WO2019208970A1

WO2019208970A1 - Apparatus and method for providing resistance by using electromagnetic force

Info

Publication number: WO2019208970A1
Application number: PCT/KR2019/004671
Authority: WO
Inventors: 홍윤식
Original assignee: 주식회사 마이크로오토메이션
Priority date: 2018-04-24
Filing date: 2019-04-18
Publication date: 2019-10-31

Abstract

A resistance generation apparatus using electromagnetic force is disclosed. The disclosed resistance generation device comprises: a motor unit rotating in one direction from among a clockwise direction or a counterclockwise direction; a resistance generation unit for generating resistance on the basis of the rotational movement generated by the motor unit; a resistance transfer unit for transferring the resistance to a user; and a control unit for controlling the rotation of the motor unit, wherein the resistance transfer unit moves according to the external force of the user, and the control unit performs control such that the motor unit rotates in the direction opposite to the one direction when the external force of the user is greater than or equal to a threshold value.

Description

Apparatus and method for providing resistivity using electromagnetic force

Embodiments of the present invention are directed to a resistance providing apparatus and method for generating a resistive force using an electromagnetic force and providing the same to a user. More specifically, the present invention removes a heterogeneity of a user generated when providing a resistive force using an electromagnetic force, A resistance providing apparatus and method for providing a resistance optimized for athletic performance.

Conventional strength training apparatuses generate weight and provide resistance to the user, such as exercise load, using weights and the like.

On the other hand, in recent years, muscle strength exercise equipment for generating a resistance force through a motor or the like based on the electromagnetic force has been developed. At this time, the conventional muscle strength exercise apparatus using the electromagnetic force generates a resistance force in a direction opposite to the direction in which the user applies the external force.

However, the conventional muscle strength exercise apparatus using the electromagnetic force has a problem that the user feels heterogeneous due to the resistance generated in the opposite direction.

In addition, the users who do not perform a lot of strength exercise can not know their exercise ability, in this case there is a problem that can not properly determine the resistance.

In order to solve the problems of the prior art as described above, the present invention removes the heterogeneity of the user generated when providing the resistive force by using the electromagnetic force, and provides a resistance generating device and method that provides a resistance optimized for the user's athletic ability I would like to propose.

Other objects of the present invention may be derived by those skilled in the art through the following examples.

According to a preferred embodiment of the present invention to achieve the above object, a motor unit for rotating in any one direction of the clockwise and counterclockwise; A resistance generation unit for generating resistance based on the rotational motion generated by the motor unit; A resistance transmission unit for transmitting the resistance to a user; And a controller configured to control a rotation operation of the motor unit, wherein the resistance force transmitting unit moves according to the external force of the user, and the external force of the user is greater than or equal to a predetermined external force value or the resistance force transmitting unit moves according to the external force of the user. When the speed is greater than or equal to a predetermined speed value, the controller is provided with a resistance providing device, characterized in that for controlling the motor unit to rotate in the opposite direction to the one direction.

The controller may set the rotational speed of the motor unit rotating in the opposite direction by comparing the value of the external force of the user and the value of the resistance or by comparing the movement speed of the resistance transmission unit and the preset speed value.

The preset external force value may be set in proportion to the value of the resistance force.

The resistance providing apparatus may further include a user interface configured to receive a value of the resistance.

The resistance generating unit, a pulley (pulley) connected to the rotating shaft of the motor (pulley); A timing belt unit transmitting a rotational force of the poly unit; And a power transmission unit configured to transmit the rotational force of the poly unit transmitted from the timing belt unit to the resistance providing unit.

The power transmission unit, the disk-shaped outer body portion receives a rotational force from the poly portion; An inner body part coupled to the inner side of the outer body part; And at least one load cell formed between the outer body portion and the inner body portion and measuring an external force of the user.

Further, according to another embodiment of the present invention, the motor unit for performing a rotation operation; A resistance generation unit for generating resistance based on the rotational motion generated by the motor unit; A resistance transmission unit for transmitting the resistance to a user; And a control unit for controlling a rotation operation of the motor unit, wherein the resistance transmission unit moves according to the external force of the user, and the control unit adjusts the resistance force, but the resistance force according to the external force of the user measured in a previous number of times. A resistance force providing device is provided, wherein the resistance force is set at a next number of times based on a movement displacement value of a transmission unit and a time value required for movement.

In addition, according to another embodiment of the present invention, the motor unit for rotating in any one direction of the clockwise and counterclockwise; A resistance generation unit for generating resistance based on the rotational motion generated by the motor unit; A resistance transmission unit for transmitting the resistance to a user; And a control unit for controlling a rotation operation of the motor unit, wherein the resistance transmission unit moves according to the external force of the user, and the control unit adjusts the resistance force, but the resistance force according to the external force of the user measured in a previous number of times. The resistance force is set at the next number of times based on the movement displacement value of the transmission unit and the time value required for the movement, and the external force of the user applied to the resistance transmission unit is greater than or equal to a preset external force value or the resistance force according to the external force of the user When the moving speed of the transmission unit is greater than or equal to a preset speed value, the controller is provided with a resistance providing device, characterized in that for controlling the motor unit to rotate in the opposite direction to the one direction.

In addition, according to another embodiment of the present invention, in the method for providing a resistance force to the user, the resistance force generated based on the rotational operation of the motor portion to rotate in any of the clockwise and counterclockwise direction, Comparing the external force applied to the resistance force transmission unit for transmitting the resistance force, or comparing the movement speed and the preset speed value of the resistance force transmission unit according to the external force of the user; And controlling the motor unit to rotate in a direction opposite to the one direction when the external force of the user is equal to or greater than a preset external force value related to the resistance or the movement speed of the resistance force transmission unit is equal to or greater than a predetermined speed value. There is provided a resistance providing method characterized in that.

According to the present invention, there is an advantage of removing the heterogeneity of the user generated when providing the resistance using the electromagnetic force.

In addition, according to the present invention, there is an advantage of providing an optimized resistance to the exercise ability of the user.

In addition, the effect of this invention is not limited to the above-mentioned effect, It should be understood that it includes all the effects which can be inferred from the structure of the invention described in the detailed description of this invention, or a claim.

1 is a view showing a schematic configuration of a resistance providing apparatus according to an embodiment of the present invention.

2 and 3 are views showing an example of the strength training apparatus applied to the present invention.

4 is a view showing a perspective view of the resistance generating unit according to an embodiment of the present invention.

5 is an exploded perspective view of the resistance generating unit according to an exemplary embodiment of the present invention.

6 is a view showing a detailed configuration of the power transmission unit in the resistance generating unit according to an embodiment of the present invention.

7 is a flowchart illustrating a resistance providing method according to an embodiment of the present invention.

As used herein, the singular forms "a", "an" and "the" include plural forms unless the context clearly indicates otherwise. In this specification, terms such as “consisting of” or “comprising” should not be construed as necessarily including all of the various components or steps described in the specification, and some of the components or some steps It should be construed that it may not be included or may further include additional components or steps. In addition, the terms "... unit", "module", etc. described in the specification mean a unit for processing at least one function or operation, which may be implemented in hardware or software or a combination of hardware and software. .

Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Referring to FIG. 1, the resistance providing apparatus 100 may be applied to a muscular exercise device and the like, and includes a motor unit 110, a resistance generating unit 120, a resistance transmitting unit 130, and a controller 140. Hereinafter, for convenience of description, an example in which the resistance generating device 100 is applied to the muscular exercise device will be described. However, the present invention is not limited thereto.

The function of each component will be described in detail with reference to FIG. 1.

The motor unit 110 is a device that converts electrical energy into mechanical energy by using a force that a current flowing conductor receives in a magnetic field. That is, the motor unit 110 generates and outputs a rotational motion force that rotates in either the clockwise or counterclockwise direction.

The resistance generating unit 120 generates a resistance based on the rotational motion generated by the motor unit 110, and the resistance transmitting unit 130 provides the generated resistance to the user. Here, the resistive force corresponds to the exercise load, and the value of the resistive force provided from the resistive force generating unit 120 may be set by the user or automatically based on an external force applied by the user as described below.

According to an embodiment of the present invention, the resistance providing apparatus 100 converts the rotational movement generated from the motor unit 110 into a linear movement or a motion for adjusting the angle, and provides a resistance based on the converted movement. Can be. That is, the resistance providing apparatus 100 may be applied to a muscular exercise device that provides a resistance force according to the linear motion shown in FIG. 2 or a muscular exercise device that provides a resistance force according to the exercise for adjusting the angle shown in FIG.

Here, the user may perform a muscle exercise by applying an external force to the resistance transmission unit 130 for transmitting the generated resistance force to move the resistance transmission unit 130. As an example, the resistive force transmitting unit 121 is as shown in FIGS. 2 and 3.

The controller 140 may be a device including a processor, and controls the rotational movement of the motor unit 110. In this case, the controller 140 may control the rotation operation of the motor unit 110 based on at least one of the set resistance force and the external force of the user applied to the resistance force transmission unit 130.

Meanwhile, although not shown in FIG. 1, the resistance providing apparatus 100 may further include a user interface unit for receiving a resistance force input from a user and a load cell measuring the external force of the user and providing the external force to the controller 140. .

In more detail, a conventional strength exercise apparatus using a motor or the like generates resistance in a direction opposite to a user's external force, and performs strength training. In this case, the user's strength training occurs due to the resistance generated in the opposite direction. When you feel heterogeneous resistance, this causes inconvenience to the user. In particular, when the user suddenly applies the external force to the resistance transmission unit 130 in the opposite direction as described above, the speed of movement of the resistance transmission unit 130 according to the external force rapidly increases, heterogeneous resistance according to the sudden change in the resistance Can be made larger.

Therefore, according to the present invention, when the user's external force applied to the resistance transmission unit 130 is greater than or equal to a predetermined external force value or the moving speed of the resistance transmission unit 130 according to the user's external force is greater than or equal to a preset speed value. 140 may control the motor unit 110 to rotate in one of a clockwise direction and a counterclockwise direction to rotate in an opposite direction to the one direction. Accordingly, it is possible to eliminate the heterogeneous resistance felt by the user by minimizing the sudden change in the resistance transmitted to the resistance transmission unit 130.

As an example, as shown in FIG. 2, the muscular exercise device provides a resistance force according to linear movement, the motor unit 110 rotates in a clockwise direction, and the resistance force transmission unit 130 performs linear movement in one direction. In this case, the user applies the external force to the resistance transmission unit 130 in the opposite direction of the one direction to move the resistance transmission unit 130. At this time, when the user's external force measured in the load cell exceeds the predetermined external force value or the moving speed of the resistance transmission unit 130 according to the user's external force is more than the preset speed value, the control unit 140 is a motor unit Control 110 to rotate in the counterclockwise direction. Therefore, it is possible to minimize heterogeneous resistance felt by the user.

Here, the predetermined external force value may be set in proportion to the value of the set resistance force. As an example, when the set resistance force is 10kg, the preset external force value may be set to 11kg.

In addition, when the motor unit 110 rotates in a direction opposite to the initial rotation direction, the rotational speed of the motor unit 110 rotating in the opposite direction compares the value of the user's external force and the set resistance force or transmits the resistance force. It may be set by comparing the moving speed of the unit 130 and the preset speed value.

That is, when the motor unit 110 rotates in the opposite direction to cancel the heterogeneity, when the motor unit 110 rotates in the opposite direction at a rapid speed, the user by the sharp rotation in the opposite direction May feel another heterogeneity. Accordingly, the controller 140 compares the value of the external force applied by the user with the value of the initially set resistance (for example, by performing a difference operation on the value of the external force applied by the user and the value of the initially set resistance) or the resistance transmission unit. The rotation speed of the motor unit 110 rotating in the opposite direction may be controlled by comparing the moving speed of the 130 with a preset speed value. Thus, the user can feel a soft resistance.

On the other hand, as mentioned above, the resistance provided by the resistance providing apparatus 100 may be automatically set based on the external force applied by the user. That is, according to one embodiment of the present invention, the initial value of the resistance is set to the initial value folded, the control unit 140 is the displacement displacement of the resistance transmission unit 130 according to the external force of the user measured in the previous number Based on the value and time value required for movement, the resistance at the next number of times can be set automatically. In this case, the moving displacement value may be a moving length value or a moving angle value.

More specifically, for a specific resistance force, a user who has a strong force capable of exerting a large external force can move a large amount of displacement of the resistance transmission unit 130 in a short time, and a user who does not have strong force that can apply a small external force or The sick user may move the displacement less the displacement portion 130 for a slow time. Therefore, the resistance providing apparatus 100 according to the present invention fixes the initial resistance value and based on the displacement value of the resistance transmission unit 130 according to the external force applied by the user at the previous time and the time value required for the movement. The resistance at the next time point can be set.

According to an embodiment of the present invention, the controller 140 may set the resistance force in the next number of times so as to be proportional to the measured displacement value and inversely proportional to the measured time value.

As an example, when the moving angle value in the previous number is 10 degrees and the time value is 5 seconds, the control unit 140 controls the motor unit 110 so that the resistance force in the next number is 10 kg, and the moving angle in the previous number. If the value is 10 degrees and the time value is 10 seconds, the control unit 140 controls the motor unit 110 so that the resistance force at the next number of times becomes 5 kg, the moving angle value at the previous number is 20 degrees and the time value is 5 degrees. In the case of seconds, the controller 140 may control the motor unit 110 to have a resistance force of 20 kg in the next number of times.

In this case, the controller 140 may store a table matching the movement displacement value, the time value, and the resistance force, and set the resistance force in the next number of times from the movement displacement value and the time value measured through the table.

According to another embodiment of the present invention, the control unit 140 may set the resistance at the next number of times by increasing or decreasing the resistance at the previous number by a predetermined ratio based on the measured displacement value and the measured time value. . In addition, the above operation may be repeatedly performed, and accordingly, a resistance force suitable for a user may be automatically set.

As an example, when the resistance at the previous times is 5 kg, the moving angle value is 10 degrees, and the time value is 10 seconds, the controller 140 may increase the resistance at the next times by 10% from the resistance at the previous times. 110), if the resistance in the previous number is 15kg, the moving angle value is 10 degrees and the time value is 10 seconds, the control unit 140 to reduce the resistance in the next number by 10% from the resistance of the previous number The motor unit 110 may be controlled.

On the other hand, with reference to Figures 4 to 6 will be described in more detail the resistance generating unit 120 according to an embodiment of the present invention.

4 is a view showing a perspective view of the resistance generating unit 120 according to an embodiment of the present invention, Figure 5 is a view showing an exploded perspective view of the resistance generating unit 120 according to an embodiment of the present invention. 6 is a view showing a detailed configuration of the power transmission unit 125 in the resistance generating unit 120 according to an embodiment of the present invention. Hereinafter, the function of each component will be described in detail.

The housing 122 has a power transmission unit 125 mounted on one side thereof, and may be formed of a box-shaped frame.

The central axis of the pulley 123 is connected to the motor unit 110 to rotate, and is connected to the outer circumferential surface of the outer body portion 1251 of the power transmission unit 125 by the timing belt unit 124, and includes a housing ( 122) is mounted on the other side. The poly part 123 is formed to have a diameter smaller than the diameter of the outer body 1251 to transmit torque to the outer body 1251 through the timing belt 124. That is, the power transmission part 125 is rotated in accordance with the rotation of the poly part 123.

The shaft shaft portion 126 is coupled to one side with respect to the central axis of the inner body portion 1252 of the power transmission portion 125. 4 to 6, the shaft shaft portion 126 is formed in a rod shape having one side coupled to the central axis of the inner body portion 1252 and extending in the longitudinal direction. The shaft shaft portion 126 may be rotated in the same direction according to the rotation of the inner body portion 1252.

The drum 127 is coupled to the other side of the shaft shaft 126 and converts the rotational movement of the shaft shaft 126 into a linear movement.

The flat belt 128 may be connected to the resistance transmission unit 130 mentioned above, and is connected to the outer circumferential surface of the drum 127 to convert the rotational movement of the shaft shaft 126 into a linear movement. That is, one side of the flat belt 128 is connected to the drum 127, the other side is connected to the resistance transmission unit 130 is not connected to the drum 127 to receive a pull force.

In addition, the drum unit 127 may further include a slip ring 129. The slip ring 129 is inserted into the drum 127 to transmit power and torque sensing signals in a brush manner in contact with the rotating shaft shaft 126. It is possible to replace the power transmission method with the wireless power transmission technology, and it is possible to replace the torque signal transmission method with the wireless data communication method.

6, the power transmission unit 125 includes an outer body portion 1251, an inner body portion 1252, a load cell 1253, and a board 140.

The outer body portion 1251 is formed in a disk shape to receive or transmit torque from the outside, and is formed to a predetermined thickness. The outer body portion 1251 may have a space portion 1251A formed therein, and the outer circumferential surface thereof may have a tooth 1251B shape. That is, the outer body portion 1251 may be formed such that the teeth 1251B are formed in the shape of a groove along the outer circumferential surface such that the timing belt 124 is wound around the groove. On the other hand, the inner body portion 1251 is inserted into the space portion 1251A.

In addition, the outer body portion 1251 may be configured to be supported by the inner body portion 1252 by any one of a sleeve or a bearing so as to minimize frictional force even at a minute relative displacement.

The inner body portion 1252 is coupled to the inner side of the outer body portion 1251 to serve to receive or transmit torque from the shaft, and rotates in the same direction as the rotation direction of the outer body portion 1251. In addition, the inner body portion 1252 is preferably formed corresponding to the shape of the space portion 1251A to be coupled to the inner side of the outer body portion.

In addition, the inner body portion 1252 is formed with an outer circumferential surface spaced apart from the inner side of the space portion 1251A. This is a space where the load cell 1253 is disposed.

The inner body portion 1252 also includes a board 1254 made of electronic circuitry for operating the load cell 1253. Here, the board 1254 has a connection line connected to the load cell 1253, and is disposed on one surface of the inner body part 1252, thereby being sensitive to the force applied to the load cell 1253 while rotating together with the inner body part 1252. Can be detected.

At least one load cell 1253 may be formed between the outer body part 1251 and the inner body part 1252, but according to another embodiment of the present invention, the load cell 1253 may be formed of the power transmission part 125. It may be arranged externally.

When the outer body portion 1251 and the inner body portion 1252 transmit power, the load cell 1253 is subjected to a compressive force or a tensile force, and thus the force applied to the load cell 1253 is measured. More specifically, the load cell 1253 is disposed in a space spaced apart from the edge of the space portion 1251A and the inner body portion 1252 formed inside the outer body portion 1251. Then, when power is transmitted between the outer body portion 1251 and the inner body portion 1252, the load cell 1253 receives a force for transmitting power as a compressive force or a tension force when the power is transmitted between the outer body portion 1251 and the inner body portion 1252. Accordingly, it is possible to measure the torque by the product of the magnitude of the compressive or tensile force applied to the load cell 1253 and the distance from the center.

On the other hand, since the outer body portion 1251 and the inner body portion 1252 have the same rotation axis and are connected only by the load cell 1253, the outer body portion 1251 and the inner body portion 1252 are connected to the load cell 1253 with respect to the force in the other direction, not torque, which is the power in the rotation shaft. No compressive or tensile force is applied. Therefore, the influence of the load cell 1253 on the external force independent of torque is minimized to enable accurate torque sensing.

In addition, power for operating the load cell 1253 and the board 140 may be received from any one of a brush or a wireless power transmission using direct contact.

7 is a flowchart illustrating a resistance providing method according to an embodiment of the present invention. The resistance providing method may be performed by the controller 140 of the resistance providing apparatus 100. Hereinafter, a process performed for each step will be described.

First, in step 710, the resistance force generated based on the rotation operation of the motor unit rotating in one of the clockwise and counterclockwise directions, and the external force applied by the user to the resistance transmission unit 130, or the external force of the user. Compare the moving speed and the predetermined speed value of the resistance transmission unit 130 according to.

Next, in step 720, when the user's external force is equal to or greater than the predetermined external force value related to the resistance or the movement speed of the resistance transmission unit 130 and the predetermined speed value or more, the motor unit 110 is opposite to the above one direction. Control to rotate in the direction.

Subsequently, in step 730, the resistance force in the next number of times is set based on the movement displacement value of the resistance transmission unit according to the external force of the user measured in the previous number and the time value required for the movement.

Embodiments of the resistive force providing method according to the present invention have been described so far, and the configuration of the resistive force providing device 100 described with reference to FIGS. 1 to 6 may be applied to the present embodiment as it is. Therefore, more detailed description will be omitted.

In the present invention as described above has been described by the specific embodiments, such as specific components and limited embodiments and drawings, but this is provided to help the overall understanding of the present invention, the present invention is not limited to the above embodiments, Various modifications and variations can be made by those skilled in the art to which the present invention pertains. Therefore, the spirit of the present invention should not be limited to the described embodiments, and all the things that are equivalent to or equivalent to the claims as well as the following claims will belong to the scope of the present invention. .

Claims

A motor unit rotating in one of clockwise and counterclockwise directions;

A resistance generation unit for generating resistance based on the rotational motion generated by the motor unit;

A resistance transmission unit for transmitting the resistance to a user; And

And a controller configured to control a rotation operation of the motor unit.

The resistance transmission unit moves in accordance with the external force of the user,

When the external force of the user is greater than or equal to a preset external force value or the moving speed of the resistance transmission unit according to the external force of the user is greater than or equal to a preset speed value, the controller controls to rotate the motor unit in a direction opposite to the one direction. Resistivity providing device.
The method of claim 1,

The controller may be configured to set the rotational speed of the motor unit rotating in the opposite direction by comparing the value of the external force of the user with the value of the resistance or by comparing the movement speed of the resistance transmission unit with the preset speed value. Resistive provision device.
The method of claim 1,

And the predetermined external force value is set in proportion to the value of the resistance force.
The method of claim 3,

The resistance providing device,

And a user interface unit for receiving the value of the resistance force.
The method of claim 1,

The resistance generating unit,

A pulley part connected to the rotating shaft of the motor to rotate;

A timing belt unit transmitting a rotational force of the poly unit; And

And a power transmission unit configured to transmit the rotational force of the poly unit transmitted from the timing belt unit to the resistance providing unit.
The method of claim 5,

The power transmission unit,

An outer body portion having a disk shape receiving a rotational force from the poly portion;

An inner body part coupled to the inner side of the outer body part; And

And at least one load cell formed between the outer body portion and the inner body portion and measuring an external force of the user.
A motor unit performing a rotation operation;

A resistance generation unit for generating resistance based on the rotational motion generated by the motor unit;

A resistance transmission unit for transmitting the resistance to a user; And

And a controller configured to control a rotation operation of the motor unit.

The resistance transmission unit moves in accordance with the external force of the user,

The control unit adjusts the resistance force, and sets the resistance force in the next number of times based on the movement displacement value of the resistance force transmission unit according to the external force of the user and the time value required for the movement measured in the previous number of times. Resistive provision device.
The method of claim 7, wherein

And the control unit sets the resistance force at the next number of times so as to be proportional to the measured displacement value and inversely proportional to the measured time value.
The method of claim 7, wherein

The control unit stores a table in which the movement displacement value, the time value, and the resistance force are matched, and sets the resistance force in the next number of times from the movement displacement value and the time value through the table. Provision device.
The method of claim 7, wherein

The controller may provide the resistance force according to the measured movement displacement value and the measured time value to set the resistance force in the next number of times by increasing or decreasing the resistance force in the previous number by a predetermined ratio. Device.
A motor unit rotating in one of clockwise and counterclockwise directions;

A resistance generation unit that generates resistance based on the rotational motion generated by the motor unit;

A resistance transmission unit for transmitting the resistance to a user; And

And a controller configured to control a rotation operation of the motor unit.

The resistance transmission unit moves in accordance with the external force of the user,

The control unit adjusts the resistance force, and sets the resistance force in the next number of times based on the movement displacement value of the resistance force transmission unit according to the external force of the user measured in the previous number of times and the time value required for the movement,

When the external force of the user applied to the resistance force transmission unit is greater than or equal to a preset external force value or the moving speed of the resistance force transmission unit according to the external force of the user is greater than or equal to a preset speed value, the control unit may be in a direction opposite to the one direction of the motor unit. Resistance providing apparatus characterized in that the control to rotate.
In the method of providing resistance to the user,

The resistance force generated based on the rotational operation of the motor unit rotating in one of the clockwise and counterclockwise directions, and the external force applied by the user to the resistance transmission unit for transmitting the resistance force, or according to the external force of the user Comparing the moving speed of the resistive force transmitting unit with a preset speed value; And

Controlling the motor unit to rotate in a direction opposite to the one direction when the external force of the user is equal to or greater than a predetermined external force value related to the resistance or the movement speed of the resistance force transmission unit is equal to or greater than a predetermined speed value. Method for providing a resistance, characterized in that.
The method of claim 12,

And setting the resistance force in the next number of times based on the movement displacement value of the resistance force transmission unit and the time value required for the movement according to the external force of the user measured in the previous number of times. .