Shoe-type device and control method thereof

Abstract

Disclosed is a shoe type device and a method of controlling the same. The shoe type device includes a vibrator configured to generate a vibration, a pressure sensor disposed below the vibrator and configured to measure a pressure, and a controller configured to control an intensity of the vibration to be generated by the vibrator based on the measured pressure.

Description

Technical Field

[0001] At least one example embodiment relates to a shoe-shaped device and a technique for controlling the shoe-shaped device. Background Technology

[0002] Users wear shoes in their daily lives. Shoes have the basic function of comforting and safely protecting the user's feet. Recently, shoes with special functions in addition to these basic functions have been developed and released. For example, there are various types of shoes, such as those that automatically provide electrical stimulation to the soles of the user's feet when walking, and those that detect the user's gait patterns through sensors. Therefore, shoes have evolved into wearable devices with a variety of advanced functions. Summary of the Invention

[0003] Some example embodiments relate to a shoe-shaped device.

[0004] In some example embodiments, the shoe-shaped device includes: a vibrator configured to generate vibration; a pressure sensor below the vibrator, wherein the pressure sensor is configured to measure a measured pressure; and a controller configured to control the intensity of the vibration generated by the vibrator based on the measured pressure.

[0005] In some example embodiments, at least a portion of the pressure sensor overlaps with the vibrator in a direction perpendicular to the bottom surface of the shoe-shaped device.

[0006] In some example embodiments, the pressure sensor completely overlaps with the area of ​​the vibrator in a direction perpendicular to the bottom surface of the shoe-shaped device.

[0007] In some example embodiments, the vibrator completely overlaps with the area of ​​the pressure sensor in a direction perpendicular to the bottom surface of the shoe-shaped device.

[0008] In some example embodiments, the pressure sensor and the vibrator form a vertical layer structure and have the same center position in a first direction.

[0009] In some example embodiments, the pressure sensor is attached to the underside of the vibrator.

[0010] In some example embodiments, the vibrator and pressure sensor are formed integrally.

[0011] In some example embodiments, the controller is configured to set the vibration frequency of the vibration generated by the vibrator to be different from the sensing frequency of the pressure sensor.

[0012] In some example embodiments, the controller is configured to control the vibrator such that the intensity of the vibration decreases in response to a decrease in the measured pressure.

[0013] In some example embodiments, the controller is configured to control the vibrator such that the intensity of the vibration increases in response to an increase in the measured pressure.

[0014] In some example embodiments, the controller is configured to: set the intensity of vibration to a first intensity in response to the measured pressure being a first pressure, and set the intensity of vibration to a second intensity greater than the first intensity in response to the measured pressure being a second pressure greater than the first pressure.

[0015] In some example embodiments, the controller is configured to determine the intensity of vibration based on measured pressure and pressure-vibration intensity conversion information.

[0016] In some example embodiments, the vibrator is configured to generate vibrations such that the intensity of the vibrations is less than the sensory threshold of a user wearing the shoe-shaped device.

[0017] In some example embodiments, the vibrator includes a first vibrator and a second vibrator, wherein the first vibrator is configured to generate vibration at a position corresponding to the front foot of the user's foot, and the second vibrator is configured to generate vibration at a position corresponding to the back foot of the user's foot, and the pressure sensor includes a first pressure sensor and a second pressure sensor, wherein the first pressure sensor is below the first vibrator, and the second pressure sensor is below the second vibrator.

[0018] In some example embodiments, the controller is configured to: determine the intensity of a first vibration generated by a first vibrator based on pressure measured by a first pressure sensor; and determine the intensity of a second vibration generated by a second vibrator based on pressure measured by a second pressure sensor.

[0019] In some example embodiments, the controller is configured to control a first vibrator and a second vibrator such that the intensity of the first vibration and the intensity of the second vibration are different from each other.

[0020] Some example embodiments relate to a method of controlling a shoe-shaped device, wherein the shoe-shaped device includes a vibrator, a pressure sensor below the vibrator, and a controller.

[0021] In some example embodiments, the method includes: measuring the measured pressure via a pressure sensor; and controlling the intensity of vibration generated by the vibrator by a controller based on the measured pressure.

[0022] In some example embodiments, at least a portion of the pressure sensor overlaps with the vibrator in a direction perpendicular to the bottom surface of the shoe-shaped device.

[0023] In some example embodiments, the step of controlling the intensity of vibration generated by the vibrator by the controller based on the measured pressure includes: controlling the vibrator to reduce the intensity of vibration in response to a decrease in the measured pressure; and controlling the vibrator to increase the intensity of vibration in response to an increase in the measured pressure.

[0024] In some example embodiments, the vibrator includes a first vibrator and a second vibrator, wherein the first vibrator is configured to generate vibration at a position corresponding to the front foot of the user's foot, and the second vibrator is configured to generate vibration at a position corresponding to the back foot of the user's foot, and the pressure sensor includes a first pressure sensor and a second pressure sensor, wherein the first pressure sensor is located below the first vibrator, and the second pressure sensor is located below the second vibrator. The step of controlling the intensity of the vibration generated by the vibrator based on the measured pressure by the controller may include: determining the intensity of a first vibration generated by the first vibrator based on the pressure measured by the first pressure sensor; and determining the intensity of a second vibration generated by the second vibrator based on the pressure measured by the second pressure sensor.

[0025] Some example embodiments relate to the insole of a shoe-shaped device.

[0026] In some example embodiments, the insole includes: an insole body that can be inserted into a shoe-shaped device; a vibrator mounted in the insole body, wherein the vibrator is configured to generate vibration; and a pressure sensor in the insole body below the vibrator, wherein the pressure sensor is configured to measure the pressure being measured.

[0027] In some example embodiments, at least a portion of the pressure sensor overlaps with the vibrator in a direction perpendicular to the bottom surface of the insole.

[0028] In some example embodiments, the vibrator includes a first vibrator and a second vibrator, wherein the first vibrator is configured to generate vibration at a position corresponding to the front foot of the user's foot, and the second vibrator is configured to generate vibration at a position corresponding to the back foot of the user's foot, and the pressure sensor includes a first pressure sensor and a second pressure sensor, wherein the first pressure sensor is below the first vibrator, and the second pressure sensor is below the second vibrator.

[0029] In some example embodiments, the intensity of the vibration generated by the vibrator is based on the measured pressure.

[0030] In some example embodiments, the intensity of the vibration is based on the measured pressure, such that the intensity of the vibration varies directly with the measured pressure.

[0031] In some example embodiments, the insole also includes a connector configured to connect the vibrator and pressure sensor to the controller.

[0032] In some example embodiments, the connector is configured to protrude at least partially from the insole body downward toward the outsole of the shoe-shaped device to contact the terminals of the controller.

[0033] In some example embodiments, the insole also includes a controller connected via a connector to the vibrator and a pressure sensor, wherein the controller is configured to control the intensity of the vibration generated by the vibrator based on the measured pressure.

[0034] Further aspects of the exemplary embodiments will be set forth in part in the description which follows, and will be apparent in part from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0035] These and / or other aspects will become apparent and more readily understood from the following description of exemplary embodiments in conjunction with the accompanying drawings, wherein:

[0036] Figure 1 This is a perspective view of an example of a shoe-shaped device according to at least one example embodiment;

[0037] Figure 2 This is an exploded perspective view of an example of a shoe-shaped device according to at least one exemplary embodiment;

[0038] Figure 3 This is a cross-sectional view of an example of a shoe-shaped device according to at least one exemplary embodiment;

[0039] Figure 4 It is a plan view illustrating an example of the positional relationship between the electronic device of the shoe-type device according to at least one example embodiment and the user's foot;

[0040] Figures 5a to 5e This is a diagram illustrating an example of the arrangement relationship between a vibrator and a pressure sensor according to at least one example embodiment;

[0041] Figure 6 This is a diagram illustrating an example of vibration control for the forefoot and heel of a user according to at least one example embodiment of a shoe-type device;

[0042] Figures 7a to 7d This is a diagram illustrating an example of adjusting the vibration intensity of a vibrator based on the magnitude of pressure measured by a pressure sensor, according to at least one example embodiment;

[0043] Figure 8 This is a flowchart illustrating an example of a method for controlling a shoe-shaped device according to at least one example embodiment;

[0044] Figure 9 This is a diagram illustrating an example of a control device for a shoe-shaped device according to at least one exemplary embodiment; and

[0045] Figure 10 This is a diagram illustrating an example of a walking assistance device according to at least one exemplary embodiment. Detailed Implementation

[0046] In the following, some exemplary embodiments will be described in detail with reference to the accompanying drawings. Regarding the reference numerals assigned to elements in the drawings, it should be noted that, even if they are shown in different drawings, the same reference numerals will be used to denote the same elements as much as possible. Furthermore, in the description of the embodiments, detailed descriptions of well-known related structures or functions will be omitted where such descriptions would lead to a vague interpretation of this disclosure.

[0047] However, it should be understood that there is no intention to limit this disclosure to the specific exemplary embodiments disclosed. Rather, the exemplary embodiments will cover all modifications, equivalents, and substitutions falling within the scope of the exemplary embodiments. Throughout the description of the accompanying drawings, the same reference numerals refer to the same elements.

[0048] Additionally, terms such as first, second, A, B, (a), (b), etc., may be used herein to describe components. Each of these terms is not used to define the nature, order, or sequence of the corresponding components, but only to distinguish the corresponding component from (one or more) other components. It should be noted that if a component is described in the specification as being “connected,” “coupled,” or “joined” to another component, although the first component may be directly connected, coupled, or joined to the second component, a third component may be “connected,” “coupled,” and “joined” between the first and second components.

[0049] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprising” and / or “including” as used herein specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0050] It should also be noted that in some alternative embodiments, the functions / actions mentioned may not occur in the order shown in the figures. For example, depending on the functions / actions involved, the two figures shown in succession may actually be performed substantially simultaneously or sometimes in reverse order.

[0051] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the disclosure of this application pertains. Unless expressly defined herein, terms (such as those defined in general dictionaries) shall be interpreted as having a meaning consistent with their meaning in the context of the relevant field and shall not be interpreted in an idealized or overly formal sense.

[0052] Furthermore, in the description of the exemplary embodiments, such descriptions will be omitted when it is believed that a detailed description of the structure or function known therefrom after understanding the disclosure of this application would lead to a vague interpretation of the exemplary embodiments.

[0053] Various exemplary embodiments will now be described more fully with reference to the accompanying drawings, which illustrate some exemplary embodiments. In the drawings, the thickness of layers and regions is exaggerated for clarity.

[0054] The shoe-shaped device described below may include electronic devices configured to generate vibrations. For example, the shoe-shaped device may include a vibrator capable of generating physical vibrations based on control signals. The vibrator may be embedded in the shoe-shaped device or insole and provide stimulation to the user wearing the shoe-shaped device at an amplitude less than the user's sensory threshold. The sensory threshold is the minimum amplitude of stimulation required to activate cells in the user's sole. The vibrator may generate vibrations with an intensity less than or equal to the threshold of tactile sensation felt by the user's sole, thereby triggering random resonance. Random resonance is the phenomenon where the sensitivity level to an observed target signal is increased when white noise with an amplitude less than or equal to the sensory threshold is applied to a measuring device or sensory organ with a fixed sensory threshold. For example, the vibration generated by the vibrator of the shoe-shaped device can amplify the tactile signal that will be transmitted to the user's sole through random resonance, and thus the user can feel the sensation on the sole of their foot more sensitively. Therefore, the shoe-shaped device can help those who cannot feel sensation normally due to reduced sensory ability in their feet.

[0055] In the following description, exemplary embodiments will be described in detail with reference to the accompanying drawings, and the same reference numerals in the drawings always refer to the same elements.

[0056] Figure 1 This is a perspective view of an example of a shoe-shaped device according to at least one example embodiment. Figure 2 This is an exploded perspective view of an example of a shoe-shaped device in which the insole body is shown separately according to at least one example embodiment. Figure 3 This is a cross-sectional view of an example of a shoe-shaped device according to at least one example embodiment.

[0057] Reference Figures 1 to 3The shoe-shaped device 1 includes a sole 10, a control device 20, and an upper 90. The sole 10 includes an outsole 11, a midsole 12, and an insole 13. In the following description, the longitudinal direction of the shoe-shaped device 1 will indicate the y-axis direction, the width direction will indicate the x-axis direction, and the height direction will indicate the z-axis direction. The shoe-shaped device 1 is provided, for example, in the form of a shoe. However, the form of the shoe-shaped device 1 is not limited to the foregoing example. For example, the shoe-shaped device 1 can be provided in the form of a sock and applied to an exercise-assisted robot.

[0058] The outsole 11 forms at least a portion of the bottom of the shoe assembly 1. For example, the outsole 11 includes a bottom surface that contacts the ground when the user wears the shoe assembly 1. Although the outsole 11 and midsole 12 are shown as separate, they may be provided as a single unit. The midsole 12 forms at least a portion of the outer lower shape of the shoe assembly 1. The insole 13 is disposed inside the upper 90 and is arranged on the midsole 12. The insole 13 includes a surface that contacts the sole of the user's foot when the user wears the shoe assembly 1 and is removable from the midsole 12.

[0059] The insole 13 includes an insole body 131, a support layer 132, electronic devices, connecting wires 134, and connectors 135. The insole body 131 is disposed on the top surface of the midsole 12 and can be configured in various shapes. The support layer 132 is disposed inside the insole body 131 and supports the electronic devices and connecting wires 134. The connecting wires 134 enable electrical connection between the electronic devices and the control device 20. The connectors 135 enable electrical connection of each electronic device to the control device 20.

[0060] Electronic devices are disposed on the top surface of the support layer 132. The electronic devices and the support layer 132 are disposed as a whole within the inner sole body 131. However, the example is not limited to the one shown, and a portion of the electronic devices may be exposed outside the inner sole body 131.

[0061] The electronic device includes at least one vibrator (e.g., vibrators 133a and 133b as shown) and at least one pressure sensor (e.g., pressure sensors 143a and 143b as shown). The vibrator may include, for example, a piezoelectric motor (or simply a piezoelectric motor) or an eccentric vibrating motor. The vibrator can generate physical vibrations with an intensity less than or equal to a set maximum vibration intensity. The intensity may vary irregularly, such as noise. The pressure sensor (a sensor configured to measure the pressure applied thereto) can sense the foot pressure transmitted from the sole of the user's foot when the user wears the shoe-type device 1. The pressure sensor may be a piezoelectric pressure sensor (or simply a piezoelectric pressure sensor) or a force-sensitive resistor (FSR) pressure sensor, and is implemented in the form of a membrane.

[0062] The pressure sensor can be arranged without being separated from the vibrator, but rather positioned below the location where the vibrator is located. For example, as shown, the pressure sensor (e.g., pressure sensors 143a and 143b) can at least partially overlap with the vibrator (e.g., vibrators 133a and 133b) in a direction perpendicular to the bottom surface of the shoe-shaped device 1. In this way, the pressure sensor and the vibrator can form a vertical layer structure.

[0063] According to the example, the electronic device may also include another sensor, such as an inertial sensor (e.g., an accelerometer and a gyroscope). The inertial sensor can be used to measure the movement of the shoe-shaped device 1 or the movement of the user wearing the shoe-shaped device 1.

[0064] The control device 20 can be electrically connected to the electronic device and thus receive sensor data from the pressure sensor or another sensor included in the electronic device. Additionally, the control device 20 can send control signals to the vibrator for controlling its operation.

[0065] The control device 20 includes a housing 21, a connecting portion 22, a battery 23, and a controller 24. The housing 21 is configured to correspond to a receiving groove 121 formed on the midsole 12. The connecting portion 22 includes terminals for electrical connection to a connecting wire 134 and is disposed on the upper side of the housing 21. The battery 23 provides the power required for the operation of the shoe device 1. For example, the battery 23 can provide power to electronic devices and the controller 24, and includes a rechargeable battery.

[0066] The controller 24 includes at least one processor and can control the operation of the shoe-shaped device 1.

[0067] The controller 24 can generate control signals to control the operation of the electronic device. For example, the controller 24 can generate one or more control signals based on the pressure measured by the pressure sensor for controlling the individual vibrators in the vibrator, and one or more control signals for adjusting the amount of vibration to be generated by the individual vibrators in the vibrator and / or the maximum vibration intensity of the individual vibrators in the vibrator.

[0068] For example, the controller 24 associated with the shoe-shaped device 1 may include processing circuitry, which includes, but is not limited to, a central processing unit (CPU), an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field-programmable gate array (FPGA), a programmable logic unit, a microprocessor, an application-specific integrated circuit (ASIC), etc. The processing circuitry may be a dedicated circuitry that configures the shoe-shaped device 1 to set the intensity of the vibration generated by the vibrator to be directly related to the magnitude of the pressure measured by a pressure sensor. Therefore, the dedicated controller 24 can improve the function of the shoe-shaped device 1 by controlling the vibration intensity of the vibrator based on pressure as described above, and thus alleviate the inconvenience that the user may experience due to excessive vibration.

[0069] Figure 4 It is a plan view illustrating an example of the relationship between the electronic device and the relative position of the user's foot according to at least one example embodiment.

[0070] Reference Figure 4 The shoe-shaped device includes a front vibrator 133a disposed in the front of the support layer 132, a rear vibrator 133b disposed in the rear of the support layer 132, a front pressure sensor 143a disposed below the front vibrator 133a, and a rear pressure sensor 143b disposed below the rear vibrator 133b. The front vibrator 133a can generate vibration or vibration noise at a position corresponding to the forefoot of the user's foot, and the rear vibrator 133b can generate vibration or vibration noise at a position corresponding to the heel of the user's foot. Here, "forefoot" can refer to the forefoot sole portion of the foot, and "heelfoot" can refer to the heel sole portion of the foot.

[0071] According to an example embodiment, the controller 24 may determine the intensity of the vibration to be generated by the front vibrator 133a based on the pressure measured by the front pressure sensor 143a, and determine the intensity of the vibration to be generated by the rear vibrator 133b based on the pressure measured by the rear pressure sensor 143b.

[0072] When a user wears the shoe-type device 1, the intensity of the vibration or the transmission characteristics of the vibration felt by the user can vary depending on the pressure on the sole of the user's foot. For example, when the user is standing while wearing the shoe-type device 1, the pressure applied to the sole of the user's foot may be relatively large. In this example, a larger intensity vibration may need to be applied to the sole of the user's foot. As another example, when the user is sitting or lying down while wearing the shoe-type device 1, the pressure applied to the sole of the user's foot may be relatively smaller than the pressure when the user is standing. In this example, a smaller intensity vibration may need to be applied to the sole of the user's foot. As mentioned above, the pressure on the sole of the foot and the intensity of the vibrator to be applied can be closely related. Therefore, in order to determine the appropriate vibration intensity for each of the vibrators 133a and 133b, it may be necessary to measure the pressure more accurately from the location where each of the vibrators 133a and 133b is arranged.

[0073] The shoe-shaped device 1 can have pressure sensors 143a and 143b below the vibrators 133a and 133b, and thus effectively determine the intensity of the vibration corresponding to the location where the pressure on the sole of the foot is measured. Furthermore, since the pressure sensors 143a and 143b are arranged below the vibrators 133a and 133b, the vibrators 133a and 133b can naturally perform functions corresponding to the puck structure of the pressure sensors 143a and 143b.

[0074] Figures 5a to 5e This is a diagram illustrating an example arrangement of a vibrator and a pressure sensor according to at least one example embodiment.

[0075] According to an example embodiment, the vibrator and pressure sensor can form a vertical layer structure, and at least a portion of them can overlap each other in a direction perpendicular to the bottom surface of the shoe-shaped device. Various forms of vertical layer structures can be formed between the vibrator and the pressure sensor. Vibrators 133a and 133b can be one of vibrators 512, 522, 532, 542, and 552, and pressure sensors 143a and 143b can be corresponding pressure sensors 514, 524, 534, 544, and 554, each of which is discussed in more detail below.

[0076] Reference Figure 5a The vibrator 512 and the pressure sensor 514 have the same width and the same center position in the first direction. For example, the vibrator 512 and the pressure sensor 514 can be arranged in concentric circles in the first direction. The first direction can correspond to the z-axis direction or a direction perpendicular to the bottom surface of the shoe-shaped device. (Refer to...) Figure 5bThe pressure sensor 524 completely overlaps with the vibrator 522 in the region of the vibrator 522 in a direction perpendicular to the bottom surface of the shoe-shaped device. In this case, the width of the vibrator 522 can be greater than the width of the pressure sensor 524. (Refer to...) Figure 5c The vibrator 532 completely overlaps with the pressure sensor 534 in the region of the pressure sensor 534 in a direction perpendicular to the bottom surface of the shoe-shaped device. In this case, the width of the pressure sensor 534 can be greater than the width of the vibrator 532. (Refer to...) Figure 5d ,and Figure 5a As shown, the vibrator 542 and the pressure sensor 544 may not have the same center position in the first direction. (Refer to...) Figure 5e There are multiple pressure sensors 554 and 556 associated with a single vibrator 552. In this case, all pressure sensors 554 and 556 can be arranged below the vibrator 552, and at least a portion of them can overlap with the vibrator 552 in a direction perpendicular to the bottom surface of the shoe-shaped device.

[0077] According to an example embodiment, the pressure sensor can be attached to the vibrator and can be located below the vibrator. Alternatively, the vibrator and pressure sensor can be configured as an integrated unit with the pressure sensor positioned below the vibrator. That is, the vibrator and pressure sensor can be implemented as a single module.

[0078] Figure 6 This is a diagram illustrating an example of vibration control for the forefoot and heel of a user's foot according to at least one example embodiment of a shoe-type device.

[0079] Reference Figure 6 The shoe-shaped device includes a front vibrator 614 positioned corresponding to the forefoot of the user's foot, and a rear vibrator 612 positioned corresponding to the heel of the user's foot. A front pressure sensor 624 is positioned below the front vibrator 614, and a rear pressure sensor 622 is positioned below the rear vibrator 612. Here, the forefoot and rearfoot can respectively indicate the forefoot sole and the heel sole.

[0080] When a user is standing on flat ground while wearing the shoe-shaped device, the pressure applied to the heel is typically greater than the pressure applied to the forefoot. Under such circumstances, the pressure sensed by the rear pressure sensor 622 is greater than the pressure sensed by the front pressure sensor 624, and therefore the controller of the shoe-shaped device can control the front vibrator 614 and the rear vibrator 612 such that the vibration intensity of the rear vibrator 612 is greater than the vibration intensity of the front vibrator 614. The controller can automatically control the vibration intensity of each of the front vibrator 614 and the rear vibrator 612 based on the pressure sensed by each of the front pressure sensor 624 and the rear pressure sensor 622. Therefore, the shoe-shaped device can effectively trigger random resonances that enhance the sensitivity of the user's foot based on the pressure on the sole of the foot.

[0081] Figures 7a to 7d This is a diagram illustrating an example of adjusting the vibration intensity of a vibrator based on the magnitude of pressure measured by a pressure sensor, according to at least one example embodiment.

[0082] Figure 7a An example is shown where the vibration intensity of a vibrator is linearly adjusted based on the magnitude of the measured pressure. Figure 7b and 7c An example is shown where the vibration intensity of a vibrator is adjusted non-linearly based on the magnitude of the measured pressure. Figure 7d This demonstrates how the vibration intensity of a vibrator is adjusted discontinuously based on the magnitude of the measured pressure.

[0083] When the measured pressure is small, the shoe-shaped device can be based on, for example... Figures 7a to 7d The pressure-intensity relationship shown in one of the diagrams sets the intensity of the vibration generated by the vibrator to a small value. When the magnitude of the measured pressure is large, the shoe-shaped device can be based on, for example... Figures 7a to 7d The pressure-intensity relationship shown in one of the diagrams sets the intensity of the vibration generated by the vibrator to a maximum. Therefore, the shoe-type device can control the vibration intensity of the vibrator based on pressure as described above, and thus reduce the inconvenience that the user might experience due to excessive vibration.

[0084] Figure 8 This is a flowchart illustrating an example of a method for controlling a shoe-shaped device according to at least one example embodiment.

[0085] Reference Figure 8 In operation 810, the control device 20 of the shoe-shaped device 1 uses pressure sensors 143a and 143b arranged below each of the vibrators in the vibrators 133a and 133b to measure pressure.

[0086] In operation 820, the control device 20 of the shoe-shaped device 1 adjusts the intensity of the vibration generated by the vibrators 133a and 133b based on the pressure measured in operation 810.

[0087] According to an exemplary embodiment, when the measured pressure increases, the control device 20 can control the vibrators 133a and 133b to increase the intensity of the vibrations generated by the vibrators 133a and 133b. Conversely, when the measured pressure decreases, the control device 20 can control the vibrators 133a and 133b to decrease the intensity of the vibrations generated by the vibrators. The control device 20 can adjust the vibration intensity of the vibrators 20 by controlling the output of the motors included in the vibrators 133a and 133b. The control device 20 can automatically adjust the vibration intensity of the vibrators 133a and 133b based on changes in the measured pressure.

[0088] According to an example embodiment, when the shoe-type device 1 includes a first vibrator 133a configured to generate vibration at a position corresponding to the forefoot of the user's foot, a second vibrator 133b configured to generate vibration at a position corresponding to the heel of the user's foot, a first pressure sensor 143a disposed below the first vibrator 133a, and a second pressure sensor 143b disposed below the second vibrator 133b, the control device 20 can determine the intensity of the first vibration generated by the first vibrator 133a based on the pressure measured by the first pressure sensor 143a, and determine the intensity of the second vibration generated by the second vibrator 133b based on the pressure measured by the second pressure sensor 143b. The intensity of the first vibration and the intensity of the second vibration may be different from each other.

[0089] For example, such as Figures 7a to 7d As shown, the magnitude of the measured foot pressure and the vibration intensity of the vibrator set based on the pressure can have a continuous or discontinuous relationship, or a linear or nonlinear relationship. According to an exemplary embodiment, the control device 20 can determine the vibration intensity corresponding to the measured pressure based on desired (or optionally, predefined) pressure-vibration intensity conversion information, and control the vibrators 133a, 133b to generate vibration of the determined vibration intensity.

[0090] The shoe-shaped device 1 can adjust the vibration intensity of the vibrators 133a and 133b based on the pressure measured from the user's sole, thereby reducing the battery consumption of the shoe-shaped device 1 and effectively triggering random resonance. In addition, when the pressure on the user's sole is relatively low, the shoe-shaped device 1 can apply vibration of a desired intensity corresponding to such low pressure to the user's sole, thereby preventing the user from feeling uncomfortable due to unnecessarily high vibration intensity.

[0091] Furthermore, the vibration frequency of the vibrations generated by the vibrators 133a and 133b can be different from the sensing frequency of the pressure sensors 143a and 143b used for pressure sensing. Therefore, even if the pressure sensors are arranged below the vibrators 133a and 133b, the vibrations generated by the vibrators 133a and 133b can have no significant impact on pressure sensing. According to the example, the control device 20 can use a filter to remove the noise component caused by the vibrations of the vibrators 133a and 133b from the pressure signal measured by the pressure sensors 143a and 143b.

[0092] In some example embodiments, the shoe-shaped device 1 can adjust the vibration intensity of the vibrator based on measured pressure and pressure-vibration intensity conversion information, so that the vibration intensity is within the allowable intensity range.

[0093] For example, in some example embodiments, the shoe-shaped device 1 can set an allowable intensity range based on parameters associated with the user. For instance, the shoe-shaped device 1 can determine the user's weight based on, for example, the pressure applied to pressure sensors 143a, 143b when the user is stationary, and determine the allowable intensity range based on the user's weight. As another example, the shoe-shaped device 1 can be configured to perform an initialization operation to determine the user's sensitivity by providing stimulation to the user's sole via vibrators 133a, 133b, and receive feedback from the user indicating a minimum acceptable intensity and a maximum acceptable intensity, determine the allowable intensity range based on the input minimum and maximum acceptable intensities, and store the allowable intensity range in memory. As yet another example, the shoe-shaped device 1 can learn over time the minimum intensity provided to the user in response to stimulation, and store the minimum intensity as the minimum acceptable intensity within the allowable intensity range.

[0094] Figure 9 This is a diagram illustrating an example of a control device for a shoe-shaped device according to at least one example embodiment.

[0095] Reference Figure 9 The control device 900 of the shoe-shaped device 1 includes a pressure sensor 910, a vibrator 920, and a controller 930. The control device 900 can be embedded in the shoe-shaped device 1 for operation therein.

[0096] Vibrator 920 can generate vibration under the control of controller 930. According to an example embodiment, vibrator 920 can generate vibrations with an intensity less than the sensory threshold of a user wearing the shoe-shaped device. Pressure sensor 910 can be arranged below vibrator 920 and measure pressure. According to an example embodiment, vibrator 920 and pressure sensor 910 can be arranged in the insole of shoe-shaped device 1 such that vibrator 920 corresponds to vibrators 133a, 133b, and pressure sensor 910 corresponds to pressure sensors 143a, 143b.

[0097] At least a portion of the pressure sensor 910 may overlap with the vibrator 920 in a direction perpendicular to the bottom surface of the shoe-shaped device 1. According to an example embodiment, the pressure sensor 910 may completely overlap with a region of the vibrator 920 in a direction perpendicular to the bottom surface of the shoe-shaped device, or the vibrator 920 may completely overlap with a region of the pressure sensor 910 in a direction perpendicular to the bottom surface of the shoe-shaped device. According to an example, the pressure sensor 910 may be attached below the vibrator 920, and the vibrator 920 and the pressure sensor 910 may be provided integrally.

[0098] The controller 930 can control each component of the shoe-shaped device 1. The controller 930 can control the intensity of the vibration generated by the vibrator 920 based on the pressure measured by the pressure sensor 910. The controller 930 can correspond to the control device 20.

[0099] For example, the controller 930 associated with the shoe-shaped device 1 may include processing circuitry, which includes, but is not limited to, a central processing unit (CPU), an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field-programmable gate array (FPGA), a programmable logic unit, a microprocessor, an application-specific integrated circuit (ASIC), etc. The processing circuitry may be a dedicated processing circuitry that configures the shoe-shaped device 1 to set the intensity of the vibration generated by the vibrator 920 to be directly related to the magnitude of the pressure measured by the pressure sensor 910. Therefore, the dedicated controller 930 can improve the function of the shoe-shaped device 1 by controlling the vibration intensity of the vibrator 920 based on pressure as described above, and thus alleviate the inconvenience that the user may experience due to excessive vibration.

[0100] For example, when the measured pressure increases, the controller 930 can control the vibrator 920 to increase the intensity of the vibration generated by the vibrator 920. When the measured pressure decreases, the controller 930 can control the vibrator 920 to decrease the intensity of the vibration generated by the vibrator 920. For example, when the measured pressure is a first pressure, the controller 930 can set the vibration intensity to a first intensity. When the measured pressure is a second pressure greater than the first pressure, the controller 930 can set the vibration intensity to a second intensity greater than the first intensity.

[0101] According to an example embodiment, the controller 930 can use desired (or optionally, predefined) pressure-vibration intensity conversion information to determine the vibration intensity of the vibrator 920 based on the magnitude of the measured pressure. The pressure-vibration intensity conversion information may be information defining the correspondence between pressure magnitude and vibration intensity, and may be defined in the form of a lookup table.

[0102] The controller 930 can individually control the vibration intensity of each vibrator 920 based on the pressure magnitude of each pressure sensor 910 arranged in the shoe-shaped device. For example, the controller 930 can determine the intensity of a first vibration to be generated by the first vibrator 920 based on the pressure measured by the first pressure sensor 910, and determine the intensity of a second vibration to be generated by the second vibrator 920 based on the pressure measured by the second pressure sensor 910.

[0103] Figure 10 This is a diagram illustrating an example of a walking assistance device according to at least one exemplary embodiment.

[0104] Reference Figure 10 The walking assistance device can communicate with the left shoe-shaped device 1-L and the right shoe-shaped device 1-R, and the left shoe-shaped device 1-L and the right shoe-shaped device 1-R each correspond to the shoe-shaped device 1.

[0105] In some example embodiments, the walking assistance device may include a drive section 1010, a sensor section 1020, an inertial measurement unit (IMU) sensor 1030, and a controller 1040.

[0106] In some example embodiments, the shoe-shaped devices 1-L, 1-R can communicate with a walking aid worn by a user and can provide the walking aid with information indicating the pressure measured by pressure sensors 143a, 143b and / or can control vibrators 133a, 133b based on instructions received from the walking aid.

[0107] In some example embodiments, the shoe-shaped devices 1-L, 1-R can use pressure sensors 143a, 143b to measure the pressure applied to the user's sole and detect the center of pressure (COP) based on the pressure applied to the user's sole. The shoe-shaped device 1 can communicate with a walking aid worn by the user and instruct the walking aid to output an assistive force based on the center of pressure (COP) to rebalance the pressure applied to the user's sole.

[0108] The units and / or modules described herein can be implemented using hardware and software components. For example, hardware components may include microphones, amplifiers, bandpass filters, audio-to-digital converters, and processing devices. Processing devices can be implemented using one or more hardware devices configured to execute and / or run program code by performing arithmetic, logical, and input / output operations. Processing devices may include processors, controllers, arithmetic logic units, digital signal processors, microcomputers, field-programmable arrays, programmable logic units, microprocessors, or any other means capable of responding to and executing instructions in a defined manner. Processing devices may run an operating system (OS) and one or more software applications running on the OS. Processing devices may also access, store, manipulate, process, and create data in response to the execution of software. For simplicity, the description of processing devices is used in the singular; however, those skilled in the art will understand that processing devices may include multiple processing elements and various types of processing elements. For example, a processing device may include multiple processors, or a processor and a controller. Furthermore, different processing configurations are possible (such as parallel processors).

[0109] Software may include computer programs, code segments, instructions, or some combination thereof, to independently or jointly instruct and / or configure a processing device to operate as needed, thereby transforming the processing device into a dedicated processor. Software and data may be permanently or temporarily contained in any type of machine, component, physical or virtual device, computer storage medium, or apparatus, or contained in propagating signal waves capable of providing instructions or data to or being interpreted by the processing device. Software may also be distributed across networked computer systems, enabling it to be stored and executed in a distributed manner. Software and data may be stored on one or more non-transitory computer-readable recording media.

[0110] The methods according to the exemplary embodiments described above can be recorded in a non-transitory computer-readable medium including program instructions for implementing the various operations of the example embodiments described above. The medium may also include data files, data structures, etc., alone or in combination with the program instructions. The program instructions recorded on the medium may be those specifically designed and constructed for the purposes of the example embodiments, or they may be of types known and available to those skilled in the art of computer software. Examples of non-transitory computer-readable media include: magnetic media (such as hard disks, floppy disks, and magnetic tapes); optical media (such as CD-ROMs, DVDs, and / or Blu-ray discs); magneto-optical media (such as optical discs); and hardware devices specifically configured to store and execute program instructions (such as read-only memory (ROM), random access memory (RAM), flash memory (e.g., USB flash drives, memory cards, memory sticks, etc.). Examples of program instructions include both machine code generated by a compiler and files containing higher-level code that can be executed by a computer using an interpreter. The aforementioned devices may be configured to act as one or more software modules to perform the operations of the example embodiments described above, or vice versa.

[0111] Several exemplary embodiments have been described above. However, it should be understood that various modifications can be made to these exemplary embodiments. For example, suitable results may be achieved if the described techniques are performed in a different order and / or if components in the described system, architecture, apparatus, or circuit are combined in a different manner and / or replaced or supplemented by other components or their equivalents. Therefore, other embodiments are within the scope of the appended claims.

Claims

1. A shoe-shaped device, comprising: A vibrator is configured to generate vibration; A pressure sensor, located below the vibrator, is configured to measure pressure; and The controller is configured to control the intensity of the vibration generated by the vibrator based on the measured pressure. The controller is configured to, in response to a decrease in the measured pressure, control the vibrator to reduce the intensity of the vibration while maintaining the output of the vibration. The controller is also configured as follows: In response to the measured pressure being the first pressure, the intensity of the vibration is set to the first intensity, and In response to the measured pressure being a second pressure greater than the first pressure, the intensity of the vibration is set to a second intensity greater than the first intensity. The intensity of the vibration generated by the vibrator is less than the sensory threshold of the user wearing the shoe-shaped device, wherein the sensory threshold indicates the minimum amplitude of stimulation required to activate the cells in the user's sole.

2. The shoe-shaped device as claimed in claim 1, wherein, At least a portion of the pressure sensor overlaps with the vibrator in a direction perpendicular to the bottom surface of the shoe-shaped device.

3. The shoe-shaped device as described in claim 2, wherein, The pressure sensor completely overlaps with the area of ​​the vibrator in a direction perpendicular to the bottom surface of the shoe-shaped device, or The vibrator completely overlaps with the area of ​​the pressure sensor in a direction perpendicular to the bottom surface of the shoe-shaped device.

4. The shoe-shaped device as claimed in claim 1, wherein, The pressure sensor and vibrator form a vertical layer structure and have the same center position in the first direction.

5. The shoe-shaped device as claimed in claim 1, wherein, The pressure sensor is attached to the underside of the vibrator.

6. The shoe-shaped device as claimed in claim 1, wherein, The vibrator and pressure sensor are integrated into one unit.

7. The shoe-shaped device as claimed in claim 1, wherein, The controller is configured to set the vibration frequency of the vibration generated by the vibrator to be different from the sensing frequency of the pressure sensor.

8. The shoe-shaped device as claimed in claim 1, wherein, The controller is also configured to determine the intensity of vibration based on measured pressure and pressure-vibration intensity conversion information.

9. The shoe-shaped device as claimed in claim 1, wherein, The vibrator includes a first vibrator and a second vibrator, wherein the first vibrator is configured to generate vibration at a position corresponding to the user's forefoot, and the second vibrator is configured to generate vibration at a position corresponding to the user's heel. The pressure sensor includes a first pressure sensor and a second pressure sensor, wherein the first pressure sensor is located below the first vibrator and the second pressure sensor is located below the second vibrator.

10. The shoe-shaped device as claimed in claim 9, wherein, The controller is also configured as follows: The intensity of the first vibration generated by the first vibrator is determined based on the pressure measured by the first pressure sensor; The intensity of the second vibration generated by the second vibrator is determined based on the pressure measured by the second pressure sensor. as well as The first and second vibrators are controlled such that the intensity of the first vibration and the intensity of the second vibration are different from each other.

11. A method for controlling a shoe shape device, wherein, The shoe-shaped device includes a vibrator, a pressure sensor below the vibrator, and a controller; the method includes: Pressure is measured via a pressure sensor; and The controller controls the intensity of the vibration generated by the vibrator based on the measured pressure. The step of controlling the intensity of vibration generated by the vibrator based on measured pressure by the controller includes: in response to a decrease in measured pressure, controlling the vibrator to reduce the intensity of the vibration while maintaining the output of the vibration. The step of controlling the intensity of the vibration generated by the vibrator based on the measured pressure by the controller further includes: In response to the measured pressure being the first pressure, the intensity of the vibration is set to the first intensity, and In response to the measured pressure being a second pressure greater than the first pressure, the intensity of the vibration is set to a second intensity greater than the first intensity. The intensity of the vibration generated by the vibrator is less than the sensory threshold of the user wearing the shoe-shaped device, wherein the sensory threshold indicates the minimum amplitude of stimulation required to activate the cells in the user's sole.

12. The method of claim 11, wherein, At least a portion of the pressure sensor overlaps with the vibrator in a direction perpendicular to the bottom surface of the shoe-shaped device.

13. The method of claim 11, wherein, The vibrator includes a first vibrator and a second vibrator, wherein the first vibrator is configured to generate vibration at a position corresponding to the user's forefoot, and the second vibrator is configured to generate vibration at a position corresponding to the user's heel. The pressure sensor includes a first pressure sensor and a second pressure sensor, wherein the first pressure sensor is located below the first vibrator, and the second pressure sensor is located below the second vibrator. The step of controlling the intensity of the vibration generated by the vibrator based on the measured pressure by the controller further includes: The intensity of the first vibration generated by the first vibrator is determined based on the pressure measured by the first pressure sensor; and The intensity of the second vibration generated by the second vibrator is determined based on the pressure measured by the second pressure sensor.

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