Patent Application
20230149244
The disclosure relates to a wearable device and method for controlling the wearable device to output a resistance force.
In a rapidly aging society, a growing number of people have experienced inconvenience and pain from joint problems. Accordingly, the elderly and/or patients with joint problems have developed an interest in walking assistance devices that enable walking with less effort. Accordingly, there is a growing need for walking assistance devices for intensifying muscular strength of human bodies.
Provided are a wearable device and a method for controlling the wearable device for outputting a resistance force.
According to an aspect of the disclosure, a wearable device includes: a motor including at least a first terminal and a second terminal; a motor driver circuit; a memory configured to store resistance force generation setting information indicating a difference between a reference angle and each joint angle and a corresponding relationship between respective duty ratios; a sensor; and a processor configured to: obtain, using the sensor, a joint angle of a user, determine a difference between the reference angle and the obtained joint angle, obtain a duty ratio corresponding to the determined difference according to the resistance force generation setting information, and provide a control signal having the obtained duty ratio to the motor driver circuit to perform control such that a control state of the motor driver circuit is switched between a first control state and a second control state, wherein in the first control state, the first terminal and the second terminal of the motor are in an equipotential state such that a potential of the first terminal and a potential of the second terminal are equal to each other, and wherein in the second control state, the first terminal and the second terminal are electrically opened.
The processor may be further configured to, based on the determined difference increasing, increase the obtained duty ratio according to the resistance force generation setting information.
The motor driver circuit may include a first switch, a second switch, a third switch, and a fourth switch, in the second control state, the processor may be further configured to turn off the first switch and the second switch and apply the control signal to the third switch and the fourth switch to switch the control state of the motor driver circuit to the second control state, and the motor is not electrically connected to a battery included in the wearable device and outputs a resistance force by repeatedly turning on and off the third switch and the fourth switch according to the obtained duty ratio, when the first switch and the second switch are turned off.
The processor may be further configured to, based on the determined difference being less than a set value, turn off switches included in the motor driver circuit such that the control state is the second control state.
The processor may be further configured to: determine whether a rotation direction of a joint of the user matches a predetermined direction, control the control state to be switched between the first control state and the second control state, based on determining that the rotation direction matches the predetermined direction, and turn off switches included in the motor driver circuit such that the control state is the second control state, based on determining that the rotation direction does not match the predetermined direction.
The processor may be further configured to change the reference angle based on a user input.
The motor may be configured to output a resistance force as the control state is switched between the first control state and the second control state, and the output resistance force may be amplified through a first gear attached to a rotation shaft of the motor and a second gear connected to the first gear.
According to an aspect of the disclosure, a wearable device includes: a battery; a motor including at least a first terminal and a second terminal; a motor driver circuit; a memory configured to store resistance force generation setting information indicating a difference between a reference angle and each joint angle and a corresponding relationship between respective duty ratios; a sensor; and a processor configured to: control the motor driver circuit such that the motor outputs a first resistance force based on power supplied from the battery in a first resistance mode, block an electrical connection between the motor and the battery in a second resistance mode, and control the motor driver circuit such that the motor outputs a second resistance force without receiving the power from the battery, wherein, in the second resistance mode, the processor is configured to: obtain a joint angle of a user, using the sensor, determine a difference between the reference angle and the obtained joint angle, obtain a duty ratio corresponding to the determined difference according to the resistance force generation setting information, and provide a control signal having the obtained duty ratio to the motor driver circuit to perform control such that a control state of the motor driver circuit is switched between a first control state and a second control state, and wherein in the first control state, the first terminal and the second terminal of the motor are in an equipotential state such that a potential of the first terminal and a potential of the second terminal are equal to each other, and wherein in the second control state, the first terminal and the second terminal are electrically opened.
The processor may be further configured to, based on the determined difference increasing, increase the obtained duty ratio according to the resistance force generation setting information.
The motor driver circuit may include a first switch, a second switch, a third switch, and a fourth switch, in the second resistance mode, the processor may be further configured to turn off the first switch and the second switch and apply the control signal having the obtained duty ratio to the third switch and the fourth switch, and the motor may be configured to output a resistance force by repeatedly turning on and off the third switch and the fourth switch according to the obtained duty ratio.
In the second resistance mode, the processor may be further configured to, based on the determined difference being less than a set value, turn off switches included in the motor driver circuit such that the control state is the second control state.
The processor may be further configured to: determine whether a rotation direction of a joint of the user matches a predetermined direction, control the control state to be switched between the first control state and the second control state, based on determining that the rotation direction matches the predetermined direction, and turn off switches included in the motor driver circuit such that the control state is the second control state, based on determining the rotation direction does not match the predetermined direction.
The motor may be configured to: output the second resistance force as the control state is switched between the first control state and the second control state, and the output second resistance force is amplified through a first gear attached to a rotation shaft of the motor and a second gear connected to the first gear.
The processor may be further configured to, based the determined difference increasing while a resistance force with a maximum intensity in the second resistance mode is being output to the user, control the motor driver circuit such that the motor outputs a resistance force with an intensity greater than the maximum intensity based on the power received from the battery.
According to an aspect of the disclosure, a method of controlling a wearable device, includes: obtaining a joint angle of a user, using a sensor of the wearable device; determining a difference between a reference angle and the obtained joint angle; obtaining a duty ratio corresponding to the determined difference according to resistance force generation setting information indicating a difference between a reference angle and each joint angle and a corresponding relationship between respective duty ratios; and providing a control signal having the obtained duty ratio to a motor driver circuit of the wearable device to perform control such that a control state of the motor driver circuit is switched between a first control state and a second control state, wherein in the first control state, a first terminal and a second terminal of a motor of the wearable device are in an equipotential state such that a potential of the first terminal and the potential of a second terminal are equal to each other, and wherein in the second control state, the first terminal and the second terminal are electrically opened.
The method may further include increasing the obtained duty ratio according to the resistance force generation setting information based on the determined difference increasing.
The motor driver circuit includes a first switch, a second switch, a third switch, and a fourth switch, and the method may further include: in the second control state, turning off the first switch and the second switch and applying the control signal to the third switch and the fourth switch, and in a state in which the motor is not electrically connected to a battery included in the wearable device and based on the first switch and the second switch being turned off, outputting a resistance force by repeatedly turning on and off the third switch and the fourth switch according to the obtained duty ratio.
The method may further include, based on the determined difference being less than a set value, turning off switches included in the motor driver circuit such that the control state is the second control state.
The method may further include: determining whether a rotation direction of a joint of the user matches a predetermined direction; based on determining that the rotation direction matches the predetermined direction, switching the control state between the first control state and the second control state; and based on determining that the rotation direction does not match the predetermined direction, turning off switches included in the motor driver circuit such that the control state is the second control state.
The method may further include changing the reference angle based on a user input.
The above and other aspects, features, and advantages of certain embodiments of the present disclosure will be more apparent from the following description taken in conjunction with the accompanying drawings, in which:
Hereinafter, example embodiments are described in detail with reference to the accompanying drawings. However, various alterations and modifications may be made to the example embodiments. Here, the example embodiments are not meant to be limited by the descriptions of the present disclosure. The example embodiments should be understood to include all changes, equivalents, and replacements within the idea and the technical scope of the disclosure.
The terminology used herein is for the purpose of describing particular example embodiments only and is not to be limiting of the example embodiments. The singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It is further understood that the terms “comprises/comprising” and/or “includes/including” when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof.
Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which example embodiments belong. It is further understood that terms, such as those defined in commonly-used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
When describing the example embodiments with reference to the accompanying drawings, like reference numerals refer to like components and a repeated description related thereto are omitted. In the description of example embodiments, detailed description of well-known related structures or functions are omitted when it is deemed that such description will cause ambiguous interpretation of the present disclosure.
Also, in the description of the components, terms such as first, second, A, B, (a), (b) or the like may be used herein when describing components of the example embodiments. These terms are used only for the purpose of discriminating one component from another component, and the nature, the sequences, or the orders of the components are not limited by the terms. When one component is described as being “connected”, “coupled”, or “joined” to another component, it should be understood that one component can be connected or attached directly to another component, and an intervening component can also be “connected”, “coupled”, or “joined” to the components.
The same name may be used to describe a component included in one example embodiment and a component having a common function. Unless otherwise mentioned, the descriptions of the example embodiments may be applicable to the following example embodiments, and thus duplicated descriptions are omitted for conciseness.
A wearable device 100 may be worn on a body (e.g., a leg, an arm, a waist, etc.) of a user to provide a resistance force to a movement (e.g., movement during exercise) of the user. The resistance force may be a force that hinders a movement of the user or provides a resistance to the movement of the user, and may represent a force acting in a direction opposite to a direction in which the user moves. The resistance force may also be referred to as an exercise load. According to some embodiments, the wearable device 100 may provide an assistance force to a movement of the user. The assistance force may be a force to assist a movement of the user, and may represent a force acting in the same direction as a direction in which the user moves.
Referring to
The following descriptions of the sensor 110, the motor driver circuit 130, and the motor 140 are also applicable to the sensor 110-1, the motor driver circuit 130-1, and the motor 140-1 illustrated in
Referring back to
The encoder is not limited to the absolute encoder described above, and may include, for example, various encoders such as an incremental encoder, a magnetic encoder, or any other encoder known to one of ordinary skill in the art.
The type of the sensor 110 is not limited to the encoder, and the wearable device 100 may further include an acceleration sensor, a gyro sensor, an inertial measurement unit (IMU) sensor, or any other sensor known to one of ordinary skill in the art.
When a user moves, the shaft of the encoder may be rotated by a movement of the user, and accordingly, the rotation angle of the shaft of the encoder may correspond to a joint angle of the user. The rotation angle of the shaft of the encoder in the wearable device 100 may be used as a joint angle of a user. The rotation angle of the shaft of the encoder may be expressed as a joint angle of a user.
The processor 120 may control an overall operation of the wearable device 100.
The processor 120 may control the motor driver circuit 130 based on an operation mode of the wearable device 100. The operation mode of the wearable device 100 may include a first resistance mode in which the motor 140 outputs a resistance force by receiving power from the battery 150, and a second resistance mode in which the motor 140 outputs a resistance force without receiving power from the battery 150.
In the first resistance mode, the processor 120 may control the motor driver circuit 130 such that the motor 140 may receive power from the battery 150, and accordingly, a resistance force stronger than that of the second resistance mode may be output.
In the second resistance mode, the processor 120 may control the motor driver circuit 130 based on a control signal having a duty ratio, which is described in detail with reference to
The motor driver circuit 130 may control an operation of the motor 140 under the control of the processor 120. For example, the motor driver circuit 130 may form an electrical path so that power may be supplied from the battery 150 to the motor 140 under the control of the processor 120. In addition, the motor driver circuit 130 may block an electrical connection between the battery 150 and the motor 140 under the control of the processor 120. An example of the motor driver circuit 130 is shown in
The battery 150 may supply power to components of the wearable device 100, for example, the sensor 110 and the processor 120. Thick arrows shown in
When a user is moving while wearing the wearable device 100 or 100-1 in the second resistance mode, the processor 120 may obtain a joint angle of the user using the sensor 120. Based on a determination that a difference between the reference angle and the obtained joint angle is greater than or equal to a set value (e.g., predetermined value), the processor 120 may increase the duty ratio when a difference between a reference angle and the obtained joint angle increases. The processor 120 may provide a control signal of the increased duty ratio to the motor driver circuit 130 to control operations of switches included in the motor driver circuit 130. When the difference between the reference angle and the joint angle increases due to an increase in a movement of the user, the motor 140 may output a resistance force with a higher intensity corresponding to the increased movement, which is described in further detail with reference to
According to some embodiments, the wearable device 100 or 100-1 may provide a support force to a user. When the difference between the reference angle and the joint angle increases in a negative direction in a state in which the difference between the reference angle and the joint angle is less than or equal to the set value, the processor 120 may increase the duty ratio. The processor 120 may control the motor driver circuit 130 based on a control signal of the increased duty ratio. The difference between the reference angle and the joint angle may increase in the negative direction due to an increase in the movement of the user, and accordingly, the motor 140 may output a support force with a higher intensity corresponding to the increased movement, which is described in further detail below with reference to
The memory 160 may store software and data required for an operation of the wearable device 100 or 100-1. The memory 160 may include, but is not limited to, for example, a non-volatile memory, a volatile memory, a flash memory, or any other memory known to one of ordinary skill in the art. The memory 160 may store resistance force generation setting information indicating a difference between the reference angle and each of joint angles and a corresponding relationship between respective duty ratios, which is described in further detail below.
The input interface 170 may receive an input to control the wearable device 100 or 100-1 from a user. The input interface 170 may include, but is not limited to, for example, a physical button, a keypad, a jog wheel, a microphone, or any other input interface known to one of ordinary skill in the art.
Additionally, the wearable device 100 or 100-1 may further include a display and a communication circuit.
The display may display state information of the wearable device 100 or 100-1. For example, the display may display information on a charging capacity of the battery 150 and a resistance mode in which the wearable device 100 or 100-1 operates. In addition, the display may display information for controlling the operation of the wearable device 100 or 100-1. For example, the display may display a user interface (UI) for receiving an input to select the first resistance mode or the second resistance mode from a user. The processor 120 may allow the wearable device 100 to operate in the first resistance mode when the user selects the first resistance mode through the UI, and allow the wearable device 100 to operate in the second resistance mode when the user selects the second resistance mode through the UI.
The communication circuit may include various communication circuits such as a short-range wireless communication circuit, a wireless local area network (LAN) communication circuit, a mobile communication circuit, or any other communication circuit known to one of ordinary skill in the art. The short-range wireless communication circuit may communicate with an electronic device (e.g., a mobile phone, a smartwatch, a tablet personal computer (PC), etc.) arranged in a short distance according to a short-range wireless communication scheme (e.g., near field communication (NFC), Bluetooth, ZigBee, etc.). The wireless LAN communication circuit may communicate with a server by accessing a network according to a wireless LAN communication scheme (e.g., wireless fidelity (Wi-Fi), etc.). The mobile communication circuit may communicate with a server by accessing a mobile communication network according to a mobile communication scheme (e.g., 3G, 4G, 5G, etc.).
Referring to
The wearable device 100 may communicate with the electronic device 180 based on the short-range wireless communication scheme. According to some embodiments, the wearable device 100 and the electronic device 180 may communicate with each other via a server using the short-range wireless communication scheme or the mobile communication scheme.
The electronic device 180 may display a UI for controlling an operation of the wearable device 100 on a display 180-1. The UI may be, for example, a first soft key for allowing the wearable device 100 to operate in the first resistance mode, a second soft key for allowing the wearable device 100 to operate in the second resistance mode, a third soft key for changing a set value, and any other soft key known to one of ordinary skill in the art.
As illustrated in
For example, the user (or the trainer) may input a control command to control the wearable device 100 to operate in the first resistance mode by selecting the above-described first soft key, and the electronic device 180 may transmit the control command to the wearable device 100. The wearable device 100 may operate in the first resistance mode according to the received control command, and may transmit a control result indicating that the wearable device 100 is operating in the first resistance mode to the electronic device 180. The electronic device 180 may display a message indicating that the wearable device 100 is operating in the first resistance mode on the display 180-1.
The wearable device 100 may operate in the first resistance mode. In an example, a user may select the first resistance mode as the operation mode of the wearable device 100 through the input interface 170 of the wearable device 100 or the UI on the display of the wearable device 100 so that the wearable device 100 may operate in the first resistance mode. In another example, the wearable device 100 may receive a control command to operate in the first resistance mode from the electronic device 180 and may operate in the first resistance mode according to the received control command. According to some embodiments, the first resistance mode may be a basic resistance mode of the wearable device 100.
Referring to
The motor 140 may rotate in a backward direction in addition to the forward direction, to output a resistance force. The backward direction may indicate that the motor 140 rotates in a counterclockwise direction. In an example shown in
In the first resistance mode, the motor 140 may output a resistance force by receiving power from the battery 150, and thus, a resistance force greater than that in the second resistance mode may be output.
The wearable device 100 may operate in the second resistance mode. In an example, a user may select the second resistance mode as the operation mode of the wearable device 100 through the input interface 170 of the wearable device 100 or the UI on the display of the wearable device 100, so that the wearable device 100 may operate in the second resistance mode. In another example, the wearable device 100 may receive a control command to operate in the second resistance mode from the electronic device 180 and may operate in the second resistance mode according to the received control command. In another example, when the charging capacity of the battery 150 is less than a predetermined value, the processor 120 may perform switching from the first resistance mode to the second resistance mode to minimize power use of the battery 150. According to some embodiments, the second resistance mode may be a basic mode of the wearable device 100.
Referring to
Referring to
The processor 120 may apply a control signal 1 to the third switch 230 and apply a control signal 2 to the fourth switch 240, such that the control state of the motor driver circuit 130 may be switched between the first control state and the second control state. The control signals 1 and 2 may have a duty ratio in a form of a PWM signal in which a high value and a low value are repeated in accordance with a period. As described above, the duty ratio may be tH/T when a single period is denoted by T and an amount of time during which a high value is maintained in a single period is denoted by tH. The processor 120 may independently output the control signals 1 and 2, as described above. The control signals are merely an example of operating the switches. In another example, the processor 120 may output a single control signal, the output control signal may be split by a separate circuit, and signals obtained by splitting the control signal may be applied to the third switch 230 and the fourth switch 240, respectively.
When the control signals 1 and 2 are high values, the + terminal and the − terminal of the motor 140 may be connected to each other to be in the equipotential state. For example, in the first control state, the + terminal and the − terminal of the motor 140 may be electrically connected to each other to have the same potential (or voltage).
In the first control state, the motor 140 may form a closed loop with the ground without an electrical connection with the battery 150. Thus, the first control state may also be referred to as a closed loop state of the motor 140 free of the electrical connection with the battery 150.
When a user moves in the first control state, the motor 140 around a joint of the user may rotate by a movement of the joint of the user. By such a rotation, an electromotive force (or a potential difference) may be generated in the motor 140. Since the terminals of the motor 140 in the first control state are in the equipotential state, a rotation resistance may be generated in the motor 140 to reduce the generated electromotive force. The above rotation resistance may be provided as a resistance force to the user.
When the control signals 1 and 2 are low values, the + terminal and the − terminal of the motor 140 may be electrically opened. Since there is no electrical connection to the motor 140 in the second control state, the second control state may also be referred to as an open loop state of the motor 140.
When the user moves in the second control state, the motor 140 may be rotated by the movement of the user. Since the + terminal and the − terminal of the motor 140 are electrically opened in the second control state, the above-described electromotive force may not be generated in the motor 140, and a resistance force may not be output.
Since the high values and the low values of the control signals 1 and 2 are repeated, the control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state.
The processor 120 may adjust a magnitude of the resistance force by controlling a duty ratio of each of the control signals 1 and 2. When a time for which a high value is maintained increases in a period of each of the control signals 1 and 2, a ratio of the motor 140 operating in the first control state in a period of each of control signals 1 and 2 may increase compared to a ratio of the motor 140 operating in the second control state in a period of each of control signals 1 and 2. Thus, an intensity of the resistance force to be output to the user may increase.
In the second resistance mode, the wearable device 100 may output a resistance force without a power supply from the battery 150 to the motor 140, and thus, less power of the battery 150 may be consumed and an available time for using the wearable device 100 may increase. In addition, when the power of the battery 150 is supplied to the motor 140, the motor 140 may malfunction. However, since in the second resistance mode, the power of the battery 150 is not supplied to the motor 140, a potential malfunction of the motor 140 may be prevented, resulting in enhanced safety of the wearable device 100.
In an example shown in
Table 1 and the relational expression corresponding to the graph shown in
Before the user exercises, the motor driver circuit 130 may be in the second control state.
When the user exercises, the processor 120 may obtain a first hip joint angle (−a1) of the user using the sensor 110. For example, the sensor 110, which is an encoder, may transmit a first bit value corresponding to a first position of a shaft to the processor 120 before the user moves. When the user moves, the shaft of the encoder may rotate, and the sensor 110 may transmit a second bit value corresponding to a second position changed by the rotation of the shaft to the processor 120. The processor 120 may obtain a difference between an angle corresponding to the second bit value and an angle corresponding to the first bit value as the first hip joint angle (−a1). According to some embodiments, the sensor 110 may calculate a difference between an angle corresponding to the second position and an angle corresponding to the first position, and may transmit the calculated difference to the processor 120. The processor 120 may receive the difference between the angle corresponding to the second position and the angle corresponding to the first position from the sensor 110 to obtain the first hip joint angle (a1). In the example shown in
The symbol −a1 is for notation of the first hip joint angle.
The processor 120 may calculate a difference “−b1+a1” between the reference angle −b1 and the first hip joint angle −a1.
If “−b1+a1” is less than a set value of “0” based on the resistance force generation setting information, the processor 120 may maintain the second control state of the motor 140.
If “−b1+a1” is 1° exceeding the set value of “0”, the processor 120 may obtain a duty ratio of “0.7” corresponding to 1° based on the resistance force generation setting information, and may apply control signals 1 and 2 with the duty ratio of “0.7” to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.7”. By performing the switching repeatedly, the motor 140 may output a resistance force.
When “−b1+a1” increases as the user lifts the first leg higher, the processor 120 may increase (or change) the duty ratio based on the resistance force generation setting information, and may apply control signals 1 and 2 with the increased (or changed) duty ratio to the third switch 230 and the fourth switch 240, respectively. Due to an increase in the duty ratio, the motor 140 may be in the first control state for a relatively long time within one period, to output a resistance force with a higher intensity.
For example, when “−b1+a1” becomes 10°, the processor 120 may obtain a duty ratio of “0.8” corresponding to 10° based on the resistance force generation setting information, and may apply the control signals 1 and 2 with the duty ratio of “0.8” to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.8”. By performing the switching repeatedly, the motor 140 may output a resistance force. The motor driver circuit 130 may be in the first control state for a relatively long time within one period when the duty ratio is “0.8”, in comparison to when the duty ratio is “0.7”. Thus, the motor 140 may output a resistance force with a higher intensity when the duty ratio is “0.8”, in comparison to when the duty ratio is “0.7”.
If “−b1+a1” is greater than or equal to θmotion1, the processor 120 may apply control signals 1 and 2 with a maximum duty ratio (e.g., “0.99”) to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second state according to the maximum duty ratio, and accordingly, the motor 140 may output a resistance force with a maximum intensity.
For example, when the user lowers the first leg in a situation in which the resistance force is output to the first leg, “−b1+a1” may decrease. In this example, the processor 120 may reduce the duty ratio based on the resistance force generation setting information and apply control signals 1 and 2 with the reduced duty ratio to the third switch 230 and the fourth switch 240, respectively. If the user lowers the first leg, the duty ratio may decrease. Thus, the motor 140 may output a resistance force with a relatively low intensity.
If “−b1+a1” is less than the set value of “0”, the processor 120 may not apply any signal to the third switch 230 and the fourth switch 240 such that the third switch 230 and the fourth switch 240 may be turned off. Accordingly, the motor driver circuit 130 may be in the second control state, and a resistance force may not be output from the motor 140.
Unlike the examples described with reference to
Before the user exercises, the motor driver circuit 130 may be in the second control state.
The processor 120 may calculate a difference “b1−a1” between a reference angle b1 and the first hip joint angle a1.
When “b1−a1” exceeds the set value of “0”, the processor 120 may maintain the second control state of the motor driver circuit 130 based on resistance force generation setting information (e.g., Table 2 shown below, or a relational expression corresponding to a graph shown in
Table 2 and the relational expression corresponding to the graph shown in
If “b1−a1” is −1° that is less than the set value of “0”, the processor 120 may obtain a duty ratio of “0.7” corresponding to −1° based on the resistance force generation setting information, and may apply control signals 1 and 2 with the duty ratio of “0.7” to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.7”, and accordingly, the motor 140 may output a resistance force.
When “b1−a1” increases in a negative direction as the user lifts the first leg higher, the processor 120 may increase a duty ratio based on the resistance force generation setting information and may apply control signals 1 and 2 with the increased duty ratio to the third switch 230 and the fourth switch 240, respectively.
If “b1−a1” is less than or equal to −θmotion1, the processor 120 may apply control signals 1 and 2 with a maximum duty ratio (e.g., “0.99”) to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second state according to the maximum duty ratio, and accordingly, the motor 140 may output a resistance force with a maximum intensity.
When “b1−a1” exceeds the set value of “0”, the processor 120 may not apply any signal to the third switch 230 and the fourth switch 240 so that the third switch 230 and the fourth switch 240 may be turned off. Accordingly, the motor driver circuit 130 may be in the second control state, and a resistance force may not be output from the motor 140.
In example embodiments, the processor 120 may allow a resistance force to be output based on the first hip joint angle −a1. More specifically, the memory 160 may store resistance force generation setting information (e.g., Table 3 shown below, or a relational expression corresponding to Table 3) for generating a resistance force according to the first hip joint angle −a1 increased to be greater than or equal to a predetermined angle.
When the first hip joint angle −a1 is greater than −5° (for example, when the first hip joint angle −a1 is)−3° even though the user lifts the first leg, the processor 120 may not apply any signal to each of the third switch 230 and the fourth switch 240 of the motor driver circuit 130 such that a resistance force may not be generated based on the resistance force generation setting information.
When the first hip joint angle −a1 is −5°, the processor 120 may obtain a duty ratio of “0.7” corresponding to −5° based on the resistance force generation setting information, and may apply control signals 1 and 2 with the duty ratio of “0.7” to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.7”, and accordingly, the motor 140 may output a resistance force.
When the first hip joint angle −a1 increases in the negative direction, the processor 120 may increase the duty ratio based on the resistance force generation setting information and may apply control signals 1 and 2 with the increased duty ratio to the third switch 230 and the fourth switch 240, respectively. Accordingly, the duty ratio may increase, as the user lifts the first leg higher. Thus, the motor 140 may output a resistance force with a higher intensity.
When the first hip joint angle −a1 is less than or equal to −θmotion1_1, the processor 120 may apply control signals 1 and 2 with a maximum duty ratio (e.g., “0.99”) to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the maximum duty ratio, and accordingly, the motor 140 may output a resistance force with a maximum intensity.
When the user lowers the first leg in a situation in which the resistance force is output to the first leg, the first hip joint angle −a1 may decrease. In this example, the processor 120 may reduce the duty ratio based on the resistance force generation setting information and apply control signals 1 and 2 with the reduced duty ratio to the third switch 230 and the fourth switch 240, respectively. If the user lowers the first leg, the duty ratio may decrease. Thus, the motor 140 may output a resistance force with a lower intensity.
The first hip joint angle a1 may be a positive number. The memory 160 may store resistance force generation setting information (e.g., Table 4 shown below, or a relational expression corresponding to Table 4) for generating a resistance force according to the first hip joint angle a1 increased to be greater than or equal to a predetermined angle.
When the first hip joint angle a1 is less than 5° even though the user lifts the first leg, the processor 120 may not apply any signal to each of the third switch 230 and the fourth switch 240 of the motor driver circuit 130 such that a resistance force may not be generated based on the resistance force generation setting information.
When the first hip joint angle a1 is 5°, the processor 120 may apply control signals 1 and 2 with a duty ratio of “0.7” to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively, based on the resistance force generation setting information.
When the first hip joint angle a1 increases, the processor 120 may increase the duty ratio based on the resistance force generation setting information and may apply control signals 1 and 2 with the increased duty ratio to the third switch 230 and the fourth switch 240, respectively. Accordingly, the duty ratio may increase, if the user lifts the first leg. Thus, the motor 140 may output a resistance force with a higher intensity.
When the first hip joint angle a1 is greater than or equal to θmotion1_1, the processor 120 may apply control signals 1 and 2 with a maximum duty ratio (e.g., “0.99”) to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the maximum duty ratio, and accordingly, the motor 140 may output a resistance force with a maximum intensity.
When the user lowers the first leg in a situation in which the resistance force is output to the first leg, the first hip joint angle a1 may decrease. In this example, the processor 120 may reduce the duty ratio based on the resistance force generation setting information and apply control signals 1 and 2 with the reduced duty ratio to the third switch 230 and the fourth switch 240, respectively. If the user lowers the first leg, the duty ratio may decrease. Thus, the motor 140 may output a resistance force with a lower intensity.
In an example shown in
Tables 5 through 8 and the relational expressions corresponding to the graphs shown in
Since the wearable device 100-1 outputs a resistance force to the left leg in the same manner as that of outputting the resistance force to the right leg, a method by which the wearable device 100-1 outputs the resistance force to the right leg is described in further detail below.
The motor driver circuit 130 near a right hip joint may be in the second control state, before the user walks.
The processor 120 may obtain the hip joint angle −Xright of the right leg using the sensor 110. In the example shown in
The symbol −Xright may be used for notation of the right hip joint angle when the right leg of the user is in front of the reference line.
The processor 120 may calculate “−Y+Xright” between a negative reference angle −Y and the hip joint angle −Xright of the right leg.
When “−Y+Xright” is less than a positive set value d based on the resistance force generation setting information, the processor 120 may maintain the second control state of the motor 140. According to some embodiments, the set value d may be “0.”
When “−Y+Xright” is 5°, the processor 120 may obtain a duty ratio of “0.7” corresponding to 5° based on the resistance force generation setting information, and may apply control signals 1 and 2 with the duty ratio of “0.7” to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.7”, and accordingly, the motor 140 may output a resistance force.
When “−Y+Xright” increases as the user lifts the right leg higher by walking, the processor 120 may increase (or change) the duty ratio based on the resistance force generation setting information, and may apply control signals 1 and 2 with the increased (or changed) duty ratio to the third switch 230 and the fourth switch 240, respectively. Due to an increase in the duty ratio, the motor driver circuit 130 may be in the first control state for a relatively long time within one period, and accordingly, a resistance force with a higher intensity may be output.
For example, when “−Y+Xright” is increased to 15°, the processor 120 may obtain a duty ratio of “0.75” corresponding to 15° based on the resistance force generation setting information, and may apply control signals 1 and 2 with the duty ratio of “0.75” to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.75”, and accordingly, the motor 140 may output a resistance force with a higher intensity. The motor driver circuit 130 may be in the first control state for a relatively long time within one period when the duty ratio is “0.75” in comparison to when the duty ratio is “0.7”. Accordingly, the motor 140 may output a resistance force with a higher intensity when the duty ratio is “0.75” in comparison to when the duty ratio is “0.7”.
When “−Y+Xright” is greater than or equal to θmotion2, the processor 120 may apply control signals 1 and 2 with a maximum duty ratio (e.g., “0.99”) to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the maximum duty ratio, and accordingly, the motor 140 may output a resistance force with a maximum intensity.
In a situation in which the resistance force is output to the right leg, the right hip joint angle −Xright of the user may be reduced due to walking and “−Y+Xright” may be reduced. In this example, the processor 120 may reduce the duty ratio based on the resistance force generation setting information and apply control signals 1 and 2 with the reduced duty ratio to the third switch 230 and the fourth switch 240, respectively. When the right hip joint angle −Xright is reduced, the duty ratio may be reduced, and accordingly, the motor 140 may output a resistance force with a relatively low intensity.
When “−Y+Xright” is less than the positive set value d, the processor 120 may not apply any signal to the third switch 230 and the fourth switch 240 such that the third switch 230 and the fourth switch 240 may be turned off. Accordingly, the motor driver circuit 130 may be in the second control state, and the resistance force may not be output from the motor 140.
By walking, the right leg may be behind the reference line.
When a difference “Y−Xright” between the positive reference angle Y and the hip joint angle +Xright of the right leg is less than or equal to a negative set value −d and when “Y−Xright” is −5°, the processor 120 may obtain a duty ratio of “0.7” corresponding to −5° based on the resistance force generation setting information, and may apply control signals 1 and 2 with the duty ratio of “0.7” to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.7”, and accordingly, the motor 140 may output a resistance force.
When “Y−Xright” increases in the negative direction to −15°, the processor 120 may obtain a duty ratio of “0.75” corresponding to −15° based on the resistance force generation setting information, and may apply control signals 1 and 2 with the duty ratio of “0.75” to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.75”, and accordingly, the motor 140 may output a resistance force.
When “Y−Xright” is less than or equal to −θmotion2, the processor 120 may apply control signals 1 and 2 with a maximum duty ratio (e.g., “0.99”) to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the maximum duty ratio, and accordingly, the motor 140 may output a resistance force with a maximum intensity.
The motor 140-1 may output a resistance force to the left leg in a similar manner that the motor 140 outputs the resistance force to the right leg. When a difference “−Y+Xleft” between a negative reference angle −Y and a left hip joint angle −Xleft is greater than or equal to “0” and less than “d”, the motor 140-1 may not output a resistance force. When a duty ratio increases as “−Y+Xleft” increases from “d”, the motor 140-1 may output a resistance force with a relatively high intensity to the left leg. When “−Y+Xleft” is greater than or equal to θmotion2, the motor 140-1 may output a resistance force with a maximum intensity to the left leg. Similarly, when a difference “Y−Xleft” between a positive reference angle Y and a left hip joint angle +Xleft is less than or equal to “0” and greater than or equal to “−d”, the motor 140-1 may not output a resistance force. When the duty ratio increases as “Y−Xleft” decreases from “−d”, the motor 140-1 may output a resistance force with a relatively high intensity to the left leg. When “Y−Xleft” is less than or equal to −θmotion2, the motor 140-1 may output the resistance force with the maximum intensity to the left leg.
In the example described with reference to
In example embodiments, the processor 120 may allow a resistance force to be output based on the right hip joint angle and the left hip joint angle. More specifically, the memory 160 may store resistance force generation setting information (e.g., Tables 9 and 10 shown below, or relational expressions corresponding to Tables 9 and 10) for generating a resistance force according to a right hip joint angle increased to be greater than or equal to a predetermined angle, and may store resistance force generation setting information (e.g., Tables 11 and 12 shown below, or relational expressions corresponding to Tables 11 and 12) for generating a resistance force according to a left hip joint angle increased to be greater than or equal to a predetermined angle.
Before the user starts walking, the motor driver circuit 130 may be in the second control state.
When the user walks by rotating the right leg forward, the right hip joint angle −Xright may be increased. When the right hip joint angle −Xright is greater than −15° (for example, when the right hip joint angle −Xright is −10°) based on the resistance force generation setting information, the processor 120 may maintain the second control state of the motor driver circuit 130.
When the right hip joint angle −Xright is −15°, the processor 120 may obtain a duty ratio of “0.7” corresponding to −15° based on the resistance force generation setting information, and may apply control signals 1 and 2 with the duty ratio of “0.7” to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.7”, and accordingly, the motor 140 may output a resistance force.
When the right hip joint angle −Xright increases in the negative direction, the processor 120 may increase the duty ratio based on the resistance force generation setting information and may apply control signals 1 and 2 with the increased duty ratio to the third switch 230 and the fourth switch 240, respectively. Due to an increase in the duty ratio, the motor 140 may output a resistance force with a higher intensity.
When the right hip joint angle −Xright is less than or equal to −θmotion2_1, the processor 120 may apply control signals 1 and 2 with a maximum duty ratio (e.g., “0.99”) to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the maximum duty ratio, and accordingly, the motor 140 may output a resistance force with a maximum intensity.
In a situation in which the resistance force is output to the right leg, the right hip joint angle −Xright may be reduced due to walking. In this example, the processor 120 may reduce the duty ratio based on the resistance force generation setting information and apply control signals 1 and 2 with the reduced duty ratio to the third switch 230 and the fourth switch 240, respectively. When the right hip joint angle −Xright decreases, the duty ratio may decrease. Thus, the motor 140 may output a resistance force with a relatively low intensity.
When the right hip joint angle −Xright is greater than −15° (for example, when the right hip joint angle −Xright is −5°), the processor 120 may not apply any signal to the third switch 230 and the fourth switch 240 such that the third switch 230 and the fourth switch 240 may be turned off. Accordingly, the motor driver circuit 130 may be in the second control state, and the resistance force may not be output from the motor 140.
By walking, the right leg may be behind the reference line.
When the hip joint angle Xright of the right leg is 15°, the processor 120 may obtain a duty ratio of “0.7” corresponding to 15° based on the resistance force generation setting information, and may apply control signals 1 and 2 with the duty ratio of “0.7” to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.7”, and accordingly, the motor 140 may output a resistance force.
When the right hip joint angle Xright increases, the processor 120 may increase the duty ratio based on the resistance force generation setting information and may apply control signals 1 and 2 with the increased duty ratio to the third switch 230 and the fourth switch 240, respectively. Due to an increase in the duty ratio, the motor 140 may output a resistance force with a higher intensity.
When the right hip joint angle Xright is greater than or equal to θmotion2_1, the processor 120 may apply control signals 1 and 2 with a maximum duty ratio (e.g., “0.99”) to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the maximum duty ratio, and accordingly, the motor 140 may output a resistance force with a maximum intensity.
The motor 140-1 may output a resistance force to the left leg in a similar manner that the motor 140 outputs the resistance force to the right leg. When the left hip joint angle −Xleft is less than “0” and greater than −15°, the motor 140-1 may not output a resistance force. When the left hip joint angle −Xleft increases in the negative direction from −15°, the duty ratio may increase, and accordingly, the motor 140-1 may output a resistance force with a relatively high intensity to the left leg. When the left hip joint angle −Xleft is less than or equal to −θmotion2_1, the motor 140-1 may output a resistance force with a maximum intensity to the left leg. When the left hip joint angle Xleft is greater than “0” and less than 15°, the motor 140-1 may not output a resistance force. When the left hip joint angle Xleft increases from 15°, the duty ratio may increase, and accordingly, the motor 140-1 may output a resistance force with a relatively high intensity to the left leg. When the left hip joint angle X left is greater than or equal to θmotion2_1 the motor 140-1 may output a resistance force with a maximum intensity to the left leg.
In an example shown in
Before the user starts exercising, the motor driver circuit 130 of the wearable device 100 may be in the second control state.
When the user exercises, the processor 120 may obtain the first shoulder joint angle −c using the sensor 110. In the example shown in
The symbol −c may be used for notation of the first shoulder joint angle.
The processor 120 may calculate a difference “−e+c” between the reference angle −e and the first shoulder joint angle −c.
When “−e+c” increases, the processor 120 may estimate or determine the rotation direction of the first shoulder joint to be a counterclockwise direction. When the preset rotation direction is the counterclockwise direction, the processor 120 may determine that the rotation direction of the first shoulder joint matches the preset rotation direction.
When the rotation direction of the first shoulder joint matches the preset direction and when “−e+c” is 1°, the processor 120 may obtain a duty ratio of “0.7” corresponding to 1° based on the resistance force generation setting information, and may apply control signals 1 and 2 with the duty ratio of “0.7” to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.7”, and accordingly, the motor 140 may output a resistance force.
When “−e+c” increases as the user lifts the first arm higher, the processor 120 may increase the duty ratio based on the resistance force generation setting information, and may apply control signals 1 and 2 with the increased duty ratio to the third switch 230 and the fourth switch 240, respectively. Due to an increase in the duty ratio, the motor driver circuit 130 may be in the first control state for a relatively long time within one period, and accordingly, a resistance force with a higher intensity may be output.
For example, when “−e+c” becomes 45°, the processor 120 may obtain a duty ratio of “0.85” corresponding to 45° based on the resistance force generation setting information, and may apply control signals 1 and 2 with the duty ratio of “0.85” to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.85”, and accordingly, the motor 140 may output a resistance force. The motor driver circuit 130 may be in the first control state for a relatively long time within one period when the duty ratio is “0.85”, in comparison to when the duty ratio is “0.7”. Accordingly, the motor 140 may output a resistance force with a higher intensity when the duty ratio is “0.85”, in comparison to when the duty ratio is “0.7”.
When the user lowers the first arm, “−e+c” may be reduced. Here, the processor 120 may determine that the rotation direction of the first shoulder joint does not match the counterclockwise direction that is set in advance, and may not apply any signal to the third switch 230 and the fourth switch 240 such that the third switch 230 and the fourth switch 240 may be turned off. Accordingly, when the user lowers the first arm, the motor 140 may not output the resistance force.
In example embodiments, the processor 120 may allow a resistance force to be output based on the first shoulder joint angle −c. More specifically, the memory 160 may store resistance force generation setting information (e.g., Table 14 shown below, or a relational expression corresponding to Table 14) for generating a resistance force according to the first shoulder joint angle −c when the rotation direction of the first shoulder joint matches the preset rotation direction and when the first shoulder joint angle −c is greater than or equal to a predetermined angle.
When the first shoulder joint angle −c increases in the negative direction as the user lifts the first arm, the processor 120 may determine that the rotation direction of the first shoulder joint matches the counterclockwise direction that is set in advance. Here, when the first shoulder joint angle −c corresponds to −10°, the processor 120 may obtain a duty ratio of “0.7” corresponding to −10° based on the resistance force generation setting information, and may apply control signals 1 and 2 with the duty ratio of “0.7” to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.7”, and accordingly, the motor 140 may output a resistance force.
When the first shoulder joint angle −c increases in the negative direction as the user lifts the first arm higher, the processor 120 may increase the duty ratio based on the resistance force generation setting information, and may apply control signals 1 and 2 with the increased duty ratio to the third switch 230 and the fourth switch 240, respectively. Due to an increase in the duty ratio, the motor 140 may output a resistance force with a higher intensity.
When the user lowers the first arm, the first shoulder joint angle −c may be reduced. Here, the processor 120 may determine that the rotation direction of the first shoulder joint does not match the counterclockwise direction that is set in advance, and may not apply any signal to the third switch 230 and the fourth switch 240 such that the third switch 230 and the fourth switch 240 may be turned off. Accordingly, when the user lowers the first arm, the motor 140 may not output the resistance force.
Referring to
The processor 120 may obtain the first shoulder joint angle −a2 using the sensor 110.
The processor 120 may calculate a difference “−b2+a2” between the reference angle −b2 and the first shoulder joint angle −a2.
When the user lowers the first arm at an angle less than or equal to the reference angle −b2, the first shoulder joint angle −a2 may be reduced. When “−b2+a2” is less than or equal to a set value of “0”, the processor 120 may assist the user in working.
More specifically, when “−b2+a2” is −1°, the processor 120 may obtain the duty ratio of “0.7” based on the support force generation setting information, and apply control signals 1 and 2 with the duty ratio of “0.7” to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.7”, and accordingly, the motor 140 may output a support force. When “−b2+a2” increases in the negative direction as the first arm is lowered further down, the processor 120 may increase the duty ratio based on the support force generation setting information, and may apply control signals 1 and 2 with the increased duty ratio to the third switch 230 and the fourth switch 240, respectively. Due to an increase in the duty ratio, the motor 140 may output a support force with a higher intensity.
In some embodiments, the processor 120 may allow a support force to be output based on the first shoulder joint angle −a2. More specifically, the memory 160 may store support force generation setting information (e.g., Table 16 shown below, or a relational expression corresponding to Table 16) for generating a support force according to the first shoulder joint angle −a2 increased to be greater than or equal to a predetermined angle.
When the user lowers the first arm while working with the first arm, the first shoulder joint angle −a2 may be reduced. When the first shoulder joint angle −a2 is reduced to be less than −85°, the processor 120 may assist the user in working. More specifically, when the first shoulder joint angle −a2 is −85°, the processor 120 may obtain a duty ratio of “0.7” based on the support force generation setting information, and apply control signals 1 and 2 with the duty ratio of “0.7” to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state according to the duty ratio of “0.7”, and accordingly, the motor 140 may output a support force. When the first shoulder joint angle −a2 decreases as the first arm is lowered further down, the processor 120 may increase the duty ratio based on the support force generation setting information, and may apply control signals 1 and 2 with the increased duty ratio to the third switch 230 and the fourth switch 240, respectively. Due to an increase in the duty ratio, the motor 140 may output a support force with a higher intensity.
A user may request the wearable devices 100 and 100-1 described with reference to
In
In response to a user input to further increase the intensity of the resistance force by one level in a situation in which the resistance force is output according to the second graph 1211, the processor 120 may generate a third graph 1212 by increasing a slope of the second graph 1211 and may control the motor driver circuit 130 so that the resistance force may be output according to the third graph 1212. For the same difference between the reference angle and the first joint angle, a resistance force with a higher intensity may be output in the third graph 1212 in comparison to the second graph 1211.
In response to a user input to increase the intensity of the resistance force to the maximum level in a situation in which the resistance force is output according to the third graph 1212, the processor 120 may generate a fourth graph 1213 by increasing a slope of the third graph 1212 and may control the motor driver circuit 130 so that the resistance force may be output according to the fourth graph 1213. In the fourth graph 1213, if the difference between the reference angle and the first joint angle corresponds to a set value of “0,” a resistance force with a maximum intensity may be output.
In some embodiments, in response to a user input to increase the intensity of the resistance force, the processor 120 may increase the intensity of the resistance force by changing to a nonlinear graph.
In an example shown in
In response to a user input to further increase the intensity of the resistance force by one level in a situation in which the resistance force is output according to the first nonlinear graph 1220, the processor 120 may change the first nonlinear graph 1220 to a second nonlinear graph 1221 and may control the motor driver circuit 130 so that the resistance force may be output according to the second nonlinear graph 1221. For the same difference between the reference angle and the first joint angle, a resistance force with a higher intensity may be output in the second nonlinear graph 1221 in comparison to the first nonlinear graph 1220.
In response to a user input to increase the intensity of the resistance force to the maximum level in a situation in which the resistance force is output according to the second nonlinear graph 1221, the processor 120 may change the second nonlinear graph 1221 to a fourth graph 1213 and may control the motor driver circuit 130 so that the resistance force may be output according to the fourth graph 1213.
Similar to the description provided with reference to
In
For example, the reference angle before the change may be −15°. In this example, when a hip joint angle of the leg is −16°, the processor 120 may apply the control signals 1 and 2 with the duty ratio of “0.7” in Table 1 described above to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The motor 140 may output a resistance force with an intensity corresponding to the duty ratio of “0.7.” For example, when the user lifts the leg by 16° in a state in which the reference angle is −15°, the resistance force with the intensity corresponding to the duty ratio of “0.7” may be provided to the user.
The user may input the reference angle changed to −5° through the input interface 170, and the processor 120 may change the reference angle from −15° to −5°.
When the hip joint angle of the leg is −6°, the processor 120 may apply the control signals 1 and 2 with the duty ratio of “0.7” in Table 1 described above to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The motor 140 may output a resistance force with an intensity corresponding to the duty ratio of “0.7.” For example, when the user lifts the leg by 6° in a situation in which the reference angle is changed to −5°, the resistance force with the intensity corresponding to the duty ratio of “0.7” may be provided to the user. Thus, the resistance force may be provided to the user when the user lifts the leg less than the scenario when the reference angle is −15°.
The user may input the reference angle changed to −20° through the input interface 170, and the processor 120 may change the reference angle from −15° to −20°.
When the hip joint angle of the leg is −21°, the processor 120 may apply the control signals 1 and 2 with the duty ratio of “0.7” in Table 1 described above to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. When the user lifts the leg by 21°, the resistance force with the intensity corresponding to the duty ratio of “0.7” may be provided to the user. For example, when the user lifts the leg further up in comparison to when the reference angle is −15°, the resistance force may be provided.
The processor 120 may change the reference angle so that the user may be provided with the resistance force in various motion angle ranges.
Similar to the description provided with reference to
Referring to
Referring to
Referring to
The user may select a specific set value through the UI displayed on the display 180-1, and the electronic device 180-1 may transmit a control command to change the set value to the wearable device 100, 100-1. Here, the control command to change the set value may include a set value selected by the user.
When the control command to change the set value is received from the electronic device 180-1, the wearable device 100, 100-1 may change the set value to the set value selected by the user according to the received control command and may transmit a control result of completion of a change in the set value to the electronic device 180-1.
When the control result is received from the wearable device 100, 100-1, the electronic device 180-1 may display a message indicating the completion of the change in the set value on the display 180-1.
In some embodiments, the changing of a set value as described in
In response to a user input (or control command) to change the set value from “0” to “4,” the processor 120 may change the set value from “0” to “4” so that a first graph 1410 may be changed to a second graph 1420. When a difference between a reference angle and a first joint angle is greater than or equal to 4°, the processor 120 may control the motor driver circuit 130 such that a resistance force may be output according to the second graph 1420. When the set value is “4” rather than “0,” the user may be provided with the resistance force only when the user further moves the first joint.
In response to a user input (or control command) to change the set value from “0” to “−4,” the processor 120 may change the set value from “0” to “−4” so that the first graph 1410 may be changed to a third graph 1430. When the difference between the reference angle and a joint angle is greater than or equal to −4°, the processor 120 may control the motor driver circuit 130 such that the resistance force may be output according to the third graph 1430. When the set value is “−4” rather than “0,” the user may be provided with the resistance force even though the first joint is moved less.
The processor 120 may change the reference angle so that the user may be provided with the resistance force in various motion angle ranges.
In the second resistance mode, the control state of the motor driver circuit 130 may be repeatedly switched between the first control state and the second control state. Here, the motor 140 may output a resistance force instead of receiving power from the battery 150.
According to example embodiments, the processor 120 may control the motor driver circuit 130 so that the motor 140 may temporarily receive power from the battery 150 and may output a resistance force in the second resistance mode.
For example, when a difference between a reference angle and a joint angle is greater than a predetermined angle (e.g., θmotion1 in the graph of
In a situation in which the ON signal is applied to each of the first switch 210 and the fourth switch 240, when the difference between the reference angle and the joint angle decreases, the processor 120 may apply the control signals 1 and 2 to the third switch 230 and the fourth switch 240, respectively, instead of applying the ON signal to each of the first switch 210 and the fourth switch 240. Accordingly, the motor 140 may output the resistance force without a power supply from the battery 150.
The wearable device 100 may output a resistance force by temporarily using battery power in the second resistance mode so that the user may exercise more intensely in the second resistance mode.
Referring to
Since a number of teeth of the second gear 1620 is greater than a number of teeth of the first gear 1610, a resistance force output from the motor 140 in the second resistance mode may be amplified by the first gear 1610 and the second gear 1620, and the amplified resistance force may be provided to a user. As understood by one of ordinary skill in the art, the example embodiments are not limited thereto, and a resistance force output from the motor 140 in the first resistance mode may be amplified by the first gear 1610 and the second gear 1620.
Referring to
The wearable device 100 of
The wearable device 1700 of
In
The battery 1710 may supply power to components of the wearable device 1700, for example, the sensor 110 and the processor 120. However, the battery 1710 may not supply power to the motor 140 of the wearable device 1700. The battery 1710 may be smaller in size than the battery 150 of the wearable device 100 of
The wearable device 100-1 of
The wearable device 1700-1 of
In
The battery 1710 of the wearable device 1700-1 may supply power to components of the wearable device 1700-1. However, in
The description provided with reference to
The methods according to the above-described example embodiments may be recorded in non-transitory computer-readable media including program instructions to implement various operations of the above-described example embodiments. The media may also include, alone or in combination with the program instructions, data files, data structures, and any other media known to one of ordinary skill in the art. The program instructions recorded on the media may be those specially designed and constructed for the purposes of example embodiments, or they may be of the kind well-known and available to those having skill in the computer software arts. Examples of non-transitory computer-readable media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD-ROM discs or DVDs; magneto-optical media such as optical discs or floptical disks; and hardware devices that are specially configured to store and perform program instructions, such as read-only memory (ROM), random access memory (RAM), flash memory, and any other memory known to one of ordinary skill in the art. Examples of program instructions include both machine code, such as produced by a compiler, and files containing higher-level code that may be executed by the computer using an interpreter. The above-described devices may be configured to act as one or more software modules in order to perform the operations of the above-described example embodiments, or vice versa.
The software may include a computer program, a piece of code, an instruction, or some combination thereof, to independently or collectively instruct or configure the processing device to operate as desired. Software and data may be embodied permanently or temporarily in any type of machine, component, physical or virtual equipment, computer storage medium or device, or in a propagated signal wave capable of providing instructions or data to or being interpreted by the processing device. The software also may be distributed over network-coupled computer systems so that the software is stored and executed in a distributed fashion. The software and data may be stored by one or more non-transitory computer-readable recording mediums.
While the example embodiments are described with reference to drawings, it is apparent to one of ordinary skill in the art that various alterations and modifications in form and details may be made in these example embodiments without departing from the spirit and scope of the claims and their equivalents. For example, suitable results may be achieved if the described techniques are performed in a different order, and/or if components in a described system, architecture, device, or circuit are combined in a different manner, or replaced or supplemented by other components or their equivalents.
Therefore, other implementations, other example embodiments, and/or equivalents of the claims are within the scope of the following claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10-2020-0084041 | Jul 2020 | KR | national |
| 10-2020-0113808 | Sep 2020 | KR | national |
This application is by-pass continuation application of International Application No. PCT/KR2021/001531, filed on Feb. 5, 2021, which claims priority to Korean Patent Application No. 10-2020-0084041, filed on Jul. 8, 2020, and Korean Patent Application No. 10-2020-0113808, filed on Sep. 7, 2020, in the Korean Intellectual Property Office, the disclosures of which are incorporated by reference herein in their entireties.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/KR21/01531 | Feb 2021 | US |
| Child | 18094052 | US |
