# US 12,109,167 B2 · Wearable apparatus and operating method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,109,167 B2 - Document ID: US12109167B2 - Status: Granted - Kind: B2 - Application number: 16/855,341 - Filed: 2020-04-22 - Published: 2021-04-29 - Granted: 2024-10-08 - Earliest claimed: 2019-10-28 - Assignees: Samsung Electronics Co., Ltd. - Applicants: Samsung Electronics Co., Ltd. - Inventors: Keehong Seo; Kyungrock Kim - Web page: https://patentgrep.com/patent/US12109167B2 ## CPC - A61H 1/00: Apparatus for passive exercising (A61H5/00 takes precedence); Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones - A61H 3/00: Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) - A61H 1/0244: {Hip (A61H1/0255 takes precedence)} - A63B 21/00181: {comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising} - A63B 21/0058: {using motors} - A63B 21/4009: {to the waist} - A63B 21/4011: {to the lower limbs (means for physically limiting movements of body parts A63B69/0057)} - A63B 21/4047: {Pivoting movement (weight pivoting A63B21/0615)} - A63B 23/0482: {primarily by articulating the hip joints (A63B23/0211, A63B23/0405, A63B23/0476 take precedence)} - A63B 24/0087: {Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load} - A61H 2201/1642: Holding means therefor - A61H 2201/165: Wearable interfaces - A61H 2201/5023: Interfaces to the user - A61H 2201/5061: Force sensors - A61H 2201/5069: Angle sensors - A61H 2201/5079: Velocity sensors - A63B 21/4025: {Resistance devices worn on the user's body (A63B21/065 takes precedence)} - A63B 21/4033: {Handles, pedals, bars or platforms} - A63B 21/4039: {contoured to fit to specific body parts, e.g. back, knee or neck support (arrangements for attaching exercising apparatus to the user's body A63B21/4001; handles, pedals, bars or platforms A63B21/4033)} - A63B 2024/0093: {the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed} - A63B 2220/24: Angular displacement - A63B 2220/44: Angular acceleration - A63B 2220/805: Optical or opto-electronic sensors - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) - A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H) ## Abstract A wearable apparatus recognizes an exercise move of a user based on motion information of the user, determines torque reference information based on a result of the recognizing, determines torque command information based on the determined torque reference information and a predetermined factor, and outputs a torque based on the determined torque command information. ## Claims ### Claim 1 An operating method of a wearable apparatus, the operating method comprising: determining a first motion of a user as a first exercise move of a of a plurality of exercise moves which are distinguished from one another in a cycle of an exercise based on at least one of hip joint angles of the user; outputting a first torque that assists the user as the user performs the first exercise move, the first torque being based on a first gain having a first sign; and outputting a second torque that resists the user as the user performs a second exercise move of the plurality of exercise moves when determining a second motion which is a subsequent motion of the first motion as the second exercise move, the second torque being based on a second gain having a second sign different from the first sign. ### Claim 2 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: determining the first motion of the user as stepping forward with a first leg in response to a difference between the hip joint angles of the user being greater than a first threshold angle; and determining the first motion of the user stepping forward with a second leg in response to the difference between the hip joint angles of the user being less than a second threshold angle. ### Claim 3 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: determining the first motion of the user as either (i) straightening a bent knee and raising an upper body or as (ii)_bending a knee and lowering the upper body through a result of comparing a difference between angular velocities of the hip joint angles of the user to a set value. ### Claim 4 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: determining the first motion of the user as straightening a bent knee and raising an upper body, in response to a difference between the hip joint angles of the user being greater than a third threshold angle and one of the angular velocities of the hip joint angles being greater than a first threshold angular velocity. ### Claim 5 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: determining the first motion of the user as bending knees and lowering an upper body through a result of comparing an average of the hip joint angles of the user to a fourth threshold angle. ### Claim 6 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: determining the first motion of the user as straightening bent knees and raising an upper body through a result of comparing an average of angular velocities of the hip joint angles of the user to a set value. ### Claim 7 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: determining the first motion of the user as straightening bent knees and raising an upper body in response to an average of the hip joint angles of the user being less than a fifth threshold angle and an average of angular velocities of the hip joint angles being greater than a second threshold angular velocity. ### Claim 8 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: determining the first motion of the user as stepping up with one leg in response to one of the hip joint angles of the user being less than a sixth threshold angle and an angular velocity of the one of the hip joint angles being less than a third threshold angular velocity. ### Claim 9 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: sensing whether one of the hip joint angles of the user is less than a seventh threshold angle and whether one of angular velocities of the hip joint angles is greater than a fourth threshold angular velocity, in response to determining a motion of the user as stepping up with one leg; and determining the first motion of the user as stepping on an object with the one leg based on a result of the sensing. ### Claim 10 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: sensing whether one of the hip joint angles of the user is greater than an eighth threshold angle, whether one of angular velocities of the hip joint angles is greater than a fifth threshold angular velocity, and whether an acceleration measured with respect to a body of the user is less than a threshold acceleration, in response to determining a motion of the user as stepping on an object with a first leg; and determining the first motion of the user as stepping up with a second leg while stepping on the object with the first leg based on a result of the sensing. ### Claim 11 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: sensing whether one of the hip joint angles of the user is greater than a ninth threshold angle and whether one of angular velocities of the hip joint angles is less than a sixth threshold angular velocity, in response to determining a motion of the user as stepping up with a first leg while stepping on an object with a second leg; and determining the first motion of the user as stepping on the object with both of the first leg and the second leg based on a result of the sensing. ### Claim 12 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: sensing whether one of the hip joint angles of the user is less than a tenth threshold angle and whether one of angular velocities of the hip joint angles is less than a seventh threshold angular velocity, in response to determining a motion of the user as stepping on an object with both a first leg and a second leg of the user; and determining the first motion of the user as stepping down with the first leg from the object based on a result of the sensing. ### Claim 13 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: sensing whether one of the hip joint angles of the user is less than an eleventh threshold angle and whether one of angular velocities of the hip joint angles is greater than an eighth threshold angular velocity, in response to determining a motion of the user as stepping down with a first leg from an object while stepping on the object with a second leg; and determining the first motion of the user as stepping on a ground with the first leg and stepping on the object with the second leg based on a result of the sensing. ### Claim 14 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: sensing whether one of the hip joint angles of the user is greater than a twelfth threshold angle, whether one of angular velocities of the hip joint angles is greater than a ninth threshold angular velocity, and whether an acceleration measured with respect to a body of the user is less than a threshold acceleration, in response to determining a motion of the user as stepping on a ground with a first leg and stepping on an object with a second leg; and determining the first motion of the user as stepping down with the second leg based on a result of the sensing. ### Claim 15 (depends on 1) The operating method of claim 1, wherein the determining of the first motion comprises: sensing whether one of the hip joint angles of the user is greater than a thirteenth threshold angle and whether one of angular velocities of the hip joint angles is less than a tenth threshold angular velocity, in response to determining a motion of the user as stepping down with a first leg from an object while stepping on a ground with a second leg; and determining the first motion of the user as stepping on the ground with both the first leg and the second leg based on a result of the sensing. ### Claim 16 (depends on 1) The operating method of claim 1, further comprising: determining torque reference information based on a torque gain and at least one of a constant and a difference between the hip joint angles of the user. ### Claim 17 (depends on 16) The operating method of claim 16, further comprising: determining torque command information by smoothing the torque reference information based on a set factor. ### Claim 18 A wearable apparatus, comprising: a driver configured to output a torque; and a controller configured to, determine a first motion of a user as a first exercise move of a plurality of exercise moves which are distinguished from one another in a cycle of an exercise based on at least one of the hip joint angles of the user, control the driver to output a first torque that assists the user as the user performs the first exercise move, and control the driver to output a second torque that resists the user as the user performs a second exercise move of the plurality of exercise moves when determining a second motion which is a subsequent motion of the first motion as the second exercise move, wherein the first torque is based on a first gain having a first sign, and the second torque is based on a second gain having a second sign different from the first sign.