Wearable device and control method therefor

A wearable device comprising:

• 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 respective differences between a reference angle and respective joint angles 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 of the respective duty ratios 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 terminal 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.

A method of controlling a wearable device, the method comprising:

• 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 respective differences between the reference angle and respective joint angles 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 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.