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EP-4385480-B1 - WEARABLE DEVICE, METHOD, AND NON-TRANSITORY COMPUTER READABLE STORAGE MEDIUM FOR OUTPUTTING TORQUE

EP4385480B1EP 4385480 B1EP4385480 B1EP 4385480B1EP-4385480-B1

Inventors

  • JUNG, MINKYU
  • LEE, SEUNGJOON
  • HAN, HOON

Dates

Publication Date
20260506
Application Date
20220728

Claims (14)

  1. A wearable device (101) comprising: at least one memory (210) configured to store instructions, an actuator (240, 240-1, 240-2) configured to output a first torque to assist walking of a user of the wearable device or a second torque to resist the walking of the user; at least one sensor (230); an outputting circuit (250) comprising a first vibration motor (801) disposed for providing a vibration to a first side of a thigh of the user and a second vibration motor (802) disposed for providing a vibration to a second side of the thigh of the user, opposite to the first side; and at least one processor (120, 220) operably coupled with the at least one memory (210), the actuator (240, 240-1, 240-2), the at least one sensor (230), and the outputting circuit (250), wherein the at least one processor (120, 220) is, when executing the instructions, configured to: obtain (610), through the at least one sensor (230), walking data of the user wearing the wearable device (101), set (620), based on the walking data, an operation mode of the wearable device (101) to a first operation mode for resisting the walking of the user through the actuator (240, 240-1, 240-2) providing the second torque, after setting the operation mode to the first operation mode, identify a first timing at which the operation mode of the wearable device (101) is to be changed from the first operation mode to a second operation mode for assisting the walking of the user through the actuator (240, 240-1, 240-2) providing the first torque, based on the first timing, identify a second timing for providing a notification that the operation mode of the wearable device (101) is to be changed from the first operation mode to the second operation mode, wherein the second timing is identified as a designated time before the first timing, provide (630), at the second timing, the notification that the operation mode of the wearable device (101) is to be changed from the first operation mode to the second operation mode, wherein, for providing the notification, a vibration is provided via the first vibration motor (801) while the user is in a first posture related to the walking of the user and wherein a vibration is provided via the second vibration motor (802) while the user is in a second posture related to the walking of the user, after providing the notification, identify (640) whether a designated user input is received based on the walking data obtained through the at least one sensor (230) during the designated time, and based on identifying that the designated user input being received, change (650), at the first timing, the operation mode from the first operation mode to a second operation mode.
  2. The wearable device (101) of claim 1, wherein the at least one processor (120, 220) is, when executing the instructions, configured to identify a timing at which reference time is elapsed from a timing when the operation mode is set to the first operation mode, as the second timing for providing the notification.
  3. The wearable device (101) of claims 1 or 2, wherein the at least one processor (120, 220) is, when executing the instructions, further configured to, based on identifying that the designated user input is not received, maintain the operation mode in the first operation mode.
  4. The wearable device (101) of claims 1 to 3, wherein the at least one processor (120, 220) is, when executing the instructions, further configured to, identify an average stride length of the user during the designated time between the first timing and the second timing, based on identifying that the average stride length of the user is greater than a designated stride length, identify that the designated user input is received.
  5. The wearable device (101) of claim 1 to 4, wherein the first posture corresponds to forward movement of the thigh of the user, wherein the second posture corresponds to backward movement of the thigh of the user, wherein an intensity of the vibration provided via the first vibration motor (801) increases as the thigh is moved further forward, and wherein an intensity of the vibration provided via the second vibration motor (802) increases as the thigh is moved further backward.
  6. The wearable device (101) of any one of claims 1 to 5, wherein the at least one processor (120, 220) is, when executing the instructions, configured to: identify, based on the walking data, information on stride length of the user, and identify, based on information on the stride length of the user, the reference time.
  7. The wearable device (101) of claim 6, wherein the wearable device (101) further comprises a communication circuit, and wherein the at least one processor (120, 220) is, when executing the instructions, further configured to: identify, based on the information on the stride length of the user and the reference time, a geographic location at which the operation mode is to be changed from the first operation mode to the second operation mode, and transmit, to an external electronic device configured to provide a visual object superimposed on visible environment, a signal causing the external electronic device to display a line-shaped visual object (1020) superimposed on the identified geographic location.
  8. The wearable device (101) of any one of claims 1 to 7, wherein the at least one processor is, when executing the instructions, configured to: identify, based on the walking data, a first walking velocity of the user, after providing the notification, identify, based on the walking data obtained during the designated time, a second walking velocity of the user, and identify, based on the second walking velocity being greater than or equal to the first walking velocity identified before the notification is provided, that the designated user input is received.
  9. The wearable device (101) of any one of claims 1 to 8, wherein the at least one processor (120, 220) is, when executing the instructions, further configured to, based on the walking data obtained after changing the operation mode from the first operation mode to the second operation mode, change the operation mode from the second operation mode to a third operation mode distinct from the second operation mode.
  10. The wearable device (101) of any one of claims 1 to 9, wherein the wearable device (101) further comprises a communication circuit, and wherein the at least one processor (120, 220) is, when executing the instructions, further configured to: in response to providing the notification, identify other user input distinct from the designated user input from an external electronic device connected with the wearable device (101), and based on the other user input, maintain the operation mode as the first operation mode.
  11. The wearable device (101) of any one of claims 1 to 10, wherein the wearable device (101) further comprises: a communication circuit, and GPS (global positioning system) circuit; wherein the at least one processor (120, 220) is, when executing the instructions, further configured to: identify information on a location of the user, and transmit the identified information on the location of the user to an external electronic device connected with the wearable device (101); and wherein the identified information on the location of the user is provided to the user through the external electronic device.
  12. The wearable device (101) of any one of claims 1 to 11, wherein the at least one processor (120, 220) is, when executing the instructions, further configured to provide other notification for guiding the walking of the user after changing the operation mode from the first operation mode to the second operation mode.
  13. A method performed by a wearable device (101) comprising an actuator (240, 240-1, 240-2) configured to output a first torque to assist walking of a user of the wearable device or a second torque to resist the walking of the user, at least one sensor (230), and an outputting circuit (250) comprising a first vibration motor (801) disposed for providing a vibration to a first side of a thigh of the user and a second vibration motor (802) disposed for providing a vibration to a second side of the thigh of the user, opposite to the first side, comprising: obtaining (610), through the at least one sensor (230), walking data of the user wearing the wearable device (101), setting (620), based on the walking data, an operation mode of the wearable device (101) to a first operation mode for resisting the walking of the user through the actuator (240, 240-1, 240-2) providing the second torque, after setting the operation mode to the first operation mode, identifying a first timing at which the operation mode of the wearable device (101) is to be changed from the first operation mode to a second operation mode for assisting the walking of the user through the actuator (240, 240-1, 240-2) providing the first torque, based on the first timing, identifying a second timing for providing a notification that the operation mode of the wearable device (101) is to be changed from the first operation mode to the second operation mode, wherein the second timing is identified as a designated time before the first timing, providing (630), at the second timing, the notification that the operation mode of the wearable device (101) is to be changed from the first operation mode to the second operation mode, wherein, for providing the notification, a vibration is provided via the first vibration motor (801) while the user is in a first posture related to the walking of the user and wherein a vibration is provided via the second vibration motor (802) while the user is in a second posture related to the walking of the user, after providing the notification, identifying (640) whether a designated user input is received based on the walking data obtained through the at least one sensor (230) during the designated time, and based on identifying that the designated user input being received, changing (650), at the first timing, the operation mode from the first operation mode to a second operation mode.
  14. A non-transitory computer readable storage medium storing one or more programs, wherein the one or more programs comprising instructions, which, when being executed by at least one processor (120, 220) of a wearable device (101) comprising an actuator (240, 240-1, 240-2) configured to output a first torque to assist walking of a user of the wearable device or a second torque to resist the walking of the user, at least one sensor (230), and an outputting circuit (250) comprising a first vibration motor (801) disposed for providing a vibration to a first side of a thigh of the user and a second vibration motor (802) disposed for providing a vibration to a second side of the thigh of the user, opposite to the first side, cause the wearable device (101) to: obtain (610), through the at least one sensor (230), walking data of a user wearing the wearable device (101), set (620), based on the walking data, an operation mode of the wearable device (101) to a first operation mode for resisting the walking of the user through the actuator (240, 240-1, 240-2) providing the second torque, after setting the operation mode to the first operation mode, identify a first timing at which the operation mode of the wearable device (101) is to be changed from the first operation mode to a second operation mode for assisting the walking of the user through the actuator (240, 240-1, 240-2) providing the first torque, based on the first timing, identify a second timing for providing a notification that the operation mode of the wearable device (101) is to be changed from the first operation mode to the second operation mode, wherein the second timing is identified as a designated time before the first timing, provide (630), at the second timing, the notification that the operation mode of the wearable device (101) is to be changed from the first operation mode to the second operation mode, wherein, for providing the notification, a vibration is provided via the first vibration motor (801) while the user is in a first posture related to the walking of the user and wherein a vibration is provided via the second vibration motor (802) while the user is in a second posture related to the walking of the user, after providing the notification, identify (640) whether a designated user input is received based on the walking data obtained through the at least one sensor (230) during the designated time, and based on identifying that the designated user input being received, change (650), at the first timing, the operation mode from the first operation mode to a second operation mode.

Description

[Technical Field] The descriptions below relate to a wearable device, method, and non-transitory computer readable storage medium for outputting torque. [Background Art] Among wearable devices, a walking assistance device is a device that assists a user who has difficulty walking so that the user can easily perform walking. The walking assistance device was developed to relieve inconvenience of walking. Recently, interest in the walking assistance device for exercise has been increasing. The walking assistance device may occur a load on a movement of the user or reduce the load on the movement of the user. The walking assistance device may be controlled by an electronic device of the user and may operate at an intensity desired by the user. Document US 2019/0283247 A1 describes systems and methods for monitoring and analyzing biomechanical movements using wearable technology, such as exosuits. The system collects data on various physical parameters (e.g., step length, cadence, knee angles) and employs learning algorithms to predict outcomes like recovery progress or movement efficiency. It integrates components such as sensors, control modules, and feedback mechanisms to assist users, particularly in rehabilitation or performance improvement. [Disclosure] [Technical Problem] A wearable device may operate in various operation modes. In case that an operation mode of the wearable device is suddenly changed, injury to a user may occur due to the wearable device. Before the operation mode of the wearable device changes, a method may be required for providing a notification to the user and for gradually changing the operation mode. The technical problems to be achieved in this document are not limited to those described above, and other technical problems not mentioned herein will be clearly understood by those having ordinary knowledge in the art to which the present disclosure belongs, from the following description. [Technical Solution] The present invention is directed to subject matter as defined in the claims. According to an embodiment, a wearable device may comprise at least one memory configured to store instructions, an actuator, at least one sensor, an outputting circuit, and at least one processor operably coupled with the at least one memory, the actuator, the at least one sensor, and the outputting circuit. The at least one processor may be, when executing the instructions, configured to obtain, through the at least one sensor, motion data of a user wearing the wearable device. The at least one processor may be, when executing the instructions, configured to set, based on the motion data, an operation mode of the wearable device to a first operation mode. The at least one processor may be, when executing the instructions, configured to provide, after setting the operation mode to the first operation mode, based on identifying a timing for providing a notification, the notification. The at least one processor may be, when executing the instructions, configured to identify whether a designated user input is received based on the motion data obtained through the at least one sensor during a designated time interval, after providing the notification. The at least one processor may be, when executing the instructions, configured to change the operation mode from the first operation mode to a second operation mode, based on identifying that the designated user input is received. According to an embodiment, a method of a wearable device may comprise obtaining, through at least one sensor, motion data of a user wearing the wearable device. The method may comprise setting, based on the motion data, an operation mode of the wearable device to a first operation mode. The method may comprise, after setting the operation mode to the first operation mode, providing, based on identifying a timing for providing a notification, the notification. The method may comprise, after providing the notification, identifying whether a designated user input is received based on the motion data obtained through the at least one sensor during a designated time interval. The method may comprise, based on identifying that the designated user input is received, changing the operation mode from the first operation mode to a second operation mode. According to an embodiment, a non-transitory computer readable storage medium may store one or more programs. The one or more programs may comprise instructions, which, when being executed by at least one processor of a wearable device with an actuator, at least one sensor, and an outputting circuit, cause the wearable device to obtain, through the at least one sensor, motion data of a user wearing the wearable device. The one or more programs may comprise instructions, which cause the wearable device to set, based on the motion data, an operation mode of the wearable device to a first operation mode. The one or more programs may comprise instructions, which cause the wearable device to pr