining whether the wearable device is normally worn on the body of the user; and
When the wearable device is normally worn on the user's body, an operation (920) of acquiring the test movement information
To do more,
Wearable devices.
In clause 7,
The test movement information is,
Containing the user's test pelvic movement information acquired through the IMU,
Wearable devices.
In clause 7,
The test movement information is,
Containing the user's straight leg movement information acquired through the angle sensor,
Wearable devices.
In clause 7,
The test movement information is,
Containing the user's lateral leg movement information obtained through an additional angle sensor that measures the angle between the first partial leg support frame and the second partial leg support frame of the leg support frame,
Wearable devices.
According to clause 6,
The operation 930 of determining whether the user's walking state is normal,
An operation of determining whether the user's walking state is normal by comparing a test motion range obtained based on the test motion information and a preset reference motion range.
Including,
Wearable devices.
According to clause 11,
The operation of determining whether the user's walking state is normal by comparing a test motion range obtained based on the test motion information and a preset reference motion range includes:
Calculating the difference between the test motion range and the reference motion range (1310); and;
Operation 1320 of determining that the user's walking state is not in a normal state when the difference between the test motion range and the reference motion range exceeds a first preset threshold value.
Including,
Wearable devices.
According to clause 11,
If the walking state is not in a normal state, operation 940 of determining first correction torque information based on test movement information,
Determining the first correction torque information based on the difference between the test movement range and a preset reference movement range
Including,
Wearable devices.
According to clause 6,
The at least one processor,
An operation 1410 of determining whether the user's walking state is normal based on the user's first corrected movement information obtained through corrected walking after the first corrected torque is output;
If the walking state is not a normal state, determining a difference between a first corrected motion range for the first corrected motion information and a test motion range for the test motion information (1420); and
If the difference between the first corrective movement range and the test movement is within a preset second threshold, an operation 1440 of executing a preset muscle strength strengthening exercise program to strengthen the user's muscle strength.
To do more,
Wearable devices.
According to clause 6,
The at least one processor,
When the walking state is normal, an operation (1510) of executing a preset muscle strength assistance exercise program to assist the user's muscle strength.
To do more,
Wearable devices.
A method of controlling a wearable device performed by the wearable device 100 (800) includes:
An operation 930 of determining whether the user's walking state is normal based on test movement information of the user of the wearable device obtained through test walking (930);
An operation 940 of determining first correction torque information based on test movement information when the walking state is not a normal state - the first correction torque information is related to at least one of a drive module and an additional drive module of the wearable device. Contains control signals -; and
An operation 950 of outputting a first correction torque corresponding to the first correction torque information through at least one of the driving module and the additional driving module.
Including,
How to control a wearable device.
According to clause 16,
Operation 910 of determining whether the wearable device is normally worn on the body of the user; and
When the wearable device is normally worn on the user's body, an operation (920) of acquiring the test movement information
Containing more,
How to control a wearable device.
According to clause 16,
The operation 930 of determining whether the user's walking state is normal,
An operation of determining whether the user's walking state is normal by comparing a test motion range obtained based on the test motion information and a preset reference motion range.
Including,
How to control a wearable device.
According to clause 16,
An operation 1410 of determining whether the user's walking state is normal based on the user's first corrected movement information obtained through corrected walking after the first corrected torque is output;
If the walking state is not a normal state, determining a difference between a first corrected motion range for the first corrected motion information and a test motion range for the test motion information (1420); and
If the difference between the first corrective movement range and the test movement is within a preset second threshold, an operation 1440 of executing a preset muscle strength strengthening exercise program to strengthen the user's muscle strength.
Containing more,
How to control a wearable device.
According to clause 16,
When the walking state is normal, an operation (1510) of executing a preset muscle strength assistance exercise program to assist the user's muscle strength.
Containing more,
How to control a wearable device.

Images