Method and device with exercise assistance
An exercise assist method includes receiving a user input signal comprising exercise setting information from an external device; measuring, based on the user input signal, a joint angle of a hip joint of a user wearing an exercise assist device configured to assist a user in performing a leg movement; and controlling torque of the exercise assist device to be applied to a leg of the user based on the measured joint angle and the exercise setting information.
1. An exercise assist method, comprising:
receiving a user input signal from an external device;
measuring, in response to the user input signal being received, a joint angle of a hip joint of a user wearing an exercise assist device configured to assist the user in performing a leg movement; and
controlling torque of the exercise assist device to be applied to a leg of the user based on the measured joint angle,
wherein the controlling of the torque of the exercise assist device comprises,
controlling the exercise assist device to operate in an exercise assist mode and increase a magnitude of the torque for a first time period whenever the measured joint angle corresponds to the joint angle of the hip joint of the user at a time point at which the user input signal was previously received, and
controlling the exercise assist device to operate in a standby mode and decrease the magnitude of the torque for a second time period whenever a standing posture of the user is recognized based on the measured joint angle.
2. The exercise assist method of claim 1 , wherein the controlling of the torque comprises:
in response to a posture of the user being recognized as an initial standing posture based on the measured joint angle, increasing a magnitude of the torque for the first time period.
3. The exercise assist method of claim 2 , wherein the controlling of the torque comprises:
in response to the posture of the user being recognized as a near-standing posture based on the measured joint angle, decreasing the magnitude of the torque for the second time period.
4. The exercise assist method of claim 3 , wherein the controlling of the torque comprises:
decreasing the magnitude of the torque for the second time period such that the magnitude of the torque becomes 0 at an end time point of the second time period.
5. The exercise assist method of claim 1 , wherein the controlling of the torque comprises:
determining a torque type of the torque to be a resistance torque type or an assistance torque type based on a direction of the measured joint angle and exercise setting information.
6. The exercise assist method of claim 5 , wherein the controlling of the torque comprises:
in response to a direction of a joint angle measured from a first leg of the user being a first direction and the torque type determined being the assistance torque type, applying an assistance torque in the first direction; and
in response to the direction of the joint angle measured from the first leg being the first direction and the torque type determined being the resistance torque type, applying a resistance torque in a second direction opposite to the first direction.
7. The exercise assist method of claim 6 , wherein the controlling of the torque comprises:
in response to the direction of the joint angle measured from the first leg being the second direction and the torque type being the assistance torque type, applying the assistance torque in the second direction; and
in response to the direction of the joint angle measured from the first leg being the second direction and the torque type being the resistance torque type, applying the resistance torque in the first direction.
8. The exercise assist method of claim 1 , wherein the controlling of the torque comprises:
determining a magnitude of the torque to be applied to the leg of the user based on a direction of the measured joint angle and exercise setting information.
9. The exercise assist method of claim 1 , wherein the user input signal triggers the exercise assist mode in the exercise assist device based on a start time point determined based on when a corresponding user input was generated.
10. The exercise assist method of claim 1 , wherein receipt of the user input signal is dependent on any one or any combination of any two or more of a button activation, a user interface manipulation, speech recognition, or gesture recognition.
11. The exercise assist method of claim 5 , wherein the exercise setting information includes setting information associated with at least one of a magnitude of torque, a torque type, and a torque variation rate over time, in relation to an exercise for each of a left leg and a right leg of the user.
12. The exercise assist method of claim 1 , further comprising:
in response to respective joint angles of both legs of the user being included in a predefined angle range, canceling the exercise assist mode of the exercise assist device.
13. The exercise assist method of claim 12 , wherein, in response to the exercise assist mode being canceled, not applying the torque to the legs of the user.
14. A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the exercise assist method of claim 1 .
15. The exercise assist method of claim 5 , wherein
the exercise setting information includes information associated with parameters set in association with an operation in the exercise assist mode, and
the parameters include at least one of a type, a strength, and a rate of torque to be applied to the leg of the user.
16. An exercise assist device, comprising:
a communicator configured to receive a user input signal from an external device;
a sensor configured to measure, in response to the user input signal being received, a joint angle of a hip joint of a user wearing the exercise assist device configured to assist the user in performing a leg movement;
a controller configured to generate a control signal to control torque of the exercise assist device to be applied to a leg of the user based on the measured joint angle; and
an actuator configured to output the torque based on the control signal,
wherein the controller is further configured to control the torque of the exercise assist device by
controlling the exercise assist device to operate in an exercise assist mode and increase a magnitude of the torque for a first time period whenever the measured joint angle corresponds to the joint angle of the hip joint of the user measured at a time point at which the user input signal was previously received, and
controlling the exercise assist device to operate in a standby mode and decrease the magnitude of the torque for a second time period whenever a standing posture of the user is recognized based on the measured joint angle.
17. The exercise assist device of claim 16 , wherein the controller is further configured to:
increase a magnitude of the torque for the first time period in response to a posture of the user being recognized as an initial standing posture based on the measured joint angle; and
decrease a strength of the torque for the second time period in response to the posture of the user being recognized as a near-standing posture based on the measured joint angle.
18. The exercise assist device of claim 16 , wherein the controller is further configured to determine a torque type of the torque to be a resistance torque type or an assistance torque type based on a direction of the measured joint angle and exercise setting information.
19. The exercise assist device of claim 16 , wherein the user input signal triggers the exercise assist mode in the exercise assist device based on a start time point based on when a user input is generated.
20. The exercise assist device of claim 16 , wherein the controller is further configured to cancel the exercise assist mode of the exercise assist device when respective joint angles of both legs of the user are all determined to be within a predefined angle range.
21. An exercise assist device having an extended member, comprising:
a communicator configured to receive a user input signal from an external device;
a sensor configured to measure, in response to a user input signal being received, a joint angle of a hip joint of a user wearing the exercise assist device;
a controller configured to generate a control signal based on the measured joint angle; and
an actuator configured to output torque to the extended member based on the control signal,
wherein the controller is further configured to control the torque by
controlling the exercise assist device to operate in an exercise assist mode and increase a magnitude of the torque whenever the measured joint angle corresponds to the joint angle of the hip joint of the user measured at a time point at which the user input signal was previously received, and
controlling the exercise assist device to operate in a standby mode and decrease the magnitude of the torque whenever a standing posture of the user is recognized based on the measured joint angle.