Wearable device and exercise assistance method by the same

A wearable device, comprising:

• an actuator comprising a motor and/or circuitry;
• a sensor configured to measure a motion of a leg of a user and generate motion data based on the motion of the leg of the user;
• at least one processor comprising processing circuitry;
• a cable connected to the actuator;
• and
• a body coupling component connected to the cable, and configured to contact, be connected to, and/or be fixed to, a body part of the user,
• wherein the at least one processor is individually and/or collectively configured to:
• estimate a position of at least part of the leg based on the motion data,
• determine a tension value to be applied to the cable at the position of the at least part of the leg based on the position of the at least part of the leg of the user and a tension control model, and
• control the actuator to generate tension at the determined tension value on the cable.

An exercise assistance method by a wearable device comprising an actuator, a sensor, a cable connected to the actuator, and a body coupling component connected to the cable and configured to be held by, gripped by, contacted by, connected to, and/or fixed to a body part of a user, the method comprising:

• obtaining motion data corresponding to a motion of a hand of the user by using the sensor;
• estimating a position of the hand of the user based on the motion data;
• determining a tension value to be applied to the cable at the position of the hand of the user based on the position of the hand of the user and a tension control model;
• and
• controlling the actuator to generate tension at the determined tension value on the cable.