Patent Application
20240216740
The disclosure relates to an electronic device and a method for controlling an actuator based on rotational motion of a joint.
Recently, due to advancements in electronic technology, a user-wearable electronic device is being developed. For example, the electronic device may operate to assist a user's motion, such as walking. Since a type of the motion capable of being performed by the user is not limited to the walking, a method for assisting the user's other motion different from walking by using the electronic device may be required.
The above information is presented as background information only to assist with an understanding of the disclosure. No determination has been made, and no assertion is made, as to whether any of the above might be applicable as prior art with regard to the disclosure.
Aspects of the disclosure are to address at least the above-mentioned problems and/or disadvantages and to provide at least the advantages described below. Accordingly, an aspect of the disclosure is to provide an electronic device by a user, and a method for assisting the strength exercise.
Additional aspects will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the presented embodiments.
In accordance with an aspect of the disclosure, an electronic device is provided. The electronic device includes an actuator associated with a joint of a user of the electronic device, at least one sensor, memory storing one or more computer programs, and one or more processors operatively coupled with the actuator, the at least one sensor, and the memory, wherein the one or more computer programs include computer-executable instructions that, when executed by the one or more processors, cause the electronic device to adjust strength of rotational motion of the joint as first strength indicated by information associated with the user by using the actuator, after adjusting the strength of the rotational motion to the first strength, identify data indicating the rotational motion of the joint by using the at least one sensor, and adjust the strength of the rotational motion from the first strength to second strength different from the first strength, at least based on identifying the rotational motion is ceased for a preset duration based on the identified data.
In accordance with another aspect of the disclosure, a method performed by an electronic device is provided. The method includes, by using at least one sensor included in the electronic device, identifying rotational motion rotated along a first direction at a joint of a user of the electronic device, in response to the identifying of the rotational motion of the joint, outputting torque having first strength and based on a second direction different from the first direction, by using an actuator included in the electronic device and corresponding to the joint, while the outputting of the torque by using the actuator, identifying data indicating the rotational motion changed by the torque by using the at least one sensor, at least based on the identifying of the data indicating the rotational motion maintained within a first range during a first time section, changing strength of the torque to second strength lower than the first strength by using the actuator, and at least based on the identifying of the data indicating the rotational motion that is maintained within a second range during a second time section while outputting the torque based on the second direction and having the second strength, changing a direction of the torque to a direction based on the first direction among the first direction and the second direction, by using the actuator.
In accordance with another aspect of the disclosure, a method performed by an electronic device is provided. The method includes adjusting strength of rotational motion of a joint as first strength indicated by information associated with a user by using an actuator associated with a joint of a user of the electronic device, after the adjusting of the strength of the rotational motion to the first strength, identifying data indicating the rotational motion of the joint by using at least one sensor included in the electronic device, and at least based on identifying the rotational motion is ceased for a preset duration based on the identified data, adjusting the strength of the rotational motion from the first strength to second strength different from the first strength.
In accordance with another aspect of the disclosure, an electronic device is provided. The electronic device includes an actuator associated with a joint of a user of the electronic device, at least one sensor, memory storing one or more computer programs, and one or more processors operatively coupled with the actuator, the at least one sensor, and the memory, wherein the one or more computer programs include computer-executable instructions that, when executed by the one or more processors, cause the electronic device to, by using the actuator least one sensor included in the electronic device, identify rotational motion rotated along a first direction at a joint of a user of the electronic device, when executing the one or more instructions, in response to identifying the rotational motion of the joint, output torque having first strength and based on a second direction different from the first direction, by using the actuator, when executing the one or more instructions, while outputting the torque by using the actuator, identify data indicating the rotational motion changed by the torque by using the at least one sensor, when executing the one or more instructions, at least based on identifying the data indicating the rotational motion maintained within a first range during a first time section, change strength of the torque to second strength lower than the first strength by using the actuator, and when executing the one or more instructions, at least based on identifying the data indicating the rotational motion that is maintained within a second range during a second time section while outputting the torque based on the second direction and having the second strength, change a direction of the torque to a direction based on the first direction among the first direction and the second direction, by using the actuator.
In accordance with another aspect of the disclosure, one or more non-transitory computer-readable storage media storing computer-executable instructions that, when executed by one or more processors of an electronic device, cause the electronic device to perform operations are provided. The operations include by using at least one sensor included in the electronic device, identifying rotational motion rotated along a first direction at a joint of a user of the electronic device, in response to the identifying of the rotational motion of the joint, outputting torque having first strength and based on a second direction different from the first direction, by using an actuator included in the electronic device and corresponding to the joint, while the outputting of the torque by using the actuator, identifying data indicating the rotational motion changed by the torque by using the at least one sensor, at least based on the identifying of the data indicating the rotational motion maintained within a first range during a first time section, changing strength of the torque to second strength lower than the first strength by using the actuator; and at least based on the identifying of the data indicating the rotational motion that is maintained within a second range during a second time section while outputting the torque based on the second direction and having the second strength, changing a direction of the torque to a direction based on the first direction among the first direction and the second direction, by using the actuator.
According to an embodiment of the disclosure, an electronic device can increase the quantity of motion according to a user's strength exercise performed based on a joint by using an actuator corresponding to the user's joint.
According to an embodiment of the disclosure, the electronic device can monitor the strength exercise performed by the user based on one or more parameters associated with the joint.
According to an embodiment of the disclosure, the electronic device can guide motion for completing the strength exercise by using the actuator, when the user reaches a limit of the strength exercise.
Other aspects, advantages, and salient features of the disclosure will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses various embodiments of the disclosure.
The above and other aspects, features, and advantages of certain embodiments of the disclosure will be more apparent from the following description taken in conjunction with the accompanying drawings, in which:
The same reference numerals are used to represent the same elements throughout the drawings.
The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of various embodiments of the disclosure as defined by the claims and their equivalents. It includes various specific details to assist in that understanding but these are to be regarded as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the various embodiments described herein can be made without departing from the scope and spirit of the disclosure. In addition, descriptions of well-known functions and constructions may be omitted for clarity and conciseness.
The terms and words used in the following description and claims are not limited to the bibliographical meanings, but, are merely used by the inventor to enable a clear and consistent understanding of the disclosure. Accordingly, it should be apparent to those skilled in the art that the following description of various embodiments of the disclosure is provided for illustration purpose only and not for the purpose of limiting the disclosure as defined by the appended claims and their equivalents.
It is to be understood that a singular form “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to “a component surface” includes reference to one or more of such surfaces.
As used herein, each of such phrases as “A or B,” “at least one of A and B,” “at least one of A or B,” “A, B, or C,” “at least one of A, B, and C,” and “at least one of A, B, or C,” may include any one of, or all possible combinations of the items enumerated together in a corresponding one of the phrases. As used herein, such terms as “1st” and “2nd,” or “first” and “second” may be used to simply distinguish a corresponding component from another, and does not limit the components in other aspect (e.g., importance or order). It is to be understood that if an element (e.g., a first element) is referred to, with or without the term “operatively” or “communicatively”, as “coupled with,” “coupled to,” “connected with,” or “connected to” another element (e.g., a second element), it means that the element may be coupled with the other element directly (e.g., wiredly), wirelessly, or via a third element.
As used in connection with various embodiments of the disclosure, the term “module” may include a unit implemented in hardware, software, or firmware, and may interchangeably be used with other terms, for example, “logic,” “logic block,” “part,” or “circuitry”. A module may be a single integral component, or a minimum unit or part thereof, adapted to perform one or more functions. For example, according to an embodiment of the disclosure, the module may be implemented in a form of an application-specific integrated circuit (ASIC).
It should be appreciated that the blocks in each flowchart and combinations of the flowcharts may be performed by one or more computer programs which include computer-executable instructions. The entirety of the one or more computer programs may be stored in a single memory devise or the one or more computer programs may be divided with different portions stored in different multiple memory devices.
Any of the functions or operations described herein can be processed by one processor or a combination of processors. The one processor or the combination of processors is circuitry performing processing and includes circuitry like an application processor (AP, e.g., a central processing unit (CPU)), a communication processor (CP, e.g., a modem), a graphical processing unit (GPU), a neural processing unit (NPU) (e.g., an artificial intelligence (AI) chip), a wireless-fidelity (Wi-Fi) chip, a Bluetooth™ chip, a global positioning system (GPS) chip, a near field communication (NFC) chip, connectivity chips, a sensor controller, a touch controller, a finger-print sensor controller, a display drive integrated circuit (IC), an audio CODEC chip, a universal serial bus (USB) controller, a camera controller, an image processing IC, a microprocessor unit (MPU), a system on chip (SoC), an IC, or the like.
Referring to
Referring to
Referring to
Referring to
The processor 110 of the electronic device 101 according to an embodiment may include a hardware component for processing data based on one or more instructions. The hardware components for processing data may include, for example, arithmetic and logic unit (ALU), field programmable gate array (FPGA), and/or a central processing unit (CPU). The number of processors 110 may be one or more. For example, the processor 110 may have a structure of a multi-core processor, such as a dual core, a quad core, or a hexa core.
The memory 120 of the electronic device 101 according to an embodiment may include a hardware component for storing data and/or instructions inputted and/or outputted to the processor 110. For example, the memory 120 may include volatile memory, such as random-access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM). For example, the volatile memory may include at least one of dynamic RAM (DRAM), static RAM (SRAM), cache RAM, and pseudo SRAM (PSRAM). For example, the non-volatile memory may include at least one of programmable ROM (PROM), electrically erasable PROM (EEPROM), flash memory, hard disk, compact disk, and embedded multi-media card (EMMC).
In the memory 120, one or more instructions indicating an operation to be performed by the processor 110 on data may be stored. A set of instructions may be referred to as firmware, operating system, process, routine, sub-routine and/or application. For example, the electronic device 101 and/or the processor 110 of the electronic device 101 may perform at least one of operations in
According to an embodiment of the disclosure, the communication circuit 130 of the electronic device 101 may include a hardware component for supporting transmission and/or reception of an electrical signal between the electronic device 101 and one or more external electronic devices (e.g., external electronic devices 192, 194, and 196). Although only the external electronic devices 192, 194, and 196 capable of communicating with the electronic device 101 are exemplarily illustrated, the number and/or type of external electronic devices capable of communicating with the electronic device 101 is not limited to an embodiment of
According to an embodiment of the disclosure, the actuator 140 of the electronic device 101 may convert electrical energy provided to the actuator 140 into kinetic energy. For example, the actuator 140 may include a motor outputting kinetic energy by rotating a preset axis, such as a shaft. The number of the actuators 140 included in the electronic device 101 may be one or more. For example, the electronic device 101 may include actuators attachable to each of two symmetrical joints, such as hip joints. According to an embodiment of the disclosure, the electronic device 101 may output torque to a joint corresponding to the actuator 140 by controlling the actuator 140. For example, kinetic energy that the electronic device 101 outputs to the joint by using the actuator 140 may be outputted based on the torque.
According to an embodiment of the disclosure, the sensor 150 of the electronic device 101 may generate electronic information processable by the processor 110 and/or the memory 120 from non-electronic information associated with the electronic device 101. For example, the sensor 150 may include a global positioning system (GPS) sensor for detecting a geographic location of the electronic device 101.
According to an embodiment of the disclosure, the sensor 150 of the electronic device 101 is a sensor for measuring the physical movement of the electronic device 101, and may include, for example, a gyro sensor, a gravity sensor, and/or an acceleration sensor. The gyro sensor, the gravity sensor, and the acceleration sensor may be referred to as an inertial measurement unit (IMU) sensor. For example, the gyro sensor may output information indicating an angular speed of each of a plurality of preset axes perpendicular to each other (e.g., a plurality of axes forming 90° with each other, such as x-axis, y-axis, and z-axis). For example, the acceleration sensor may output electronic information indicating magnitude of gravity acceleration measured in each of the plurality of preset axes perpendicular to each other (e.g., the x-axis, y-axis, and z-axis described above). According to an embodiment of the disclosure, the processor 110 of the electronic device 101 may measure motion of the electronic device 101 in a physical space based on electronic information outputted from the acceleration sensor. The motion measured by the electronic device 101 may indicate an orientation of the electronic device 101 and/or a shape of the electronic device 101 measured by the sensor 150. For example, the motion measured by the electronic device 101 may include motion of the electronic device 101 due to a fall of a user wearing the electronic device 101. An operation performed by the electronic device 101 in response to identifying the motion of the electronic device 101 due to the fall of the user will be described later with reference to
According to an embodiment of the disclosure, the electronic device 101 may output information to be provided to the user by using the speaker 160. For example, the electronic device 101 may output an acoustic signal including a preset speech to an external space of the electronic device 101 through the speaker 160. Although not shown, the electronic device 101 may output the information through a motor for outputting haptic feedback. The electronic device 101 may output the information by using one or more external electronic devices 192, 194, and 196 connected to the electronic device 101. For example, the electronic device 101 may request the external electronic devices 192, 194, and 196 including a display to display a UI corresponding to the acoustic signal through the display.
According to an embodiment of the disclosure, the electronic device 101 may perform controlling the user's joint using the actuator 140, based on motion of a joint identified by the sensor 150 (e.g., rotational motion generated in the joint by the user). Controlling of the joint by the electronic device 101 may be performed based on one of a plurality of preset modes. The electronic device 101 may switch between the plurality of preset modes, based on one or more parameters identified by the sensor 150 and indicating the rotational motion generated in the joint. Switching between the plurality of preset modes by the electronic device 101 will be described later with reference to
According to an embodiment of the disclosure, while the user is performing strength exercise, the electronic device 101 may adjust the quantity of motion of the user according to the rotational motion of the joint generated by the user, by using the actuator 140. The rotational motion may cause periodic switching between a preset posture (e.g., a standby posture) and another posture in a joint corresponding to the actuator 140 of the electronic device 101. The electronic device 101 may output torque for adjusting the quantity of motion by controlling the actuator 140 in at least a part of a switching period.
For example, the electronic device 101 may adjust strength of rotational motion, performed by the user, for converting a posture of joint corresponding to the actuator 140 into the preset posture, to preset strength, by using the actuator 140. The preset strength may be indicated by information inputted by the user. For example, the electronic device 101 may output torque for changing the strength of the rotational motion to the joint by using the actuator 140, based on the preset strength, which is inputted by the user to increase the user's quantity of motion by the rotational motion. A UI outputted by the electronic device 101 to receive the information from a user will be described later with reference to
According to an embodiment of the disclosure, the electronic device 101 may identify a parameter associated with a joint corresponding to the actuator 140 by using the sensor 150, while adjusting the strength of rotational motion based on the preset strength inputted from the user. For example, the electronic device 101 may identify one or more parameters indicating motion of the joint changed by the rotational motion. When an identified parameter satisfies a preset condition indicating a temporary cessation of the rotational motion, the electronic device 101 may change strength and/or direction of the torque outputted using the actuator 140. For example, when a parameter identified using the sensor 150 maintains a value within a preset range during a preset time section, the electronic device 101 may reduce the strength of the torque outputted using the actuator 140 or may change a direction of the torque.
According to an embodiment of the disclosure, adjusting the strength and/or direction of the torque outputted to the joint by the electronic device 101 may be performed to assist the user's strength exercise. As the user performs the strength exercise, a fatigue degree of one or more muscles associated with rotational motion of the joint corresponding to the actuator 140 may be increased. As the fatigue degree increases, a moment at which the strength exercise is impossible may arrive. The moment may be referred to as a critical point, a threshold point, and/or a moment of failure. According to an embodiment of the disclosure, the electronic device 101 may reduce strength of the torque outputted to the joint by using the actuator 140 or change a direction of the torque to strengthen the rotational motion of the joint, in response to identifying the moment of failure using the sensor 150. In this case, the electronic device 101 may maintain performance of the strength exercise by the user even after the moment of failure. Since the performance of the strength exercise is maintained even after the moment of failure, the electronic device 101 may maximize effect of the strength exercise.
Hereinafter, a structure of the electronic device 101 according to an embodiment with a structure attachable to the user's two hip joints will be described with reference to
Referring to
According to an embodiment of the disclosure, the electronic device 101 may be formed to be worn on a lower body of a user. Referring to
According to an embodiment of the disclosure, the actuator 140 of the electronic device 101 may be coupled to the first support unit 201. The actuator 140 may include an actuator 140-1 and an actuator 140-2. The actuator 140-1 may be disposed at a first part (e.g., a left side) of the first support unit 201. The actuator 140-2 may be disposed at a second part (e.g., a right side) opposite the first part of the first support unit 201. The first part and the second part may be parts adjacent to each of the user's two hip joints in a state that the user wears the electronic device 101.
According to an embodiment of the disclosure, the connection unit 203 of the electronic device 101 may rotatably connect the second support unit 202 with respect to the first support unit 201 through the actuator 140. For example, the connection unit 203 may include a connection unit 203-1 and a connection unit 203-2. The connection unit 203-1 may rotatably connect the second support unit 202-1 with respect to the first support unit 201 through the actuator 140-1. For example, when the electronic device 101 outputs torque by using the actuator 140-1, rotational motion of the second support unit 202-1 centering on the first support unit 201 may occur based on strength and/or direction indicated by the torque. The connection unit 203-2 may rotatably connect the second support unit 202-2 with respect to the first support unit 201 through the actuator 140-2. For example, when the electronic device 101 outputs torque by using the actuator 140-2, a positional relationship between the first support unit 201 and the second support unit 202-2 may be changed based on the strength and/or direction indicated by the torque.
As the actuators 140-1 and 140-2 are disposed in each of the first and second parts adjacent to each of the user's two hip joints, torque of each of the actuators 140-1 and 140-2 may be outputted to each of the two hip joints. According to an embodiment of the disclosure, the electronic device 101 may generate torque associated with user's motion (e.g., rotational motion by strength exercise performed in at least one of the two hip joints) by using the actuator 140. For example, the torque may be generated by the actuator 140 in order to increase and/or decrease quantity of motion according to rotational motion at least one of the user's two hip joints. For example, within a time section where the user moves the hip joint to stand up, the electronic device 101 may generate first torque (e.g., torque based on a direction opposite to a direction in which the user stands up) that increases the user's quantity of motion associated with the hip joint within the time section. For another example, the electronic device 101 may generate second torque (e.g., torque based on a direction in which the user stands) to guide the user's motion within the time section. An operation in which the electronic device 101 selects torque to be generated using the actuator 140 among the first torque or the second torque may be performed based on user's motion identified by using at least one sensor (e.g., the sensor 150 of
Although an example of the electronic device 101 having a structure attachable to two hip joints is described, the embodiment is not limited thereto. For example, the electronic device 101 may have a form-factor attachable to another joint (e.g., knee joint, shoulder joint, and/or elbow joint) different from the two hip joints. In another embodiment with a form-factor attachable to the other joint different from the two hip joints, the electronic device 101 may assist the strength exercise performed by the user in the other joint by using an actuator 140 corresponding to the other joint.
Hereinafter, an operation in which the electronic device 101 switches between a plurality of preset modes while assisting the user's strength exercise will be described with reference to
Referring to
Referring to
Referring to
Referring to
Referring to
Referring to
In at least one of the modes 330 and 340, according to an embodiment of the disclosure, the electronic device may output a preset message associated with the strength exercise. For example, the preset message may include a preset comment (e.g., comment to guide the performance of strength exercise, such as “Do it one more time”) based on an acoustic signal format. For example, the preset message may include preset text (e.g., text corresponding to the comment) displayed on a display (e.g., at least one display of the external electronic devices 192, 194, and 194 in
In the modes 320, 330, and 340, outputting the torque by the electronic device may be performed in at least a part of a time section operating based on each of the modes 320, 330, and 340. As the user performs strength exercise, the user's posture may be repeatedly changed between a preset posture, such as a standby posture and another posture different from the preset posture. According to an embodiment of the disclosure, the electronic device may output torque based on one of the modes 320, 330, and 340, while changing from the other posture to the preset posture. For example, the electronic device may at least temporarily cease to output torque based on one of the modes 320, 330, and 340, while changing from the preset posture to the other posture. An operation in which the electronic device outputs torque according to a change in the user's posture in each of the modes 320, 330, and 340 will be described later with reference to
According to an embodiment of the disclosure, switching between the modes 310, 320, 330, and 340 of
In the mode 310, according to an embodiment of the disclosure, the electronic device may be switched to the mode 320 along a direction 352, in response to identifying initiation of the rotational motion by the user. For example, switching from the mode 310 to the mode 320 along the direction 352 may be performed based on information obtained from the user by using an external electronic device (e.g., the external electronic device 192 of
According to an embodiment of the disclosure, switching the electronic device from the mode 320 to the mode 330 along a direction 354 may be performed based on rotational motion of one or more joints identified by the electronic device using at least one sensor (e.g., the sensor 150 of
According to an embodiment of the disclosure, switching to the mode 340 along directions 356 and 362 by the electronic device may be performed based on one or more parameters identified by the electronic device using at least one sensor and indicating rotational motions of one or more joints. For example, in response to identifying that the user satisfies a preset condition associated with moment of failure after switching to the mode 330 or identifying that another preset condition for bypassing the mode 330 and switching to the mode 340 is satisfied in the mode 320, the electronic device may switch to the mode 340. An example of a condition for switching to the mode 340 will be described later with reference to
According to an embodiment of the disclosure, switching from the mode 340 to mode the 310 along the direction 358 by the electronic device may be performed in response to receiving a preset user input to cease assistance of strength exercise by the electronic device. For example, in the mode 340, the electronic device may output a message for verifying whether to cease the strength exercise based on an acoustic signal format through a speaker (e.g., the speaker 160 of
Referring to
As described above, according to an embodiment of the disclosure, the electronic device may assist the user's strength exercise based on the modes 310, 320, 330, and 340. For example, in the modes 320 and 330, the electronic device may control one or more actuators to increase the user's quantity of motion. For example, in the mode 340, the electronic device may control one or more actuators so that the performance of the rotational motion by the user is maintained. As the modes 320, 330, and 340 are sequentially switched, the user wearing the electronic device may additionally perform strength exercise at a moment after a critical point. As the user additionally performs strength exercise after the critical point, the effect of strength exercise may be increased.
Hereinafter, according to an embodiment of the disclosure, an operation in which the electronic device receives information associated with the user's strength exercise by using an external electronic device will be described with reference to
Referring to
Referring to
Referring to
According to an embodiment of the disclosure, a parameter received by the external electronic device 192 through the screen 420 is not limited to an example of
In an example of
For example, based on the mode 320 of
Hereinafter, an operations performed by the electronic device in a state that switching to a mode for assisting the strength exercise based on a toggle button 428 is allowed by the user will be described with reference to
Referring to
Referring to
Referring to
Referring to the graph 510, between the moment 10 and the moment t2, an angle of the joint detected by the electronic device 101 may have a maximum value (e.g., an angle A corresponding to 180°) at the moments 10 and t2 corresponding to the posture 502, and a minimum value (e.g., an angle B corresponding to 90°) at the moment 11 corresponding to the posture 504. Referring to the graph 520, between the moment 10 and the moment t2, magnitude of the angular speed of the joint detected by the electronic device 101 may substantially correspond to zero in moments t0, t1, and 12 in which a rotation direction of the joint is changed.
According to an embodiment of the disclosure, the electronic device 101 may output torque using the actuator, in response to identifying rotational motion, which is performed by the user based on a joint corresponding to the actuator of the electronic device 101, for restoring the user's posture to a standby posture (e.g., the posture 502). Referring to
The electronic device 101 may initiate outputting torque by controlling the actuator, in response to identifying the rotational motion based on the second direction. Referring to
As the user repeatedly performs the strength exercise after the moment t2, the electronic device 101 may repeatedly identify an angle and acceleration changing based on each of the graphs 510 and 520 between the moment 10 and the moment 12 of
As described above, according to an embodiment of the disclosure, the electronic device 101 may increase the user's quantity of motion by outputting torque assisting the user's strength exercise. As the user repeatedly performs the strength exercise, fatigue of the user's muscles (e.g., muscles associated with the hip joint exercise) may be increased. As the fatigue of the muscles increases, the angle and/or acceleration indicated by the graphs 510 and 520 may change differently. For example, when the user reaches the limit of performing the strength exercise as the fatigue increases, the angle and/or acceleration measured by the electronic device 101 may be changed differently from shapes of the graphs 510 and 520.
Hereinafter, an operation performed by the electronic device 101 in a state that the user reaches the limit will be described with reference to
Referring to
According to an embodiment of the disclosure, the electronic device 101 may identify an angle and angular speed of a joint (e.g., hip joint) associated with the electronic device 101, after being activated. Graphs 610 and 620 of
As the user performs strength exercise, fatigue may be increased. As the user's fatigue increases, a range in which the angle of the joint is changed, identified by the electronic device 101 and indicated by the graph 610 may be reduced. As the user's fatigue increases, a maximum value of the angular speed of the joint identified by the electronic device 101 and indicated by the graph 620 may gradually decrease. When the electronic device 101 receives the user's heart rate using an external electronic device, the heart rate may increase as the user performs the strength exercise.
Referring to
Referring to Table 1, conditions A1 and A2 associated with the angle may indicate that an angle of a user's joint is maintained for a long time at an angle corresponding to another posture different from the posture 502 corresponding to the standby posture. Referring to Table 1, conditions B1 and B2 associated with the angular speed may indicate that the user's motion to restore to the posture 502 corresponding to the standby posture is at least temporarily ceased. Referring to Table 1, conditions C1 and C2 associated with the heart rate may indicate a rapid increase in the user's heart rate. A length (e.g., N seconds) of each of the conditions A1, A2, B1, B2, C1, and C2, a preset range, and/or a preset threshold may be changed experientially based on log data collected from one or more users including the user of the electronic device 101. According to an embodiment of the disclosure, the electronic device 101 may reduce strength of torque being outputted using an actuator based on whether each of the angle, angular speed, and heart rate satisfies the conditions of Table 1. For example, the electronic device 101 may change the strength of the torque from strength X to strength Y less than the strength X, in response to identifying that at least one of the conditions A1 and A2 associated with the angle and at least one of the conditions B1 and B2 associated with the angular speed are satisfied at the same time. For example, when at least one of the conditions C1 and C2 associated with the heart rate is satisfied, the electronic device 101 may reduce the strength of the torque, in response to identifying that at least one of the conditions A1, A2, B1, and B2 associated with the angle and/or angular speed is satisfied.
Referring to
Referring to
According to an embodiment of the disclosure, after the moment t2, the electronic device 101 may output torque resisting the user's rotational motion restoring to the posture 502 based on strength less than the strength X corresponding to the target weight (in an example of
Referring to
Hereinafter, an operation in which the electronic device 101 performs in response to identifying that the user reaches a limit of the strength exercise after adjusting the strength of the torque outputted using the actuator to the strength corresponding to a weight less than the target weight will be described with reference to
A moment 10 to a moment 14 in
Referring to
Referring to Table 2, the condition A3 associated with the angle may indicate that an angle of a user's joint is maintained for a long time at an angle corresponding to another posture different from the posture 502 corresponding to the standby posture. Referring to Table 1, the condition B3 associated with the angular speed may indicate that the user's motion for restoring to the posture 502 corresponding to the standby posture is at least temporarily ceased or that motion opposite to the motion may be generated. A length of a time section of each of the conditions A3 and B3 and/or preset range may be determined independently of the conditions A1, A2, B1, and B2 of Table 1. A length of a time section of each of the conditions A3 and B3 and/or preset range may be changed experientially based on log data collected from one or more users including the user of the electronic device 101. According to an embodiment of the disclosure, the electronic device 101 may change a direction of torque being outputted using the actuator, based on whether each the angle and the angular speed detected using at least one sensor and indicated by each of the graphs 710 and 720 satisfies the conditions in Table 2. For example, in response to identifying that at least one of the condition A3 associated with the angle and the condition B3 associated with the angular speed is satisfied, the electronic device 101 may change a direction of the torque to a direction, which is based on the second direction for restoring to the posture 502. Changing the direction of the torque by the electronic device 101 may be performed by switching to the mode 340 of
Referring to
Referring to
As described above based on
Hereinafter, according to an embodiment of the disclosure, an operation in which the electronic device 101 performs an emergency stop will be described with reference to
Referring to
According to an embodiment of the disclosure, after being activated, the electronic device 101 may detect motion of the electronic device 101 by using at least one sensor (e.g., the sensor 150 of
For example, referring to
As described above, according to an embodiment of the disclosure, the electronic device 101 may continuously identify whether the user falls at one or more modes (e.g., the modes 320, 330, and 340 of
Hereinafter, according to an embodiment of the disclosure, an operation performed by the electronic device 101 will be described with reference to
Referring to
Referring to
According to an embodiment of the disclosure, outputting the torque based on operation 920 by the electronic device may be performed based on the mode 320 of
Referring to
According to an embodiment of the disclosure, when the electronic device is connected to, for example, the external electronic device 194 of
Referring to
In operation 950, according to an embodiment of the disclosure, in response to identifying that the first preset condition of operation 940 is satisfied (operation 940—YES), the electronic device may change the strength of the torque to second strength less than the first strength. For example, based at least on identifying that the rotational motion of the joint is ceased during a preset duration based on the identified data of operation 930, the electronic device may adjust the strength of the rotational motion from the first strength to the second strength different from the first strength. For example, the electronic device may perform operation 950 according to switching from the mode 320 of
Referring to
In an embodiment of the disclosure, a second preset condition of operation 960 may be determined by the electronic device before identifying the rotational motion of operation 910, based on information inputted from the user. For example, the second preset condition may include a condition for changing a direction of the torque being outputted based on at least one of the operations 920 and 950 to a direction, which is based on the first direction different from the second direction of the operations 920 and 950, as shown in Table 2. For example, in response to identifying that at least one of the condition A3 associated with the angle and the condition B3 associated with the angular speed in Table 2 is satisfied, the electronic device may determine that the second preset condition is satisfied. Before the second preset condition is satisfied (operation 960—NO), the electronic device may maintain outputting the torque having the second strength, based on operation 950. Failure to satisfy the second preset condition may mean that the user wearing the electronic device normally performs the strength exercise based on the quantity of motion increased due to the torque having the changed second strength of the operation 950.
In operation 970, according to an embodiment of the disclosure, in response to identifying that the second preset condition of operation 960 is satisfied (operation 960—YES), the electronic device may change the direction of the torque to a direction based on the first direction. For example, the electronic device may perform operation 970 according to switching from the mode 330 of
According to an embodiment of the disclosure, in a state of changing a direction of the torque based on operation 970, the electronic device may change the strength of the torque to third strength independent of the first strength and the second strength of operations 920 and 950. The third strength may correspond to predetermined strength so that the user may more easily perform restoring to the standby posture. For example, the third strength may be determined based on data, such as the user's weight or height. For example, the third strength may correspond to the strength Z of the graph 730 of
As described above, according to an embodiment of the disclosure, the electronic device may output torque having strength and/or a direction adjusted based on operations 920, 950, and 980 to the user performing the strength exercise. Adjusting the strength and/or direction of the torque by the electronic device may be performed dynamically based on preset conditions of operations 940 and 960. The preset conditions of operations 940 and 960 may correspond to a condition for determining a failure moment of the user performing the strength exercise. For example, when the user reaches a threshold point before performing the strength exercise as many times as the number inputted to the electronic device, the electronic device may identify that the user has reached the threshold point based on operations 940 and 960. In response to identifying that the user has reached the threshold point, the electronic device may adjust the strength and/or direction of the torque to guide the user to complete the strength exercise based on the number of times.
Referring to
Before receiving the user input of operation 980 (operation 980—NO), the electronic device may maintain outputting the torque based on operation 970. For example, independent of performing the user input of operation 980, when the user continuously performs the strength exercise, the electronic device may maintain outputting the torque that assists changing to the standby posture based on operation 970.
In operation 990, according to an embodiment of the disclosure, in response to receiving the preset user input of operation 980 (operation 980—YES), the electronic device may cease outputting the torque using the actuator. For example, the electronic device may cease outputting the torque corresponding to the user's rotational motion for restoring to a preset posture, such as the standby posture, such as operations 920, 950, and 970. For example, the electronic device may cease outputting the torque using the actuator, by minimizing the amount of power supplied to the actuator.
Hereinafter, an example of operations 920, 930, 940, and 950 of
Referring to
Referring to
Referring to
In operation 1040, according to an embodiment of the disclosure, in response to identifying that the first parameter maintains a value included in the first preset range during a preset time section (operation 1030—YES), the electronic device may determine whether the second parameter maintains a value included in the second preset range during the preset time section. For example, the electronic device may identify whether the angular speed of the joint identified based on operation 1020 is included within the second preset range during the preset time section of operation 1030. The preset time section and the second preset range of operation 1040 may be associated with a preset condition for determining a failure moment of the user performing the strength exercise. For example, the second preset range may include an angular speed indicating that the user's rotational motion is substantially ceased. For example, the preset time section of the conditions B1 and B2 in Table 1 may correspond to an example of the preset time section of operation 1040. For example, a range distinguished by the preset range and/or the preset threshold of the conditions B1 and B2 in Table 1 may correspond to an example of the second preset range of operation 1040.
Referring to
Referring to
As described above, according to an embodiment of the disclosure, in response to identifying a change in the angle and angular speed indicating a failure moment, the electronic device may reduce the strength of the torque outputted to the user's joint. As the strength of the torque is reduced, the user may complete the strength exercise based on the reduced quantity of motion. Hereinafter, an operation performed by the electronic device in an embodiment in which the electronic device identifies a parameter in a type different from the first and second parameters of
Referring to
Referring to
Referring to
Referring to
In response to identifying that the third parameter satisfies the preset condition (operation 1140—YES), in operation 1150, according to an embodiment of the disclosure, the electronic device may determine whether at least one of the first parameter and the second parameter satisfies a preset condition for changing strength of torque. For example, the electronic device may determine whether an angle of a joint indicated by the first parameter satisfies a preset condition (e.g., operation 1030 of
In response to identifying that the third parameter does not satisfy the preset condition (operation 1140—NO), in operation 1160, according to an embodiment of the disclosure, the electronic device may determine whether all of the first parameter and the second parameter satisfy preset conditions for changing the strength of the torque. According to an embodiment of the disclosure, the electronic device may perform operation 1160 similarly to operations 1030 and 1040 of
When at least one parameter satisfying the preset condition is identified from among the first parameter or the second parameter according to operation 1150 (operation 1150—YES), or all of the first parameter and the second parameter satisfy the preset conditions according to operation 1160 (operation 1160—YES), in operation 1170, according to an embodiment of the disclosure, the electronic device may change the strength of the torque to the second strength less than the first strength. For example, the electronic device may perform operation 1170 similarly to operation 950 of
As described above, according to an embodiment of the disclosure, in response to identifying a change in the heart rate indicating a failure moment, the electronic device may ease determining the failure moment based on the angle and angular speed. For example, unlike both the angle and angular speed satisfy the preset condition associated with the failure moment, as shown in
As described above, according to an embodiment of the disclosure, in response to identifying a change in the angle and angular speed indicating the failure moment, the electronic device may reduce the strength of the torque outputted to the user's joint. As the strength of the torque decreases, the user may complete the strength exercise based on the reduced quantity of motion. Hereinafter, an operation performed by the electronic device in response to identifying coming of additional failure moments after reducing the strength of the torque will be described with reference to
Referring to
Referring to
Referring to
When the first and second parameters do not simultaneously satisfy the preset condition for changing the direction of the torque (operation 1230—NO), in operation 1240, according to an embodiment of the disclosure, the electronic device may determine whether any one of the first parameter or the second parameter satisfies the preset condition for changing the direction of the torque. A preset condition of operation 1240 may correspond to the preset condition of operation 1230. According to an embodiment of the disclosure, the electronic device may identify the number of parameters satisfying the preset condition from among the first parameter and the second parameter, based on operations 1230 and 1240. For example, operation 1230 may correspond to an operation of determining whether the number of parameters satisfying the preset condition from among the first parameter and the second parameter is 2 or more. For example, operation 1240 may correspond to an operation of determining whether the number of parameters satisfying the preset condition from among the first parameter and the second parameter corresponds to 1.
When neither the first parameter nor the second parameter satisfies the preset condition for changing the direction of the torque (operation 1240—NO), according to an embodiment of the disclosure, the electronic device may maintain identifying the first parameter and the second parameter based on operation 1220. Maintaining identifying the first parameter and the second parameter by the electronic device may be performed while maintaining outputting of the torque based on operation 1210.
In response to identifying that one of the first parameter and the second parameter satisfies the preset condition of operation 1240 (operation 1240—YES), in operation 1250, according to an embodiment of the disclosure, the electronic device may reduce the strength of the torque. For example, the electronic device may reduce the strength of the torque below the strength of operation 1210. As the electronic device repeatedly performs operation 1250 based on operations 1240, the strength of the torque outputted by the electronic device to the joint by using the actuator may be gradually reduced. Referring to
When the first parameter and the second parameter simultaneously satisfy the preset condition for changing the direction of the torque (operation 1230—YES), in operation 1260, according to an embodiment of the disclosure, the electronic device may change the direction of the torque to a direction based on the first direction. For example, independent of outputting the torque based on the second direction of operation 1210, the electronic device may switch the direction of the torque to the direction based on the first direction based on operation 1260. As described above in operation 910, the first direction may correspond to a direction of the user's rotational motion for restoring to the standby posture. As the electronic device switches the direction of the torque outputted using the actuator from the direction based on the second direction of operation 1210 to the direction based on the first direction, the electronic device may output torque promoting the user's rotational motion of for restoring to the standby posture. For example, the electronic device may perform operation 1260 according to switching to the mode 340 of
Hereinafter, an operation performed by the electronic device according to an embodiment in response to identifying that a user falls will be described with reference to
Referring to
Referring to
Referring to
According to an embodiment of the disclosure, in response to identifying other motion different from the rotational motion of the joint (operation 1330—YES), in operation 1340, the electronic device may at least temporarily cease outputting the torque based on operation 1310. For example, the electronic device may cease outputting torque interfering or promoting the rotational motion of the joint corresponding to the actuator based on operation 1310. As the electronic device ceases outputting the torque based on the operation 1340, the user's injury due to a combination of the torque of operation 1310 and the other motion (e.g., user's fall) may be prevented. For example, operation 1340 may be performed by the electronic device switched to the mode 310 of
Referring to
As described above, according to an embodiment of the disclosure, the electronic device may assist the user's strength exercise based on a target weight received from the user (e.g., the mode 320 in
As described above, according to an embodiment of the disclosure, an electronic device may comprise an actuator associated with a joint of a user of the electronic device, at least one sensor, memory storing one or more instructions, and a processor operatively coupled with the actuator, the at least one sensor, and the memory. The processor may be configured to, when executing the one or more instructions, adjust strength of rotational motion of the joint as first strength indicated by information associated with the user by using the actuator. The processor may be configured to, when executing the one or more instructions, after adjusting the strength of the rotational motion to the first strength, identify data indicating the rotational motion of the joint by using the at least one sensor. The processor may be configured to, when executing the one or more instructions, at least based on identifying the rotational motion is ceased for a preset duration based on the identified data, adjust the strength of the rotational motion from the first strength to second strength different from the first strength.
For example, the processor may be configured to, when executing the one or more instructions, identify the data indicating at least one of an angle or angular speed of the joint by using the at least one sensor corresponding to an inertial measurement unit (IMU) sensor to estimate motion of the electronic device caused by the rotational motion of the joint. The processor may be configured to, when executing the one or more instructions, in response to identifying that the rotational motion is ceased for the preset duration based on at least one of the angle or the angular speed indicated by the data, adjust the strength of the rotational motion from the first strength to the second strength.
For example, the electronic device may further comprise a communication circuitry to communicate with an external electronic device. The processor may be configured to, when executing the one or more instructions, identify a heart rate of the user from the external electronic device and adjust the strength of the rotational motion from the first strength to the second strength different from the first strength based on the identified data or the heart rate.
For example, the processor may be configured to, when executing the one or more instructions, at least based on identifying that the rotational motion is ceased for another preset duration different from the preset duration after adjusting the strength of the rotational motion to the second strength, adjust the strength of the rotational motion to third strength that is different from the second strength to maintain a posture of the joint as a first preset posture.
For example, the processor may be configured to, when executing the one or more instructions, in a first time section that the posture of the joint is changed from the first posture to a second posture by the rotational motion, adjust the strength of the rotational motion to the first strength. The processor may be configured to, when executing the one or more instructions, in a second time section different from the first time section that the posture of the joint is changed from the second posture to the first posture by the rotational motion, cease to adjust the strength of the rotational motion at least temporarily.
For example, the processor may be configured to, when executing the one or more instructions, in response to identifying that a number by which the posture of the joint is periodically changed by the rotational motion is increased to a preset number indicated by the information after adjusting the strength of the rotational motion to the first strength, adjust the strength of the rotational motion to the second strength different from the first strength.
For example, the electronic device may further comprise a speaker. The processor may be configured to, when executing the one or more instructions, after changing the strength of the rotational motion to the second strength, output an acoustic signal to guide the rotational motion through the speaker.
For example, the processor may be configured to, when executing the one or more instructions, while adjusting the strength of the rotational motion to the first strength or the second strength, identify other data indicating motion of the electronic device by using the at least one sensor. The processor may be configured to, when executing the one or more instructions, in response to identifying occurrence of other motion different from the rotational motion based on the other data, cease to adjust the strength of the rotational motion to the first strength or the second strength at least temporarily.
For example, the processor may be configured to, when executing the one or more instructions, in response to identifying that the identified parameter is maintained within the preset range after adjusting the strength of the rotational motion to the second strength smaller than the first strength, adjust third strength smaller than the second strength.
As described above, according to an embodiment of the disclosure, a method performed by an electronic device may comprise, by using at least one sensor included in the electronic device, identifying rotational motion rotated along a first direction at a joint of a user of the electronic device. The method may comprise, in response to identifying the rotational motion of the joint, outputting torque having first strength and based on a second direction different from the first direction, by using an actuator included in the electronic device and corresponding to the joint. The method may comprise, while outputting the torque by using the actuator, identifying data indicating the rotational motion changed by the torque by using the at least one sensor. The method may comprise, at least based on identifying the data indicating the rotational motion maintained within a first range during a first time section, changing strength of the torque to second strength lower than the first strength by using the actuator. The method may comprise, at least based on identifying the data indicating the rotational motion that is maintained within a second range during a second time section while outputting the torque based on the second direction and having the second strength, changing a direction of the torque to a direction based on the first direction among the first direction and the second direction, by using the actuator.
For example, the method may comprise, in response to identifying other rotational motion of the joint rotated along the second direction different from the first direction, ceasing to output the torque by using the actuator.
For example, the outputting the torque may comprise outputting the torque based on the first strength indicated by information associated with the user, in memory of the electronic device. The changing the strength of the torque to the second strength may comprise, in response to identifying that a number by which a posture of the joint is changed to a preset posture along the first direction is increased to a preset number indicated by the information while outputting the torque having the first strength, changing the first strength to the second strength.
For example, the identifying the parameter may comprise identifying a first parameter indicating an angle of the joint and a second parameter indicating an angular speed of the joint. The changing the torque to the second strength may comprise, in response to identifying that the first parameter is included within the first range during the first time section and that the second parameter is included within a third range during the first time section, adjusting the strength of the torque to the second strength.
For example, the identifying the parameter may comprise identifying a third parameter indicating a heart rate of the user from an external electronic device different from the electronic device by using a communication circuitry included in the electronic device. The changing the strength of the torque to the second strength may comprise, in response to identifying that the third parameter is maintained within a fourth range during the first time section and that the first parameter is maintained within the first range during the first time section, changing the strength of the torque to the second torque. The changing the strength of the torque to the second strength may comprise, in response to identifying that the third parameter is maintained within the fourth range during the first time section and that the second parameter is maintained within the third range during the first time section, changing the strength of the torque to the second strength.
For example, the method performed by the electronic device may comprise, while outputting the torque having the second strength and based on the second direction, initiating output of a preset acoustic signal through a speaker included in the electronic device.
As described above, according to an embodiment of the disclosure, a method performed by an electronic device may comprise adjusting strength of rotational motion of the joint as first strength indicated by information associated with the user by using an actuator associated with a joint of a user of the electronic device. The method may comprise, after adjusting the strength of the rotational motion to the first strength, identifying data indicating the rotational motion of the joint by using the at least one sensor included in the electronic device. The method may comprise at least based on identifying the rotational motion is ceased for a preset duration based on the identified data, adjusting the strength of the rotational motion from the first strength to second strength different from the first strength.
For example, identifying the parameter may comprise identifying the data indicating at least one of an angle or angular speed of the joint by using an inertial measurement unit (IMU) sensor to estimate motion of the electronic device caused by the rotational motion of the joint. Identifying the parameter may comprise, in response to identifying that the rotational motion is ceased for the preset duration based on at least one of the angle or the angular speed indicated by the data, adjusting the strength of the rotational motion from the first strength to the second strength.
For example, the method performed by the electronic device may comprise, at least based on identifying that the rotational motion is ceased for another preset duration different from the preset duration after adjusting the strength of the rotational motion to the second strength, adjusting the strength of the rotational motion to third strength that is different from the second strength to maintain a posture of the joint as a first preset posture.
For example, the method performed by the electronic device may comprise, in a first time section that the posture of the joint is changed from the first posture to a second posture by the rotational motion, adjusting the strength of the rotational motion to the first strength. The method may comprise, in a second time section different from the first time section that the posture of the joint is changed from the second posture to the first posture by the rotational motion, ceasing to adjust the strength of the rotational motion at least temporarily.
For example, the method performed by the electronic device may comprise, in response to identifying that the identified parameter is maintained within the preset range after adjusting the strength of the rotational motion to the second strength smaller than the first strength, adjusting third strength smaller than the second strength.
As described above, according to an embodiment of the disclosure, an electronic device may comprise an actuator associated with a joint of a user of the electronic device, at least one sensor, memory storing one or more instructions, and a processor operatively coupled with the actuator, the at least one sensor, and the memory. The processor may be configured to, when executing the one or more instructions, by using the actuator least one sensor included in the electronic device, identify rotational motion rotated along a first direction at a joint of a user of the electronic device. The processor may be configured to, when executing the one or more instructions, in response to identifying the rotational motion of the joint, output torque having first strength and based on a second direction different from the first direction, by using the actuator. The processor may be configured to, when executing the one or more instructions, while outputting the torque by using the actuator, identify data indicating the rotational motion changed by the torque by using the at least one sensor. The processor may be configured to, when executing the one or more instructions, at least based on identifying the data indicating the rotational motion maintained within a first range during a first time section, change strength of the torque to second strength lower than the first strength by using the actuator. The processor may be configured to, when executing the one or more instructions, at least based on identifying the data indicating the rotational motion that is maintained within a second range during a second time section while outputting the torque based on the second direction and having the second strength, change a direction of the torque to a direction based on the first direction among the first direction and the second direction, by using the actuator.
The apparatus described above may be implemented as a combination of hardware components, software components, and/or hardware components and software components. For example, the devices and components described in the embodiments may be implemented using one or more general purpose computers or special purpose computers, such as processors, controllers, arithmetical logic unit (ALU), digital signal processor, microcomputers, field programmable gate array (FPGA), programmable logic unit (PLU), microprocessor, any other device capable of executing and responding to instructions. The processing device may perform an operating system (OS) and one or more software applications performed on the operating system. In addition, the processing device may access, store, manipulate, process, and generate data in response to execution of the software. For convenience of understanding, although one processing device may be described as being used, a person skilled in the art may see that the processing device may include a plurality of processing elements and/or a plurality of types of processing elements. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations, such as a parallel processor, are also possible.
The software may include a computer program, code, instruction, or a combination of one or more of them and configure the processing device to operate as desired or command the processing device independently or in combination. Software and/or data may be embodied in any type of machine, component, physical device, computer storage medium, or device to be interpreted by a processing device or to provide instructions or data to the processing device. The software may be distributed on a networked computer system and stored or executed in a distributed manner. Software and data may be stored in one or more computer-readable recording media.
The method according to the embodiment may be implemented in the form of program instructions that may be performed through various computer means and recorded in a computer-readable medium. In this case, the medium may continuously store a computer-executable program or temporarily store the program for execution or download. In addition, the medium may be a variety of recording means or storage means in which a single or several hardware are combined and is not limited to media directly connected to any computer system and may be distributed on the network. Examples of media may include magnetic media, such as hard disks, floppy disks and magnetic tapes, optical recording media, such as compact disc read only memories (CD-ROMs) and digital versatile discs (DVDs), magneto-optical media, such as floptical disks, ROMs, RAMs, flash memories, and the like to store program instructions. Examples of other media include app stores that distribute applications, sites that supply or distribute various software, and recording media or storage media managed by servers.
Although embodiments have been described according to limited embodiments and drawings as above, various modifications and modifications are possible from the above description to those of ordinary skill in the art. For example, even if the described techniques are performed in a different order from the described method, and/or components, such as the described system, structure, device, circuit, etc. are combined or combined in a different form from the described method or are substituted or substituted by other components or equivalents, appropriate results may be achieved.
While the disclosure has been shown and described with reference to various embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10-2021-0132004 | Oct 2021 | KR | national |
| 10-2021-0139744 | Oct 2021 | KR | national |
This application is a continuation application, claiming priority under § 365(c), of an International application No. PCT/KR2022/011882, filed on Aug. 9, 2022, which is based on and claims the benefit of a Korean patent application number 10-2021-0132004, filed on Oct. 5, 2021, in the Korean Intellectual Property Office, and of a Korean patent application number 10-2021-0139744, filed on Oct. 19, 2021, in the Korean Intellectual Property Office, the disclosure of each of which is incorporated by reference herein in its entirety.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/KR2022/011882 | Aug 2022 | WO |
| Child | 18605206 | US |
