Foot presence sensing using magnets in footwear

Abstract

An article of footwear can include a ferromagnetic body disposed in the article and a magnetometer for measuring the strength or direction of a magnetic field affected by the position of the ferromagnetic body. One of the ferromagnetic body and the magnetometer can be configured to move relative to the other in response to, for example, movement of a foot in the article. In an example, the ferromagnetic body is disposed in a compressible insole, and the ferromagnetic body moves in response to compression or relaxation of the insole. The magnetometer can be disposed in a relatively stationary portion of the platform or sole of the article compared to the ferromagnetic body. Rate of change information about the magnetic field can be used to control article functionality or provide information about foot strike or cadence.

Description

[0001] This application is a divisional application of application number 201780028316.3, filed March 15, 2017, which is a continuation-in-part of U.S. Patent Application No. 15 / 273, 1 12, filed September 20, 2016, which claims priority to U.S. Provisional Patent Application No. 62 / 308,657, filed March 15, 2016, entitled "MAGNETIC AND PRESSURE-BASED FOOT PRESENCE AND POSITION SENSING SYSTEMS AND METHODS FOR ACTIVE FOOTWEAR," by Walker et al. (Attorney Docket No. 4228.054PRV), and U.S. Provisional Patent Application No. 62 / 308,667, filed March 15, 2016, entitled "CAPACITIVE FOOT PRESENCE AND POSITION SENSING SYSTEMS AND METHODS FOR ACTIVE FOOTWEAR," by Walker et al. (Attorney Docket No. 4228.074PRV), and U.S. Provisional Patent Application No. 62 / 424,939, filed November 21, 2016, entitled "CAPACITIVE FOOT PRESENCE SENSING FOR FOOTWEAR," by Walker (Attorney Docket No. 4228.081 PRV), and U.S. Provisional Patent Application No. 62 / 424,959, filed November 21, 2016, entitled "FOOT PRESENCE AND IMPACT RATE OF CHANGE FOR ACTIVE FOOTWEAR," by Walker, Steven H. (Attorney Docket No. 4228.093PRV), each of which is incorporated herein by reference.

[0002] CLAIM OF PRIORITY

[0003] This application claims the priority benefit of U.S. Provisional Patent Application No. 62 / 308,657, filed March 15, 2016, entitled "MAGNETIC AND PRESSURE-BASED FOOT PRESENCE AND POSITION SENSING SYSTEMS AND METHODS FOR ACTIVE FOOTWEAR," by Walker et al. (Attorney Docket No. 4228.054PRV), and U.S. Provisional Patent Application No. 62 / 308,667, filed March 15, 2016, entitled "CAPACITIVE FOOT PRESENCE AND POSITION SENSING SYSTEMS AND METHODS FOR ACTIVE FOOTWEAR," by Walker et al. (Attorney Docket No. 4228.074PRV), and U.S. Provisional Patent Application No. 62 / 424,939, filed November 21, 2016, entitled "CAPACITIVE FOOT PRESENCE SENSING FOR FOOTWEAR," by Walker (Attorney Docket No. 4228.081 PRV), and U.S. Provisional Patent Application No. 62 / 424,959, filed November 21, 2016, entitled "FOOT PRESENCE AND IMPACT RATE OF CHANGE FOR ACTIVE FOOTWEAR," by Walker, Steven H. (Attorney Docket No. 4228.093PRV), each of which is incorporated herein by reference. BACKGROUND

[0004] A variety of shoe-based sensors have been proposed to monitor a variety of conditions. For example, Brown provides several examples of shoe-based sensors in U.S. Patent No. 5,929,332, entitled "Sensors shoe for monitoring the condition of a foot." Brown mentions that a foot force sensor can include an insole made of a relatively thin, planar, flexible, elastic, dielectric layer of material. The foot force sensor can include an electrically conductive interconnect that can have a resistance that decreases as a compressive force applied to it increases.

[0005] Brown further discusses shoes to be worn by diabetics or people suffering from various types of foot ailments in which excessive pressure exerted on a portion of the foot can lead to ulcers. The shoe body can include a force-sensing resistor, and a switching circuit coupled to the resistor can activate an alarm unit to warn the wearer of reaching or exceeding a threshold pressure level.

[0006] Brown also mentions a sensor carried in a liquid content of a hydraulic unit disposed in an insole of a shoe that detects pressure and temperature values to which a patient's foot is exposed. The sensor can include a circuit having four pressure-sensitive resistors arranged in a diagonal pair of pairs, the resistance of one pair of resistors increasing and the resistance of a second pair of resistors decreasing in the presence of an increase in pressure conditions in the hydraulic unit, and all of the resistors increasing or decreasing in resistance in response to corresponding increases and decreases in temperature in the hydraulic unit. The output of the circuit can indicate changes in the corresponding pressure and temperature values. Brown mentions that a grid array sensor can detect local pressure changes on the bottom of a foot by reducing the resistance between conductors present at locations of pressure increases. The reduced resistance results in an increase in current between the conductors that is detected by a processor, which in turn can provide an indication of the conditions of the pressure increase.

[0007] Devices for automatically tightening articles of footwear have been previously proposed. In U.S. Patent No. 6,691,433 entitled "Automatic tightening shoe," Liu provides a first fastener mounted on an upper portion of a shoe and a second fastener connected to a closure member and capable of removably engaging the first fastener to hold the closure member in a tightened state. Liu teaches a drive unit mounted in a heel portion of a sole of the shoe. The drive unit includes a housing, a spool rotatably mounted in the housing, a pair of pull wires, and a motor unit. Each wire has a first end connected to the spool and a second end corresponding to a wire hole in the second fastener. The motor unit is coupled to the spool. Liu teaches that the motor unit is operable to drive rotation of the spool in the housing to wind the pull wires on the spool for pulling the second fastener toward the first fastener. Liu further teaches a guide tube unit through which the pull wires can extend. BRIEF DESCRIPTION OF DRAWINGS

[0008] In the drawings, which are not necessarily to scale, like numerals can describe similar components in different views. Like numerals having different letter suffixes can represent different instances of similar components. The drawings illustrate generally, by way of example, numerous embodiments discussed in the present document.

[0009] Figure 1is an exploded view illustrating components of a motorized lacing system, according to some example embodiments.

[0010] Figures 2A to 2N is a diagram and illustration of a motorized lacing engine, according to some example embodiments.

[0011] Figures 3A to 3D is a diagram and illustration of an actuator for interacting with a motorized lacing engine, according to some example embodiments.

[0012] Figures 4A to 4D is a diagram and illustration of a midsole plate for holding a lacing engine, according to some example embodiments.

[0013] 5A to 5D is a diagram and illustration of a midsole and outsole for housing a lacing engine and related components, according to some example embodiments.

[0014] 6A to 6D is an illustration of a footwear assembly including a motorized lacing engine, according to some example embodiments.

[0015] Figure 7 is a flowchart illustrating a footwear assembly process for assembling footwear including a lacing engine, according to some example embodiments.

[0016] Figures 8A to 8B is an illustration and flowchart of an assembly process for assembling a footwear upper in preparation for assembly to a midsole, according to some example embodiments.

[0017] Figure 9 is an illustration of a mechanism for securing a lace within a spool of a lacing engine, according to some example embodiments.

[0018] Figure 10A is a block diagram of components of a motorized lacing system, according to some example embodiments.

[0019] Figure 10B is a flowchart illustrating an example of using foot presence information from a sensor.

[0020] 11A to 11D is a diagram of a motor control scheme for a motorized lacing engine, according to some example embodiments.

[0021] 12A to 12D is a block diagram of a magnet-based foot presence sensor configuration.

[0022] Figure 12E and Figure 12F illustrates a plot showing time-varying information from a magnetometer.

[0023] Figure 12G An example of a method that includes initiating an active footwear response to a magnetometer signal is generally illustrated.

[0024] Figure 13 is a graph illustrating pressure distribution data in an article of footwear for a nominal or average foot (left) and for a foot with high arches (right) when a user of the article stands.

[0025] Figure 14A and Figure 14B A diagram showing a bridge member or pressure plate for use with a magnetic sensor is illustrated.

[0026] Figures 15A to 15C Test data associated with a magnet-based foot presence sensor configuration is illustrated, wherein the magnet poles are oriented along the x-axis.

[0027] Figures 15D to 15F Test data associated with a magnet-based foot presence sensor configuration is illustrated, wherein the magnet poles are oriented along the y-axis.

[0028] Figures 15G to 15I Test data associated with a magnet-based foot presence sensor configuration is illustrated, wherein the magnet poles are oriented along the z-axis.

[0029] 16A to 16B The figure shows the magnetic field strength test data of a rectangular magnet.

[0030] Figures 16C to 16F The graph shows the magnetic field strength test data of the first circular magnet.

[0031] 17A to 17D The graph shows the magnetic field strength test data of the first circular magnet.

[0032] Figure 18 A block diagram of a capacitor-based foot presence sensor is illustrated.

[0033] Figure 19 An example of an electrode configuration for a capacitor-based foot presence sensor is generally illustrated.

[0034] 20A to 20C An example of a capacitor-based foot presence sensor is generally illustrated.

[0035] Figure 21A and 21B An example of a pressure-based foot presence sensor configuration is generally illustrated.

[0036] The headings provided herein are for convenience only and do not necessarily affect the scope or meaning of the terms used. Detailed description

[0037] The fictional power laces worn by Marty McPhee in the 1989 film Back to the Future II Sports shoes first widely popularized the concept of self-tightening shoelaces. At least one power lacing sneaker that looks like the movie prop style from Back to the Future II has been released, but the internal mechanical systems and surrounding footwear platforms used are not necessarily suitable for mass production or everyday use. In addition, previous designs for motorized lacing systems have been relatively problematic, such as high manufacturing costs, complexity, difficulty in assembly, lack of maintainability, and weak or fragile mechanical mechanisms, to highlight just a few of the many problems. The inventors have developed a modular footwear platform to accommodate motorized and non-motorized lacing engines, which, among other problems, solves some or all of the above-mentioned problems. The components discussed below provide a variety of benefits, including but not limited to: maintainable components, interchangeable automatic lacing engines, robust mechanical design, reliable operation, streamlined assembly process, and retail-level customization. Various other benefits of the components described below will be apparent to those skilled in the relevant art.

[0038] The motorized lacing engine, discussed below, was developed from the ground up to provide robust, durable, and interchangeable components for an automated lacing footwear platform. The lacing engine includes unique design elements that enable retail-grade final assembly within a modular footwear platform. The lacing engine design allows much of the footwear assembly process to utilize known assembly techniques, while the unique adaptation of standard assembly processes still leverages current assembly resources.

[0039] In an example, a modular automated lacing footwear platform includes a midsole plate secured to the midsole for housing a lacing engine. The design of the midsole plate allows the lacing engine to be placed into the footwear platform at the latest at the time of purchase. Other aspects of the midsole plate and the modular automated footwear platform allow different types of lacing engines to be used interchangeably. For example, the motorized lacing engine discussed below can be replaced with a human-powered lacing engine. Alternatively, a fully automated motorized lacing engine with foot presence sensing or other optional features can be housed within a standard midsole plate.

[0040] The automated footwear platforms discussed herein may include an outsole actuator interface to provide tightening control to the end user, as well as visual feedback via LED lighting projected through the translucent protective outsole material. The actuators may provide tactile and visual feedback to the user to indicate the status of the lacing engine or other automated footwear platform components.

[0041] This initial summary is intended to introduce the subject matter of this patent application. It is not intended to provide an exclusive or exhaustive explanation of the various inventions disclosed in the more detailed description below.

[0042] The following discusses various components of an automated footwear platform, including a motorized lacing engine, a midsole plate, and various other components of the platform. While much of this disclosure focuses on the motorized lacing engine, many mechanical aspects of the designs discussed are applicable to human-powered lacing engines or other motorized lacing engines with additional or fewer capabilities. Thus, the term "automated" as used in "automated footwear platform" is not intended to cover only systems that operate without user input. Rather, the term "automated footwear platform" includes a variety of electrically and human-powered, automatically activated, and human-activated mechanisms for tightening the lacing or retention systems of footwear.

[0043] Figure 1 is an exploded view illustrating components of a motorized lacing system for footwear, according to some exemplary embodiments. Figure 1 The motorized lacing system 1 shown in FIG. 1 includes a lacing engine 10 , a cover 20 , an actuator 30 , a midsole plate 40 , a midsole 50 , and an outsole 60 . Figure 1 The basic assembly sequence of the components of the automated lacing footwear platform is illustrated. The motorized lacing system 1 begins by securing the midsole plate 40 within the midsole. Next, the actuator 30 is inserted into an opening in the lateral portion of the midsole plate in a direction opposite to the interface button that may be embedded in the outsole 60. Next, the lacing engine 10 is dropped into the midsole plate 40. In the example, the lacing system 1 is inserted under the continuous loop of the lacing cable, and the lacing cable is aligned with the spool in the lacing engine 10 (discussed below). Finally, the cover 20 is inserted into the groove in the midsole plate 40, secured into a closed position and locked into the recess in the midsole plate 40. The cover 20 can capture the lacing engine 10 and can help maintain the alignment of the lacing cables during operation.

[0044] In an example, footwear or motorized lacing system 1 includes one or more sensors that can monitor or determine the presence of a foot characteristic or is configured to interact with the one or more sensors. Based on information from one or more foot presence sensors, the footwear comprising motorized lacing system 1 can be configured to perform multiple functions. For example, a foot presence sensor can be configured to provide binary information about whether a foot is present in the footwear. If the binary signal from the foot presence sensor indicates that the foot exists, the motorized lacing system 1 can be activated, such as automatically tightening or loosening (i.e., loosening) the footwear lacing cable. In an example, the footwear includes a processor circuit that can receive or decipher the signal from the foot presence sensor. The processor circuit can optionally be embedded in a lacing engine 10 or embedded with a lacing engine 10, such as embedded in the sole of the footwear.

[0045] In an example, a foot presence sensor can be configured to provide information about the foot's position when the foot enters the footwear. Only when the foot is properly positioned or seated in the footwear, such as against all or a portion of the sole of the article of footwear, can the motorized lacing system 1 typically be activated, for example, to tighten the lacing cables. The foot presence sensor, sensing information about the foot's travel or position, can provide information about whether the foot is fully or partially seated, for example, relative to the sole or relative to some other feature of the article of footwear. The automatic lacing process can be interrupted or delayed until information from the sensor indicates that the foot is properly positioned.

[0046] In an example, a foot presence sensor can be configured to provide information about the relative position of a foot within a shoe. For example, the foot presence sensor can be configured to sense whether the footwear "fits" a given foot well, such as by determining the relative position of one or more of the arch, heel, toe, or other components, such as relative to corresponding portions of the footwear configured to accommodate such foot components. In an example, the foot presence sensor can be configured to sense whether the position of the foot or a foot component has changed relative to a reference, such as due to lacing cables loosening over time or due to the natural expansion and contraction of the foot itself.

[0047] In an example, a foot presence sensor may include an electrical sensor device, a magnetic sensor device, a thermal sensor device, a capacitive sensor device, a pressure sensor device, an optical sensor device, or other sensor device that can be configured to sense or receive information about the presence of a body. For example, the electrical sensor may include an impedance sensor that is configured to measure an impedance characteristic between at least two electrodes. When a body, such as a foot, is located near or adjacent to the electrodes, the electrical sensor may provide a sensor signal having a first value, while when the body is located away from the electrodes, the electrical sensor may provide a sensor signal having a different second value. For example, a first impedance value may be associated with an empty footwear condition, while a smaller second impedance value may be associated with an occupied footwear condition. In an example, the electrical sensor may be configured to provide a binary signal or an interrupt signal when a foot is determined to be or may be present inside a footwear. For example, a binary signal or an interrupt signal may be determined when a measured electrical characteristic (e.g., capacitance, resistance, impedance, etc.) exceeds a specified threshold or reference value.

[0048] The electrical sensor may include an AC signal generator circuit and an antenna configured to transmit or receive radio frequency information. Based on the proximity of the body relative to the antenna, one or more electrical signal characteristics (e.g., impedance, frequency, or signal amplitude) may be received and analyzed to determine whether the body is present. In an example, a received signal strength indicator (RSSI) provides information about the power level in the received radio signal. Changes in the RSSI, such as changes relative to a baseline or reference value, may be used to identify the presence or absence of a body. In an example, WiFi frequencies may be used, such as in one or more of the 2.4 GHz, 3.6 GHz, 4.9 GHz, 5 GHz, and 5.9 GHz bands. In an example, frequencies in the kilohertz range may be used, such as approximately 400 kHz. In an example, power signal changes may be detected in the milliwatt or microwatt range.

[0049] The foot presence sensor may include a magnetic sensor. The first magnetic sensor may include a magnet and a magnetometer, or a magnetometer and a material that can be sensed by the magnetometer. In an example, the magnetometer may be positioned in or near the lacing engine 10. The magnet or other material that causes the magnetometer to respond may be located away from the lacing engine 10, such as in a secondary sole or insole that is configured to be worn above the outsole 60. In an example, the magnet is embedded in the foam or other compressible material of the secondary sole. When the user presses the secondary sole, such as when standing or walking, a corresponding change in the position of the magnet relative to the magnetometer can be sensed and reported by a sensor signal.

[0050] The second magnetic sensor may include a magnetic field sensor configured to sense changes or interruptions in a magnetic field (e.g., via the Hall effect). When the body approaches the second magnetic sensor, the sensor may generate a signal indicating a change in the ambient magnetic field. For example, the second magnetic sensor may include a Hall effect sensor that changes a voltage output signal in response to a detected change in the magnetic field. The voltage change at the output signal may be due to a voltage difference across the electrical signal conductor (such as a magnetic field transverse to the current in the conductor and perpendicular to the current).

[0051] In an example, the second magnetic sensor is configured to receive an electromagnetic field signal from the body. For example, Varshavsky et al., in U.S. Patent No. 8,752,200, entitled “Devices, systems and methods for security using magnetic field based identification,” teach authentication using a unique electromagnetic signature of the body. In an example, the magnetic sensor in the article of footwear can be used to authenticate or verify that the current user is the owner of the shoe through the detected electromagnetic signature, and the article automatically laces the shoe, such as according to one or more specified lacing preferences (e.g., tightening configuration) of the owner.

[0052] In one example, the foot presence sensor includes a thermal sensor configured to sense temperature changes in or near a portion of the footwear. When a wearer's foot enters the footwear, the internal temperature of the footwear changes when the wearer's body temperature differs from the ambient temperature of the footwear. Thus, the thermal sensor can provide an indication of the possible presence or absence of a foot based on the temperature change.

[0053] In an example, the foot presence sensor includes a capacitive sensor configured to sense changes in capacitance. The capacitive sensor may include a single plate or electrode, or the capacitive sensor may include multiple plates or a multi-electrode configuration. Capacitive foot presence sensors are described in detail below.

[0054] In one example, the foot presence sensor includes an optical sensor. The optical sensor can be configured to determine if a line of sight is interrupted, such as between opposing sides of a footwear cavity. In one example, the optical sensor includes a light sensor that can be covered by the foot when the foot is inserted into the footwear. When the sensor indicates a change in sensed lighting conditions, an indication of foot presence or location can be provided.

[0055] In the example, Figure 1The motorized lacing system 1 includes a midsole 50 and a lacing engine 10. The system 1 may include an insole located above the midsole and / or the lacing engine 10, such as to improve the comfort or fit of the footwear wearer. Multiple straps or laces can be adjusted by the lacing engine 10, such as to adjust the tightness or looseness of the article around the foot when the article is worn. In other words, the multiple straps or laces can be configured to move between a tightened position and a loosened position in response to the activity of the motor in the lacing engine 10. In an example, the system 1 includes a ferromagnetic body disposed in the article, and at least one sensor configured to sense the position change of the ferromagnetic body in response to compression of the foot on the insole when the article is worn. The ferromagnetic body can be disposed, for example, in or on the insole so that when the wearer takes a step or stands, the compressive force of the wearer's foot on the insole causes the ferromagnetic body to move. Although referred to herein as a ferromagnetic body, the body can be any material that can be detected by a sensor or whose movement can be detected by a sensor. In an example, the lacing engine 10 may be coupled to a sensor, and the lacing engine 10 may be configured to respond to sensed changes in the position of the ferromagnetic body by adjusting the tension of the strap or lacing.

[0056] The sensor may include a magnetometer configured to sense changes in a magnetic field. The magnetic field changes may be at least partially due to changes in the position of the ferromagnetic body, such as in response to movement of the footwear or movement of the foot within the footwear. In an example, one of the ferromagnetic body and the magnetometer is substantially fixed relative to a housing or wall of the article, while the other of the ferromagnetic body and the magnetometer is movable relative to the housing or wall of the article. For example, the ferromagnetic body may be disposed in an insole and movable in response to compressive foot forces, and the position of the magnetometer may be substantially fixed in the midsole or in the lacing engine 10.

[0057] In an example, information about the position change of the ferromagnetic body can be sensed and used to determine various characteristics of the environment in which the article is used. For example, information about the changing magnetic field can be sensed by a magnetometer in response to the movement of the ferromagnetic body. Large or rapid changes in the magnetic field can indicate that the ferromagnetic body is moving quickly or moving a large distance, thereby indicating that the wearer has applied a considerable force on the footwear, such as due to running or jumping activities. Timing information about the sensed magnetic field or position change of the ferromagnetic body can be used to determine foot impact timing, such as counting steps or determining how fast the wearer is moving (for example, when pace information is known or discernible).

[0058] Reference Figures 2A to 2N An example of a lacing engine 10 is described in detail. Figures 3A to 3D An example of the actuator 30 is described in detail. Figures 4A to 4D An example of midsole plate 40 is described in detail. Various additional details of motorized lacing system 1 are discussed throughout the remainder of the specification.

[0059] Figures 2A to 2N are diagrams and diagrams illustrating a motorized lacing engine according to some exemplary embodiments. Figure 2A Several external features of the exemplary lacing engine 10 are described, including a housing structure 100, housing screws 108, a lace channel 110 (also known as a lace guide relief 110), a lace channel wall 112, a lace channel transition 114, a spool recess 115, a button opening 120, a button 121, a button membrane seal 124, a programming header 128, a spool 130, and a lace groove 132. Additional details of the housing structure 100 will be described below with reference to Figure 2B Have a discussion.

[0060] In an example, the lacing engine 10 is held together by one or more screws, such as housing screws 108. Housing screws 108 are positioned near the main drive mechanism to enhance the structural integrity of the lacing engine 10. Housing screws 108 are also used to assist in the assembly process, such as holding the housing together for ultrasonic welding of external seams.

[0061] In this example, the lacing engine 10 includes a lacing channel 110 that receives shoelaces or shoelace cables once the lacing engine 10 is assembled into the automated footwear platform. The lacing channel 110 may include a lacing channel wall 112. The lacing channel wall 112 may include a chamfered edge to provide a smooth guiding surface for the shoelace cables during operation. A portion of the smooth guiding surface of the lacing channel 110 may include a channel transition portion 114, which is a widened portion of the lacing channel 110 that leads to a spool recess 115. The spool recess 115 transitions from the channel transition portion 114 to a generally circular portion that closely matches the profile of the spool 130. The spool recess 115 helps to keep the wound shoelace cables and helps to maintain the position of the spool 130. However, other aspects of the design provide the primary retention of the spool 130. In this example, the spool 130 is shaped like half of a yo-yo, with lacing grooves 132 extending through the flat top surface and a spool shaft 133 extending downwardly from the opposite side. Figure 2A spool 130 will be described in more detail below with reference to additional drawings.

[0062] The outer side of the lacing engine 10 includes a button opening 120 that allows a button 121 for activating the mechanism to extend through the housing structure 100. As illustrated in other figures discussed below, the button 121 provides an external interface for activating a switch 122. In some examples, the housing structure 100 includes a button membrane seal 124 to provide protection from dirt and water. In this example, the button membrane seal 124 is a clear plastic (or similar material) that is several mils (thousandths of an inch) thick and is bonded from the upper surface of the housing structure 100 over the corners and down along the outer side. In another example, the button membrane seal 124 is a 2 mil thick vinyl adhesive backing film that covers the button 121 and the button opening 120.

[0063] Figure 2B 1 is an illustration of a housing structure 100 including a top portion 102 and a bottom portion 104. In this example, the top portion 102 includes features such as housing screws 108, a lace channel 110, a lace channel transition 114, a spool recess 115, a button opening 120, and a button seal recess 126. The button seal recess 126 is a portion of the top portion 102 that is released to provide for insertion of a button membrane seal 124. In this example, the button seal recess 126 is a few mils of recess located on the outer side of the top portion 104's upper surface that transitions over a portion of the outer edge of the upper surface and extends a portion of the length of the outer side of the top portion 104.

[0064] In this example, bottom portion 104 includes features such as a wireless charger inlet 105, an engagement portion 106, and a grease barrier 109. Also illustrated (but not specifically labeled) are a housing screw base for receiving housing screw 108 and various features for retaining a portion of the drive mechanism within grease barrier 109. Grease barrier 109 is designed to keep grease or similar compounds surrounding the drive mechanism away from the electrical components of lacing engine 10, including the gear motor and enclosed gear box.

[0065] Figure 2C is an illustration of several internal components of the lacing engine 10 according to an exemplary embodiment. In this example, the lacing engine 10 also includes a spool magnet 136, an O-ring seal 138, a worm drive 140, a bushing 141, a worm drive key 142, a gearbox 144, a gear motor 145, a motor encoder 146, a motor circuit board 147, a worm gear 150, a circuit board 160, a motor head 161, a battery connector 162, and a wired charging head 163. The spool magnet 136 helps to detect the presence of a magnetic field through the magnetometer ( Figure 2CThe detection performed by the spool 130 (not shown) is used to track the movement of the spool 130. The purpose of the O-ring seal 138 is to seal out dirt and moisture that may migrate into the lacing engine 10 around the reel shaft 133.

[0066] In this example, the main drive components of the lacing engine 10 include a worm drive 140, a worm gear 150, a gear motor 145, and a gear box 144. The worm gear 150 is designed to prevent backdrive of the worm drive 140 and gear motor 145, which means that the main input force entering from the lacing cable through the spool 130 is resolved on the relatively large worm gear and worm drive teeth. This arrangement protects the gear box 144 from needing to include gears of sufficient strength to withstand dynamic loads from active use of the footwear platform or tightening loads from tightening the lacing system. The worm drive 140 includes additional features to help protect the more fragile parts of the drive system, such as the worm drive key 142. In this example, the worm drive key 142 is a radial slot in the motor end of the worm drive 140 that interfaces with a pin via the drive shaft exiting the gear box 144. This arrangement prevents the worm drive 140 from exerting any axial forces on the gearbox 144 or gear motor 145 by allowing the worm drive 140 to move freely in an axial direction (away from the gearbox 144 ), transferring those axial loads to the bushing 141 and the housing structure 100 .

[0067] Figure 2D is a diagram depicting additional internal components of the lacing engine 10. In this example, the lacing engine 10 includes drive components such as a worm drive 140, a bushing 141, a gearbox 144, a gear motor 145, a motor encoder 146, a motor circuit board 147, and a worm gear 150. Figure 2D An illustration of the battery 170 has been added, as well as a better view of some of the drive components discussed above.

[0068] Figure 2E is another diagram depicting the internal components of the lacing engine 10. Figure 2E In the example, worm gear 150 is removed to better illustrate indexing wheel 151 (also known as Geneva wheel 151). As described in further detail below, indexing wheel 151 provides a mechanism for returning the drive mechanism to home in the event of an electrical or mechanical failure and loss of position. In this example, lacing engine 10 also includes a wireless charging interconnect 165 and a wireless charging coil 166, which are located below battery 170 (not shown in this figure). In this example, wireless charging coil 166 is mounted on the lower surface of the exterior of bottom portion 104 of lacing engine 10.

[0069] Figure 2F is a cross-sectional illustration of a lacing engine 10 according to an exemplary embodiment. Figure 2F It is helpful to illustrate the structure of spool 130 and how lacing groove 132 and lacing channel 110 interface with lacing cable 131. As shown in this example, shoelace 131 extends continuously through lacing channel 110 and into shoelace groove 132 of spool 130. This cross-sectional view also depicts shoelace recess 135, where shoelace 131 will gather as the shoelace is reeled in due to the rotation of spool 130. Shoelace 131 is captured by lacing groove 132 as it extends through lacing engine 10, so that when spool 130 rotates, shoelace 131 rotates onto the body of spool 130 within shoelace recess 135.

[0070] As illustrated by the cross section of lacing engine 10, spool 130 includes spool shaft 133, which is coupled to worm gear 150 after extending through O-ring 138. In this example, spool shaft 133 is coupled to worm gear by keyed connecting pin 134. In some examples, keyed connecting pin 134 extends only in one axial direction from spool shaft 133 and contacts by a key on the worm gear so that when the direction of worm gear 150 is reversed, before keyed connecting pin 134 contacts, almost a complete revolution of worm gear 150 is allowed. A clutch system can also be implemented to couple spool 130 to worm gear 150. In such an example, the clutch mechanism can be deactivated to allow spool 130 to freely run when untying shoelaces (loosening). In an example in which keyed connecting pin 134 extends only in one axial direction from spool shaft 133, spool is allowed to move freely when the initial activation of the shoelace untying process is initiated, while worm gear 150 is driven backward. Allowing spool 130 to move freely during the initial portion of the unlacing process helps prevent tangles in lace 131 because it provides the user with time to begin loosening the footwear, which in turn will tension lace 131 in the loosening direction before being driven by worm gear 150.

[0071] Figure 2G is another cross-sectional illustration of the lacing engine 10 according to an exemplary embodiment. Figure 2F compared to, Figure 2G The diagram shows a cross section further inboard of the lacing engine 10, Figure 2G Additional components such as circuit board 160 , wireless charging interconnect 165 , and wireless charging coil 166 are illustrated. Figure 2G It is also used to depict additional details surrounding the spool 130 and lace 131 interface.

[0072] Figure 2H is a top view of lacing engine 10 according to an exemplary embodiment. Figure 2H The grease barrier 109 is emphasized and illustrated as surrounding certain portions of the drive mechanism, including the spool 130, worm gear 150, worm drive 140, and gearbox 145. In some examples, the grease barrier 109 separates the worm drive 140 from the gearbox 145. Figure 2H Also provided is a top view of the interface between spool 130 and lace cable 131 , with lace cable 131 extending through lace groove 132 in spool 130 in the medial-lateral direction.

[0073] Figure 2I is a top view illustration of the worm gear 150 and marking wheel 151 portions of the lacing engine 10 according to an exemplary embodiment. The marking wheel 151 is a variation of the well-known splined wheels used in watchmaking and movie projectors. A typical splined wheel or drive mechanism provides a method of converting continuous rotational motion into intermittent motion, such as is required in a movie projector or to cause the second hand of a watch to move intermittently. Watchmakers use different types of splined wheels to prevent overwinding of mechanical watch springs, but instead use a splined wheel with a missing slot (for example, one of the Geneva slots 157 would be missing). The missing slot would prevent further marking of the splined wheel, which is responsible for winding the spring and preventing overwinding. In the illustrated example, the lacing engine 10 includes a variation of the splined wheel, marking wheel 151, which includes a small stop tooth 156 that acts as a stopping mechanism during the homing operation. As shown Figures 2J to 2M As shown in FIG, the standard sheave teeth 155 simply mark each rotation of the worm gear 150 when the index tooth 152 engages the sheave groove 157 next to one of the sheave teeth 155. However, when the index tooth 152 engages the sheave groove 157 next to the stop tooth 156, a greater force is generated that can be used to stop the drive mechanism during a home operation. The stop tooth 156 can be used to generate a known position of a mechanism (such as the motor encoder 146) for home operation in the event that other positioning information is lost.

[0074] Figures 2J to 2M is a diagram of the worm gear 150 and the marking wheel 151 moving through the marking operation according to an exemplary embodiment. Figure 2J Start to Figure 2M These figures illustrate what occurs during a single complete rotation of the worm gear 150. Figure 2J , the index tooth 153 of the worm wheel 150 is engaged in the sheave groove 157 between the first sheave tooth 155 a and the stop tooth 156 among the sheave teeth 155 . Figure 2K The marking wheel 151 is shown in a first marking position where it is held as the marking teeth 153 begin their rotation about the axis as the worm wheel 150 begins its rotation about the axis. Figure 2L In the , the marking tooth 153 begins to engage the sheave groove 157 on the opposite side of the first sheave tooth 155a. Finally, in Figure 2M , the marking tooth 153 is fully engaged in the sheave groove 157 between the first sheave tooth 155a and the second sheave tooth 155b. Figures 2J to 2M The process shown in FIG continues with each rotation of the worm gear 150 about the axis until the index tooth 153 engages the stop tooth 156. As described above, when the index tooth 153 engages the stop tooth 156, the increased force can cause the drive mechanism to stall.

[0075] Figure 2N is an exploded view of lacing engine 10 according to an exemplary embodiment. The exploded view of lacing engine 10 provides an illustration of how all the different parts fit together. Figure 2N 143 , the worm drive 140 is shown as being mounted on a worm gear 144. The worm drive 140 is shown as being mounted on a worm gear 144. The worm drive 140 is shown as being mounted on a worm gear 144. The worm drive 140 is shown as being mounted on a worm gear 144. The worm drive 140 is shown as being mounted on a worm gear 144. The worm drive 140 is shown as being mounted on a worm gear 144. The worm drive 140 is shown as being mounted on a worm gear 144. The worm drive 140 is shown as being mounted on a worm gear 144. The worm drive 140 is shown as being mounted on a worm gear 144. The worm drive 140 is shown as being mounted on a worm gear 144.

[0076] In an example, the housing structure 100 provides an airtight seal or gas seal around the components enclosed by the housing structure 100. In an example, the housing structure 100 encloses a separate, gastight cavity in which a pressure sensor can be disposed. See FIG. 17 and the corresponding discussion below regarding a pressure sensor disposed in a sealed cavity.

[0077] Figures 3A to 3D An example of an actuator 30 for interfacing with a motorized tether engine is generally illustrated in accordance with an exemplary embodiment. In this example, the actuator 30 includes features such as a bridge 310, a light duct 320, a rear arm 330, a center arm 332, and a front arm 334. Figure 3AAlso illustrated are relevant features of the lacing engine 10, such as a plurality of LEDs 340 (also referred to as LEDs 340), a button 121, and a switch 122. In this example, each of the rear arm 330 and the fore arm 334 can individually activate one of the switches 122 via the button 121. The actuator 30 is also designed to be able to activate both switches 122 simultaneously, for situations such as resetting or other functions. The primary function of the actuator 30 is to provide tightening and loosening commands to the lacing engine 10. The actuator 30 also includes a light duct 320 that directs light from the LEDs 340 to an exterior portion of the footwear platform (e.g., the outsole 60). The light duct 320 is configured to evenly disperse light from the plurality of individual LED light sources across the face of the actuator 30.

[0078] In this example, the arms of actuator 30 (rear arm 330 and front arm 334) include flanges to prevent over-activation of switch 122, thereby providing a safety measure against impacting the side of the shoe platform. Large central arm 332 is also designed to carry impact loads against the sides of lacing engine 10, rather than allowing these loads to be transferred against button 121.

[0079] Figure 3B A side view of the actuator 30 is provided, further illustrating the exemplary structure of the forearm 334 and engagement with the button 121 . Figure 3C is another top view of the actuator 30 illustrating the activation path through the rear arm 330 and the front arm 334. Figure 3C Also depicted is the section line AA, which corresponds to Figure 3D The cross section shown in the figure. Figure 3D , the actuator 30 is illustrated in cross section with transmitted light 345 shown in dashed lines. The light duct 320 provides a transmissive medium for the transmitted light 345 from the LED 340. Figure 3D Aspects of outsole 60 are also illustrated, such as actuator cover 610 and raised actuator interface 615 .

[0080] Figures 4A to 4D1 is a diagram and illustration of a midsole plate 40 for retaining a lacing engine 10, according to some exemplary embodiments. In this example, the midsole plate 40 includes features such as a lacing engine cavity 410, a medial lacing guide 420, a lateral lacing guide 421, a cover slot 430, a front flange 440, a rear flange 450, an upper surface 460, a lower surface 470, and an actuator cutout 480. The lacing engine cavity 410 is designed to house the lacing engine 10. In this example, the lacing engine cavity 410 retains the lacing engine 10 in the lateral and anterior / posterior directions, but does not include any built-in features to lock the lacing engine 10 into the cavity. Alternatively, the lacing engine cavity 410 may include detents, tabs, or similar mechanical features along one or more sidewalls that can rigidly retain the lacing engine 10 within the lacing engine cavity 410.

[0081] Medial lace guide 420 and lateral lace guide 421 help guide the lace cable into lacing engine chamber 410 and over lacing engine 10 (when present). Medial / lateral lace guides 420, 421 can include chamfered edges and inferiorly slated ramps to help guide the lace cable to a desired position above lacing engine 10. In this example, medial / lateral lace guides 420, 421 include an opening in the side of midsole plate 40 that is many times wider than the diameter of a typical lacing cable. In other examples, the openings of medial / lateral lace guides 420, 421 may be only a few times wider than the diameter of the lacing cable.

[0082] In this example, the midsole plate 40 includes a shaped or contoured front flange 440 that extends further on the medial side of the midsole plate 40. The exemplary front flange 440 is designed to provide additional support under the arch of the footwear platform. However, in other examples, the front flange 440 may be less pronounced on the medial side. In this example, the rear flange 450 also includes a specific profile with extensions on both the medial and lateral sides. The illustrated shape of the rear flange 450 provides enhanced lateral stability for the lacing engine 10.

[0083] Figures 4B to 4D The illustration shows the cover 20 being inserted into the midsole plate 40 to hold the lacing engine 10 and capture the lacing cable 131. In this example, the cover 20 includes features such as a latch 210, a cover lacing guide 220, a cover spool recess 230, and a cover clip 240. The cover lacing guide 220 may include a medial and lateral cover lacing guide 220. The cover lacing guide 220 helps maintain alignment of the lacing cable 131 through the appropriate portion of the lacing engine 10. The cover clip 240 may also include a medial and lateral cover clip 240. The cover clip 240 provides a pivot point for attaching the cover 20 to the midsole plate 40. As shown in FIG. Figure 4BAs illustrated in , cover 20 is inserted directly downwardly into midsole plate 40 , and cover clip 240 enters midsole plate 40 through cover slot 430 .

[0084] like Figure 4C As illustrated in , once the cover clip 240 is inserted through the cover slot 430 , the cover 20 moves forward to prevent the cover clip 240 from being detached from the midsole plate 40 . Figure 4D The cover 20 is shown rotating or pivoting about the cover clip 240 to secure the lacing engine 10 and the shoelace cable 131 by engaging the latch 210 with the cover latch recess 490 in the midsole plate 40. Once snapped into place, the cover 20 secures the lacing engine 10 within the midsole plate 40.

[0085] 5A to 5D are diagrams and illustrations of a midsole 50 and outsole 60 configured to house a lacing engine 10 and related components, according to some exemplary embodiments. The midsole 50 may be formed from any suitable footwear material and include a variety of features to house the midsole plate 40 and related components. In this example, the midsole 50 includes features such as a plate recess 510, a front flange recess 520, a rear flange recess 530, an actuator opening 540, and an actuator cover recess 550. The plate recess 510 includes a plurality of cutouts and similar features to match corresponding features of the midsole plate 40. The actuator opening 540 is sized and positioned to access the actuator 30 from the lateral side of the footwear platform 1. As Figure 5B and Figure 5C As illustrated in , actuator cover recess 550 is a recessed portion of midsole 50 that is adapted to receive a molded covering to protect actuator 30 and provide a specific tactile and visual appearance to the primary user interface of lacing engine 10.

[0086] Figure 5B and Figure 5C Portions of midsole 50 and outsole 60 are illustrated according to an exemplary embodiment. Figure 5B Included is an illustration of an exemplary actuator housing 610 and a raised actuator interface 615 that is molded or otherwise formed in the actuator housing 610 . Figure 5C Another example of an actuator 610 and a raised actuator interface 615 is illustrated that includes horizontal stripes to disperse the portion of light that is transmitted through the light duct 320 portion of the actuator 30 to the outsole 60 .

[0087] Figure 5DAlso illustrated is the actuator cover recess 550 on the midsole 50 and the positioning of the actuator 30 within the actuator opening 540 prior to application of the actuator cover 610. In this example, the actuator cover recess 550 is designed to receive adhesive to bond the actuator cover 610 to the midsole 50 and outsole 60.

[0088] Figures 6A to 6C is an illustration of a footwear assembly 1 including a motorized lacing engine 10, according to some exemplary embodiments. In this example, Figures 6A to 6C A translucent example of an assembled automated footwear platform 1 including a lacing engine 10 , a midsole plate 40 , a midsole 50 , and an outsole 60 is depicted. Figure 6A is a lateral side view of the automated footwear platform 1 . Figure 6B is a medial view of the automated footwear platform 1 . Figure 6C FIG1 is a top view of the automated footwear platform 1 with the upper portion removed. The top view illustrates the relative positioning of the lacing engine 10, cover 20, actuator 30, midsole plate 40, midsole 50, and outsole 60. In this example, the top view also illustrates the spool 130, medial lace guide 420, lateral lace guide 421, front flange 440, rear flange 450, actuator cover 610, and raised actuator interface 615.

[0089] Figure 6D FIG2 is a top view of a shoe upper 70 illustrating an exemplary lacing configuration according to some exemplary embodiments. In this example, in addition to shoe lace 131 and lacing engine 10, shoe upper 70 includes lateral lace fastener 71, medial lace fastener 72, lateral lace guide 73, medial lace guide 74, and brio cables 75. Figure 6D The example illustrated in FIG includes a continuous knitted fabric upper 70 having a diagonal lacing pattern with non-overlapping medial and lateral lacing paths. The lacing path begins at the lateral lacing fixture, extends through the lateral lacing guide 73, passes through the lacing engine 10, advances through the medial lacing guide 74, and returns to the medial lacing fixture 72. In this example, the shoelace 131 forms a continuous loop from the lateral lacing fixture 71 to the medial lacing fixture 72. In this example, tightening from the medial to the lateral side is transmitted by the Brio cable 75. In other examples, the lacing path can intersect or incorporate additional features to transmit tightening force in the medial-lateral direction across the upper 70. In addition, the concept of continuous lacing loops can be incorporated into a more traditional upper having a central (medial) gap and the shoelace 131 crossing back and forth on the central gap.

[0090] Figure 7is a flow chart illustrating a footwear assembly process for assembling an automated footwear platform 1 including a lacing engine 10, according to some exemplary embodiments. In this example, the assembly process includes operations such as obtaining an outsole / midsole assembly in 710, inserting and bonding a midsole plate in 720, attaching a laced upper in 730, inserting an actuator in 740, optionally shipping the subassembly to a retail store in 745, selecting a lacing engine in 750, inserting the lacing engine into the midsole plate in 760, and securing the lacing engine in 770. Process 700, described in further detail below, may include some or all of the described process operations, and at least some of the process operations may occur at multiple locations (e.g., manufacturing facility to retail store). In some examples, all of the process operations discussed with reference to process 700 may be completed at a manufacturing facility, and the completed automated footwear platform delivered directly to a consumer or retail location for purchase.

[0091] In this example, process 700 begins at 710 by obtaining an outsole and midsole assembly, such as midsole 50 bonded to outsole 60. At 720, process 700 continues by inserting a midsole plate, such as midsole plate 40, into plate recess 510. In some examples, midsole plate 40 includes an adhesive layer on a lower surface to bond the midsole plate to the midsole. In other examples, adhesive is applied to the midsole prior to inserting the midsole plate. In still other examples, the midsole is designed to have an interference fit with the midsole plate, which eliminates the need for adhesive to secure the two components of the automated footwear platform.

[0092] At 730, process 700 continues with the laced upper portion of the automated footwear platform being attached to the midsole. Attachment of the laced upper portion is accomplished by any known footwear manufacturing process with the addition of positioning the lower lacing loop into the midsole plate for subsequent engagement with a lacing engine, such as lacing engine 10. For example, the laced upper is attached to midsole 50 with midsole plate 40 inserted therein, with the lower lacing loop positioned to align with medial lacing guide 420 and lateral lacing guide 421, which properly position the lacing loop for engagement with lacing engine 10 when lacing engine 10 is inserted later in the assembly process.

[0066] Referring now to FIG. 10, the lacing loop is positioned to align with medial lacing guide 420 and lateral lacing guide 421. Figures 8A to 8B The assembly of the upper is discussed in more detail.

[0093] At 740, process 700 continues with inserting an actuator, such as actuator 30, into the midsole plate. Optionally, the insertion of the actuator can be completed before attaching the upper portion at operation 730. In an example, inserting actuator 30 into actuator cutout 480 of midsole plate 40 involves a snap fit between actuator 30 and actuator cutout 480. Optionally, process 700 continues at 745 with shipping the subassembly of the automated footwear platform to a retail location or similar point of sale. The remaining operations in process 700 can be performed without special tools or materials, which allows for flexible customization of products sold at the retail level without the need to manufacture and inventory every combination of automated footwear subassembly and lacing engine options.

[0094] At 750, process 700 continues with selecting a lacing engine, which may be an optional operation if only one lacing engine is available. In the example, lacing engine 10 (a motorized lacing engine) is selected for assembly into a subassembly from operations 710 to 740. However, as described above, the automated footwear platform is designed to accommodate multiple types of lacing engines, from fully automated motorized lacing engines to manually activated lacing engines. The subassembly of components such as outsole 60, midsole 50, and midsole plate 40 constructed in operations 710 to 740 provides a modular platform to accommodate a variety of optional automated components.

[0095] At 760, process 700 continues by inserting the selected lacing engine into the midsole plate. For example, lacing engine 10 can be inserted into midsole plate 40 and lacing engine 10 can be slid under the shoelace loop, extending through lacing engine cavity 410. With lacing engine 10 in place and the lacing cable engaged within the lacing engine's spool (such as spool 130), a cover (or similar component) can be installed into the midsole plate to secure lacing engine 10 and the shoelaces. Figures 4B to 4D An example of installing cover 20 into midsole plate 40 to secure lacing engine 10 is illustrated in and discussed above. With the cover secured to the lacing engine, the automated footwear platform is complete and ready for active use.

[0096] Figures 8A to 8B Included is a flow chart generally illustrating an assembly process 800 for assembling a footwear upper prepared for assembly into a midsole, according to some exemplary embodiments.

[0097] Figure 8A A series of assembly operations for final assembly of a laced upper portion of a footwear assembly to an automated footwear platform is visually depicted, such as by process 700 discussed above. Figure 8AThe process 800 illustrated in FIG. 1 begins with operation 1, which involves obtaining a knitted upper and shoelaces (lacing cables). Next, the first half of the knitted upper is laced using shoelaces. In this example, lacing the upper involves threading the shoelace cables through a plurality of eyelets and securing one end to the front portion of the upper. Next, the lacing cables are routed under a fixture supporting the upper and wrapped around the opposite side. Then, in operation 2.6, the other half of the upper is laced while maintaining the lower lacing loop around the fixture. In 2.7, the lacing is secured and trimmed, and in 3.0, the fixture is removed so that the laced knitted upper with the lower lacing loop remains beneath the upper portion.

[0098] Figure 8B 8 is a flow chart illustrating another example of a process 800 for assembling a footwear upper. In this example, process 800 includes operations such as obtaining an upper and lace cables at 810, lacing a first half of the upper at 820, routing the laces under a lacing fixture at 830, lacing a second half of the upper at 840, tightening the laces at 850, completing the upper at 860, and removing the lacing fixture at 870.

[0099] Process 800 begins at 810 by obtaining a shoe upper and shoelace cables for assembly. Obtaining the shoe upper may include placing the shoe upper on a lacing fixture used in the other operations of process 800. In 820, process 800 continues by lacing a first half of the shoe upper with the shoelace cables. The lacing operation may include routing the lacing cables through a series of eyelets or similar features built into the shoe upper. The lacing operation in 820 may also include securing one end of the lacing cables to a portion of the shoe upper. Securing the lacing cables may include suturing, tying a knot, or otherwise terminating the first end of the shoelace cables to a fixed portion of the shoe upper.

[0100] At 830, the process 800 continues by placing the free ends of the lace cables under the shoe upper and around the lacing fixture. In this example, the lacing fixture is used to create a suitable lace loop under the shoe upper for eventual engagement with the lacing engine after the shoe upper is engaged with the midsole / outsole assembly (see above for details). Figure 7 ). The lace securing device may include a groove or similar feature to at least partially retain the lace cable during subsequent operations of process 800.

[0101] In 840, process 800 continues, lacing the second half of the upper with the free end of the shoelace cable. Lacing the second half may include routing the shoelace cable through a second series of eyelets or similar features on the second half of the upper. In 850, process 800 continues, tightening the shoelace cable that passes through a plurality of eyelets and around the lacing fixture to ensure that the lower shoelace loop is properly formed to properly engage with the lacing engine. The lacing fixture helps to obtain a suitable shoelace loop length, and different shoelace fixtures can be used for footwear of different sizes or styles. The lacing process is completed in 860, and the free end of the shoelace cable is fixed to the second half of the upper. The completion of the upper may also include additional trimming or sewing operations. Finally, in 870, process 800 is completed, and the upper is removed from the lacing fixture.

[0102] Figure 9 1 is a diagram illustrating a mechanism for securing shoelaces in a spool of a lacing engine according to some exemplary embodiments. In this example, a spool 130 of the lacing engine 10 receives a shoelace cable 131 in a shoelace groove 132. Figure 9 A spool includes a shoelace cable having ferrules and a shoelace groove having a recess that receives the ferrule. In this example, the ferrule snaps into the recess (e.g., an interference fit) to help retain the lacing cable within the spool. Other exemplary spools, such as spool 130, do not include a recess, and other components of the automated footwear platform are used to retain the lacing cable within the spool's shoelace groove.

[0103] Figure 10A A block diagram of components of a motorized lacing system 1000 is generally illustrated according to an exemplary embodiment. System 1000 includes some, but not necessarily all, components of a motorized lacing system, such as interface buttons 1001 (e.g., corresponding to Figure 2A 10), a foot presence sensor 1010, and a housing structure 100 that encloses a printed circuit board assembly (PCA) with a processor circuit 1020, a battery 1021, a charging coil 1022, an encoder 1025, a motion sensor 1024, and a drive mechanism 1040. The drive mechanism 1040 may include, among other things, a motor 1041, a transmission 1042, and a lace bobbin 1043. The motion sensor 1024 may include, among other things, a single-axis or multi-axis accelerometer, a magnetometer, a gyroscope, or other sensor or device configured to sense motion of the housing structure 150 or one or more components within or coupled to the housing structure 150. In an example, the system 1000 includes a magnetometer 1220 coupled to the processor circuit 1020.

[0104] exist Figure 10AIn the example of , the processor circuit 1020 communicates data or power signals with one or more of the interface button 1001, the foot presence sensor 1010, the battery 1021, the charging coil 1022, and the drive mechanism 1040. The transmission 1042 couples the motor 1041 to the spool 1043 to form the drive mechanism 1040. Figure 10A In the example of , button 1001 , foot presence sensor 1010 , and environmental sensor 1050 are shown on the exterior of housing structure 100 or partially on the exterior of housing structure 100 .

[0105] In an alternative embodiment, one or more of the button 1001, the foot presence sensor 1010, and the environmental sensor 1050 can be enclosed in the housing structure 100. In an example, the foot presence sensor 1010 is preferably disposed inside the housing structure 100 to protect the sensor from sweat and dust or debris. Minimizing or eliminating connections through the walls of the housing structure 100 can help improve the durability and reliability of the assembly.

[0106] In an example, the processor circuit 1020 controls one or more aspects of the drive mechanism 1040. For example, the processor circuit 1020 can be configured to receive information from the button 1001 and / or from the foot presence sensor 1010 and / or from the motion sensor 1024 and, in response, control the drive mechanism 1040, such as to tighten or loosen the footwear around the foot. In an example, the processor circuit 1020 is additionally or alternatively configured to issue commands to obtain or record sensor information from the foot presence sensor 1010 or other sensors, as well as other functions. In an example, the processor circuit 1020 operates the drive mechanism 1040 conditioned on (1) detecting the presence of a foot using the foot presence sensor 1010 and (2) detecting a specified gesture using the motion sensor 1024.

[0107] In an example, the system 1000 includes an environmental sensor 1050. Information from the environmental sensor 1050 can be used to update or adjust a baseline or reference value for the foot presence sensor 1010. As further explained below, the capacitance value measured by the capacitive foot presence sensor can change over time, such as in response to environmental conditions near the sensor. Using information from the environmental sensor 1050, the processor circuit 1020 and / or the foot presence sensor 1010 can update or adjust the measured or sensed capacitance value.

[0108] In an example, the system 1000 includes sensors configured to collect different types of data. In an example, the sensors collect data regarding the number, sequence, and / or frequency of compressions of the insole 1201 (see, e.g., Figures 12A to 12G). For example, the system 1000 can record the number or frequency of steps, jumps, cuts, kicks, or other compressive forces generated by a wearer while wearing the footwear, as well as other parameters such as contact time and flight time. Both quantitative sensors and binary on / off type sensors can collect this data. In another example, the system 1000 can record the sequence of compressive forces generated by the footwear, which can be used for purposes such as determining foot pronation or supination, weight transfer, foot strike patterns, or other such applications. In another embodiment, the sensor can quantitatively measure the compressive forces on different parts of the footwear (e.g., using the array of magnets 1250 to 1252 discussed below), and the measured information can include quantitative compressive force and / or impact information. For example, the relative differences in forces on different parts of the footwear can be used to determine the wearer's weight distribution or "center of pressure." The weight distribution and / or center of pressure can be calculated independently for one or two articles of footwear used by the wearer, or can be calculated for both shoes together to find a center of pressure or weight distribution center for the wearer's entire body. In an example, the sensor can measure the rate of change of the compressive forces (see, e.g., Figure 12E and Figure 12F ), contact time, flight time, or time between impacts (such as jumping or running), and / or other time-related parameters. It should be understood that in any embodiment, the sensor can use or require a specified threshold force or impact before registering a given force / impact as an event.

[0109] Figure 10B A flowchart illustrating an example of a method 1100 that includes using foot presence information from footwear sensors is shown. In operation 1110, the example includes receiving foot presence information from a foot presence sensor 1010. The foot presence information may include binary information regarding whether a foot is present in the footwear, or may include an indication of the likelihood that a foot is present in the article of footwear. The information may include an electrical signal provided from the foot presence sensor 1010 to a processor circuit 1050. In an example, the foot presence information includes qualitative information regarding the position of the foot relative to one or more sensors in the footwear.

[0110] At operation 1120, the example includes determining whether the foot is fully seated in the footwear. If the sensor signal indicates that the foot is fully seated, the example may continue at operation 1130, where drive mechanism 1040 is actuated. For example, when the foot is determined to be fully seated at operation 1120, drive mechanism 1040 may be engaged to tighten the shoelace via spool 1031, such as based on information from foot presence sensor 1010, as described above. If the sensor signal indicates that the foot is not fully seated, the example may continue at operation 1122 by delaying or idling for a specified interval (e.g., 1 to 2 seconds or more). After the specified delay has elapsed, the example may return to operation 1110, and processor circuit 1050 may resample information from foot presence sensor 1010 to again determine whether the foot is fully seated.

[0111] After the drive mechanism 1040 is actuated in operation 1130, the processor circuit 1050 can be configured to monitor foot position information in operation 1140. For example, the processor circuit can be configured to periodically or intermittently monitor information regarding the absolute or relative position of the foot in the footwear from the foot presence sensor 1010. In an example, in operation 1140, the foot position information is monitored, and receiving the foot presence information in operation 1110 can include receiving information from the same or different foot presence sensor 1010. For example, different electrodes can be used to monitor foot presence or position information in operations 1110 and 1140.

[0112] In operation 1140, the example includes monitoring information from one or more buttons associated with the footwear, such as button 121. Based on the information from button 121, such as when the user wishes to take off the footwear, drive mechanism 1040 may be instructed to untie or loosen the laces.

[0113] In an example, lace tension information can be additionally or alternatively monitored or used as feedback information for actuating drive mechanism 1040 or for tightening the shoelaces. For example, shoelace tension information can be monitored by measuring the drive current provided to motor 1041. The tension can be characterized at the point of manufacture or can be preset or adjusted by the user and can be correlated to the monitored or measured drive current level.

[0114] At operation 1150, the example includes determining whether the foot position in the footwear has changed. If the foot presence sensor 1010 and the processor circuit 1050 do not detect a change in foot position, the example may continue with a delay at operation 1152. After the delay interval specified at operation 1152, the example may return to operation 1140 to resample information from the foot presence sensor 1010 to again determine whether the foot position has changed. The delay at operation 1152 may range from a few milliseconds to a few seconds and may optionally be specified by the user.

[0115] In an example, the delay in operation 1152 can be automatically determined by processor circuit 1050 such as in response to determining footwear use characteristics. For example, if processor circuit 1050 determines that the wearer is engaged in violent activities (e.g., running, jumping, etc.), processor circuit 1050 can reduce the delay duration provided in operation 1152 so. If processor circuit determines that the wearer is engaged in non-violent activities (e.g., walking or sitting), processor circuit can increase the delay duration provided at operation 1152 so. By increasing the delay duration, by postponing the corresponding power consumption of sensor sampling event and processor circuit 1050 and / or foot presence sensor 1010, battery life can be saved. In an example, if position change is detected in operation 1150, this example can continue by returning to operation 1130, for example, actuating drive mechanism 1040 to tighten or loosen the footwear around foot. In an example, the processor circuit 1050 includes or incorporates a hysteretic controller for the drive mechanism 1040 to help avoid undesirable lace entanglement in the event of, for example, a slight detected change in foot position.

[0116] 11A to 11D is a diagram illustrating a motor control scheme for a motorized lacing engine according to some exemplary embodiments. In an example, with respect to shoelace winding, the motor control scheme involves dividing the total stroke into multiple segments, the sizes of which vary based on the position on the continuous shoelace stroke (e.g., between the home position / release position on one end and the maximum tightening degree on the other end). Since the motor is controlling the radial spool and will be controlled primarily by a radial encoder on the motor shaft, the size of the segment can be determined based on the degree of spool stroke (which can also be viewed based on encoder counts). On the loose side of the continuum, because the amount of shoelace movement is less important, the segment can be larger, such as a 10-degree thread stroke. However, as the shoelaces are tightened, each increase in shoelace stroke becomes increasingly important for obtaining the desired shoelace tightening degree. Other parameters, such as motor current, can be used as auxiliary measurements of shoelace tightening degree or continuous position. Figure 11A Included is an illustration of different segment sizes based on position along the tightening continuum.

[0117] exist Figure 11A In the present invention, the total shoelace travel can be divided into a fixed number of segments. A segment can be the amount of travel of the spool and can be fixed or variable. For example, the segment length can depend on the size of the lacing engine in terms of shoelace retraction. Figure 11A An example includes a graphical representation of total shoelace travel 1100 divided into multiple segments arranged in series. For example, such as when the lacing engine or footwear is at the first, or loosening, end of the tightening scale, one or more segments may correspond to approximately 10 degrees of rotational spool travel. At the opposite, second, or tightening end of the scale, a segment may correspond to approximately 2 degrees of rotational spool travel. Other values ​​may be used similarly. In an example, the rotational position of the spool may be the primary input for tightening setting, and the motor current may be used as an auxiliary input or as a safety check.

[0118] Figure 11B A table illustrating the use of the position of the tightening continuum to construct motion profiles based on the current position of the tightening continuum and the desired end position is shown. The motion profile can be converted into specific inputs such as from a user input button or gesture information received from multiple sensors. The motion profile can include parameters of the spool motion such as acceleration (Acceleration (deg / s / s)), velocity (Velocity (deg / s)), deceleration (Deceleration (deg / s / s)), and angle of motion (Angle (deg)).

[0119] Figure 11B An example of a first table 1101 including spool motion or position characteristics. A motion profile can be any combination of one or more motion or position characteristics. In an example, an auto-lacing event, a button press, a gesture-based input, or other input can initiate or trigger a motion profile. In an example, a processor circuit receives the trigger input and then updates the motor current supply to support the requested motion defined by the input. A multiplier or factor for gear reduction can be provided, such as can be used to quickly update or change one or more entries in the first table 1101. The first table 1101 is only an example, and the values ​​shown can change, for example, based on user settings, preferences, or default settings.

[0120] Figure 11C An exemplary motion profile graph 1103 is depicted. Graph 1103 includes an x-axis representing time and a y-axis representing speed. The speed axis corresponds to the speed at which the lace or spool travels. Figure 11C In the example of FIG, a "home to comfort" motion pattern may be used to wrap and unwrap the shoelaces, followed by a "relaxation" motion pattern.

[0121] Figure 11D A second table 1103 is generally illustrated, including examples of multiple user inputs that can activate multiple motion configurations along a footwear tightening continuum. In an example, the footwear or lacing engine may include or use multiple factory default settings for baseline comfort and performance. However, in response to user input, such as a button press, the lacing engine can be caused to perform one or more different configurations or movement changes. For example, in response to a "Short" press, the lacing engine can be moved incrementally between multiple segments. In response to a "Double" press, the lacing engine can be moved between adjacent predefined or specified motion configurations. In response to a "Hold" button press (e.g., a hold of greater than approximately 250ms), the lacing engine can be moved between fully tightened or fully relaxed configurations. In an example, any user input or other input to a button can stop the lacing engine.

[0122] Figure 12A is a block diagram illustrating a footwear component that may include a magnetic foot presence sensor. Figure 12A The example in includes a magnetometer 1220 and a first magnet 1210 spaced apart from the magnetometer 1220. Although generally referred to herein as a "magnet," the magnetometer 1220 can use and sense a variety of materials or components. In the example, the magnetometer 1220 does not sense the first magnet 1210 itself, but rather the magnetometer 1220 senses the effect of the first magnet 1210 on the magnetic field at or near the magnetometer 1220. Therefore, references herein to the first magnet 1210 (or other magnets or magnetic bodies) can be understood to include other materials detectable by the magnetometer 1220, or the effects of the first magnet 1210 or other materials.

[0123] The magnetometer 1220 can be surface mounted or otherwise coupled to the main PC assembly 1230, and the PC assembly 1230 can be included in the housing structure 100. In an example, the first magnet 1210 is positioned laterally offset from the vertical axis of the magnetometer 1220. For example, the first magnet 1210 can be disposed in the foam insole 1201, and the foam insole 1201 can be configured to be used or worn adjacent to the housing structure 100, such as inside an article of footwear.

[0124] In an example, magnetometer 1220 includes an LSM303AGR (e.g., a combination of an accelerometer and a magnetometer) from ST Microelectronics or a similar device. In an example, under normal use conditions, foot pressure from the foot causes magnet 1210 (e.g., in foam insole 1201) to shift by approximately 0.5 mm to 1 mm. In an example, foam insole 1201 can be included in a recess above shell structure 100, or can be included as a part of another insole. Other examples can include using a bridge to hold magnet 1210, as discussed further below. The bridge can help increase the pressure or force applied (e.g., from the foot) to shift magnet 1210 to the area thereon. Foam insole 1201 can selectively couple or respond to the applied pressure by, for example, placing a film on top of foam insole 1201 and magnet. For example, the hardness, shape, and / or area of ​​the film can vary, depending on the target area under the foot. That is, a single or unitary membrane may have different regions corresponding to different areas of the foot, thereby adjusting the sensitivity of the sensor system.

[0125] The magnet 1210 and the magnetometer 1220 need not be positioned such that the magnet 1210 is positioned vertically above the magnetometer 1220. In an example, Figure 12A As illustrated in the example of , magnet 1210 can be offset to one side or the other of magnetometer 1220 .

[0126] Despite Figure 12A In the example of the present invention, the compressible layer of the foam insole 1201 is labeled as "foam", but the compressible layer of the foam insole 1201 can be any compressible material, such as foam, rubber, silicone, cloth or polymer-based material or other material. In the example, the thickness of the compressible layer is about 3mm to 10mm.

[0127] In an example, the lacing engine 10 includes a housing structure 100, and the magnetometer 1220 is included inside or on top of the housing structure 100. In an example, the housing structure is a polycarbonate structure having a wall thickness of approximately 1 mm. In other examples, the housing structure can be made of aluminum, steel, or other non-conductive materials (including glass, ceramic, rubber, or various polymers or plastics).

[0128] Figure 12A Insole 1201 is shown in a first compressed state such that magnet 1210 and magnetometer 1220 are separated by a first distance D1. Figure 12BInsole 1201 is shown in a second, more compressed state, such that magnet 1210 and magnetometer 1220 are separated by a smaller, second distance D2. In this example, magnetometer 1220 provides distance information to processor circuit 1020, and processor circuit 1020 is configured to identify or use information about distance or about the rate of change between successive distance information. For example, processor circuit 1020 can be configured to determine foot impact characteristics, such as impact force or impact timing or frequency, based on the distance information.

[0129] although Figure 12A and Figure 12B A single magnet and single magnetometer configuration is generally illustrated, but other configurations may be used. For example, multiple magnets may be used with a single magnetometer. Figure 12C is a block diagram illustrating a footwear component that may include a magnetic foot presence sensor having a magnetometer 1220 and a plurality of magnets 1210-1213 (or other discrete materials that can be sensed by the magnetometer 1220). In an example, the plurality of magnets 1210-1213 may be positioned at different locations in an article of footwear. For example, an array of magnets may be disposed within an insole, such as at different vertical heights above or near the magnetometer 1220 and / or at different lateral spacings relative to the magnetometer 1220. Figure 12C In the example shown, first magnet 1210 is offset by a first height and lateral displacement relative to magnetometer 1220, and second magnet 1211 is offset by a second, smaller height and smaller lateral displacement relative to magnetometer 1210. Alternatively or additionally, multiple magnetometers may be used to sense information about the displacement of one or more different magnets.

[0130] Figure 12D It is a block diagram illustrating a top view of a footwear component including a magnetic foot presence sensor with a magnetometer 1220. In this example, an array of magnets 1250 to 1252 (or other discrete materials that can be sensed by the magnetometer 1220) is shown as being laterally offset (i.e., in the x and y directions) from the vertical axis (i.e., the z direction in the page) of the magnetometer 1220. In this example, information from magnetometer 1220 can be used to monitor foot presence and monitor information about foot shear, i.e., information about the lateral movement of foot position. For example, the foot on insole 1201 may cause the insole to move forward, backward, or to one side or deflect. An array of magnets 1250 to 1252 such as can be coupled to insole 1201 or arranged in insole 1201 may move relative to magnetometer 1220. The result signal from magnetometer 1220 can indicate the degree or amplitude of shear or later foot movement.

[0131] In an example, an article of footwear (see e.g. Figure 1 ) may include a ferromagnetic body, such as magnet 1210 or an array of magnets 1250 to 1252, disposed in the article. The article may include a magnetometer 1220 disposed or arranged in the article to measure the strength or direction of a magnetic field affected by the position of the ferromagnetic body. In an example, one of the ferromagnetic body and the magnetometer is configured to move relative to the other of the ferromagnetic body and the magnetometer, such as based on movement of a foot in the article or based on movement of the article itself. For example, when the ferromagnetic body is disposed in the insole 1201, the ferromagnetic body may move based on compression or relaxation of the insole 1201 when the article is used for walking, running, or other activities.

[0132] In an example, magnetometer 1220 is coupled to processor circuit 1020. Processor circuit 1020 can receive a signal corresponding to the sensed magnetic field strength from the magnetometer. In an example, the signal includes information about a change or rate of change of the sensed magnetic field. For example, the signal can include information about a changing position or a series of positions of a ferromagnetic object relative to magnetometer 1220.

[0133] Figure 12E and Figure 12F A graph showing time-varying information from a magnetometer is illustrated. Figure 12E A first magnetic field graph 1261 is shown with a first time-varying magnetic field signal 1271. In an example, first time-varying magnetic field signal 1271 may be generated by magnetometer 1220 and based on sensed information about the position of magnet 1210 relative to magnetometer 1220 (e.g., in a first article of footwear). In other words, first time-varying magnetic field signal 1271 may represent magnetic field strength information that varies over time.

[0134] exist Figure 12E In the example of , first time-varying magnetic field signal 1271 has baseline or reference magnetic field intensity B0. Reference magnetic field intensity B0 can correspond to the reference position of the footwear article including magnetometer 1220 and magnet 1210. In the example, reference magnetic field intensity B0 corresponds to empty or unused footwear, or corresponds to footwear in a relaxed or uncompressed state (e.g., the wearer is sitting or otherwise applying minimal force on the insole 1201). In the example, reference magnetic field intensity B0 corresponds to a stationary footwear condition, such as when the wearer is standing substantially still and magnet 1210 is biased toward magnetometer 1220 by a substantially constant bias force.

[0135] Figure 12EThe example plot of the first time-varying magnetic field signal 1271 illustrates several changes in the signal over the interval shown. In the example, the several changes correspond to a foot strike event or step. The first time T1 can correspond to the beginning of a first step. That is, at the first time T1, a wearer of the article can begin to apply pressure or force to the insole 1201 of the first article of footwear including the magnet 1210. At the second time T2, the first step can be complete and the wearer's weight can be resting substantially on the foot corresponding to the first article of footwear. At the second time T2, the insole 1201 can be compressed and the magnet 1210 can be moved to a closer position relative to the magnetometer 1220. As a result, the magnetometer 1220 can detect a magnetic field strength Bwalk that is greater than the magnetic field strength detected at the reference position B0.

[0136] The interval from the second time T2 to the third time T3 can represent the wearer performing a walking motion and releasing pressure or compression forces from the first foot. Thus, at least a portion of the first step event can be represented by the interval between the first time T1 and the third time T3. At the time T3, the magnet 1210 in the first article of footwear returns to its baseline or reference position, while the magnetometer 1220 again senses the reference magnetic field strength B0.

[0137] A variety of information about the first step event can be determined from the first time-varying magnetic field signal 1271. In the example, the signal amplitude change (e.g., AB1 in Figure 12E The greater signal amplitude change can correspond to a greater foot strike force, for example, because the insole 1201 can be compressed more under a greater foot strike force than under a lesser force.

[0138] Information about the duration between a plurality of magnetic field signal amplitude changes can be used to provide information about foot strikes. For example, the duration between the first time T1 and the second time T2 can be indicative of how quickly the insole 1201, and thus the foot, goes from a relaxed state to a compressed state, and in the example, can correspond to how quickly the user is moving (walking, jogging, running, etc.). Thus, in the example, the duration information can be used to assess or provide information about the physiological effects of the wearer's own activity or gait.

[0139] In an example, activity types can be classified based on rate of change information from the first time-varying magnetic field signal 1271 or based on signal morphology information. Magnetic field signals representative of a walking gait can have different time intervals between signal peaks and valleys compared to signals representative of a running gait. Signals representative of a jogging gait can be further distinguished, such as based on signal bounce or other minor changes in the signal. For example, signals corresponding to a jogging gait can have longer intervals, with slightly rounded peaks or valleys, while the duration between different peak or valley events can drift modestly over time. Signals corresponding to a running gait can have shorter intervals and sharp, well-defined peaks or valleys, and can include a most consistent or static duration between different peak or valley events over time.

[0140] In Figure 12E In an example, the rate of change or slope of the first time-varying magnetic field signal 1271 between the first time Tl and the second time T2 is different than the rate of change or slope between the second time T2 and the third time T3. In this example, the slope difference can represent a relatively quick step onset and a relatively slow or relaxed bounce or transition to the other foot. In some examples, the magnetic field signal slope can be relatively constant over different step events, and the slope can be relatively constant for each foot. Rate of change information about different feet, or rate of change information about changes in the rate of change of portions of the magnetic field signal, can be used to analyze a wearer's gait, such as to determine whether the wearer tends to "favor" one foot over the other, or to analyze recovery progress after an injury.

[0141] In an example, rate of change information or event information can be determined from the time-varying magnetic field signal and used to identify a series of foot strike events. This information can be used to provide a step count or pedometer. In an example, the processor circuit 1020 can include or use information about step length along with foot strike information to calculate distance information. In an example, different step information can be selected by the processor circuit 1020, such as different rate of change information about a foot strike corresponding to a particular foot strike event, to enhance the accuracy of distance determinations.

[0142] Figure 12F A second magnetic field graph 1262 is shown with a second time-varying magnetic field signal 1272. In an example, the second time-varying magnetic field signal 1272 can be generated by the magnetometer 1220, and this signal is based on sensed information about the position of the magnet 1210 relative to the magnetometer 1220, such as in the first article of footwear. That is, the second time-varying magnetic field signal 1272 can be representative of magnetic field strength information over time.

[0143] In Figure 12FIn the example of FIG. 1 , the second time-varying magnetic field signal 1272 has a baseline or reference magnetic field strength B0. The baseline or reference field may be Figure 12E In an example, the baseline or reference field may be user-specified and may be affected by one or more environmental factors that contribute to the magnetic field strength detected by the magnetometer 1220. Similar to as explained above, Figure 12F The reference magnetic field strength B0 in the example of can correspond to a reference position of the footwear article including magnetometer 1220 and magnet 1210.

[0144] Figure 12F The example illustrates several changes in the second time-varying magnetic field signal 1272 over the interval shown. In the example, these several changes correspond to a foot strike event or step by a running wearer. The first time T1 can correspond to the beginning of the first step in the running gait. That is, at the first time T1, the wearer of the article can begin to apply pressure or force to the insole 1201 of the first footwear article that includes the magnet 1210. At the second time T2, the first step in the running gait can be completed, and the weight of the wearer can rest substantially or completely on one foot corresponding to the first footwear article. At the second time T2, the insole 1201 can be compressed and the magnet 1210 can be moved to a closer position relative to the magnetometer 1220. As a result, the magnetometer 1220 can detect a magnetic field intensity B running that is greater than the magnetic field intensity detected in the reference position B0. In addition, since the running gait can indicate that the wearer is traveling at a faster speed than walking, the running gait can be detected at the reference position B0. Figure 12F In the example of running the magnetic field strength B detected can be greater than Figure 12E The magnetic field strength B detected in the example of walking (for example, assuming that the first time-varying magnetic field signal 1271 and the second time-varying magnetic field signal 1272 correspond to the same wearer, or wearers of substantially the same weight).

[0145] The interval from the second time T2 to the third time T3 can represent the wearer performing a running motion on the first foot and releasing pressure or compression from the first foot. At time T3, the magnet 1210 in the first article of footwear returns to its baseline or reference position, and the magnetometer 1220 again senses the reference magnetic field strength B0.

[0146] A variety of information about discrete steps or strides in a running gait can be determined based on the second time-varying magnetic field signal 1272. In an example, the signal amplitude changes (e.g., Figure 12F ΔB2) in the figure can represent the peak foot impact force of the illustrated step. Figure 12FAs shown in the example of , different steps can have different peak values. A larger peak value or a larger change in signal amplitude can correspond to a larger foot impact force, for example, because the insole 1201 can be compressed more under a larger foot impact force than under a smaller force.

[0147] Information about the duration between multiple magnetic field signal amplitude changes can be used to provide information about foot impact. For example, the duration between the first time T1 and the second time T2 can indicate how quickly the insole 1201, and therefore the foot, moves from a relaxed state to a compressed state, and in this example, can correspond to how fast the wearer is running.

[0148] Figure 12G An example of method 1260 is generally illustrated, and method 1206 includes initiating an active footwear response to a magnetometer signal. Method 1260 may be performed, at least in part, by processor circuit 1020 using information from magnetometer 1220. In operation 1261, method 1260 includes receiving a signal from magnetometer 1220. The received signal may include an analog or digital time-varying signal indicating a time-varying magnetic field detected by magnetometer 1220. The magnetic field may vary, for example, based on a change in the position of magnet 1210 in the footwear. In an example, processor circuit 1020 or other dedicated circuitry configured to perform actions based on specified input conditions may be configured to receive the magnetometer signal in operation 1261.

[0149] In operation 1262, the processor circuit 1020 can analyze the received signal and determine whether the magnetic body (e.g., magnet 1210) moves or shifts, such as by a movement or shift greater than a specified threshold movement amount. If no movement or insignificant (non-threshold) displacement is detected, the method 1260 can return to operation 1261 to receive subsequent information from the magnetometer 1220. In an example, a fixed or variable delay can be provided between magnetometer signal sampling events. If it is determined in operation 1262 that the magnetic body has moved greater than a specified threshold movement amount, the example can continue to operation 1263 to initiate a response in the active footwear including the magnetometer 1220.

[0150] For example, in operation 1263, various shoe functions may be initiated, such as actuating a shoelace drive mechanism (operation 1264), determining foot impact characteristics (operation 1265), or determining a step rate (operation 1266). In operation 1264, the shoelace drive mechanism may be actuated. For example, the shoelace drive mechanism may be activated based on the shoelace drive mechanism. Figure 10Bactuation of the lace drive mechanism in operation 1264 includes monitoring foot strike or rate of change information from the time-varying magnetometer signal (e.g., received in operation 1261). Lace drive actuation in operation 1264 can include automatically adjusting the footwear tension around the foot in response to sensed foot strike information. For example, in response to information from the time-varying magnetometer signal indicating strenuous activity or heavy use, such as running or jumping, the lace drive mechanism can be actuated in operation 1264 to tighten the footwear around the foot. In contrast, if the time-varying information from the magnetometer 1220 indicates that the wearer is stationary or walking slowly, the lace drive mechanism can be actuated in operation 1264 to loosen the footwear around the foot.

[0151] In examples, actuation of the lace drive mechanism in operation 1264 includes tightening the footwear around the foot when the wearer first puts on the footwear. The magnetometer signal received in operation 1261 can indicate that the wearer has just begun to move the footwear or to take steps with the footwear, and in response, the drive mechanism can be actuated to quickly tighten the footwear to a first tension level. The tension level can be automatically adjusted by the processor circuit 1020, such as after receiving gait information over a first pair of step events.

[0152] In operation 1265, Figure 12G Examples of the footwear system 1000 include determining foot strike characteristics based on the received magnetometer signal. As discussed above in Figure 12E and Figure 12F Examples of the footwear system 1000 include determining foot strike characteristics based on the received magnetometer signal. As discussed above in

[0153] In examples, information about foot strike characteristics can be used to provide information to the wearer about the extent to which his or her foot (individually) strikes or impacts a receiving surface. Information about foot strike characteristics can also include information about whether the wearer is moving with proper or desired foot placement. Such foot placement information can be discerned using a multi-axis magnetometer or using an array of magnets 1250-1252. In examples, information about foot strike characteristics can be recorded over time and used to provide information about the state of one or more components of the footwear. For example, the processor circuit 1020 can use information about foot strike characteristics over time to determine when the insole 1201 needs to be replaced.

[0154] In operation 1266, Figure 12GExamples include using the received magnetometer signal to determine a step rate. As discussed above in Figure 12E and Figure 12F Examples, the step rate can correspond to a change identified in the time-varying magnetic field signal sensed by the magnetometer 1220. For example, a magnetic field change indicative of, such as an increase in field strength for a specified duration and a subsequent decrease, can be used to indicate a step event or the likelihood of a step event occurring.

[0155] Figure 12G Several available responses to the identified change in the magnetic field signal sensed by the magnetometer 1220 are illustrated. Other responses can similarly be initiated, such as including other responsive actions taken by the circuitry or device in the footwear or other device or process in data communication with the footwear. For example, responsive to the identified field change, data can be collected from one or more sensors in the footwear, such as from the motion sensor 1024 or the environmental sensor 1050. In examples, the morphology or profile of the time-varying magnetic field signal can be analyzed by the processor circuitry 1020, and gait information can be identified and used to trigger one or more other footwear functions, processes, or data transfer events.

[0156] Figure 13 is a graph that generally illustrates pressure distribution data for a nominal or average foot (left) and a high arch foot (right) in an article of footwear when the user is standing. In this example, it can be seen that relatively large pressure areas under the foot include at the heel region 1301, at the ball region 1302 (e.g., between the arch and the toes), and at the hallux region 1303 (e.g., the “big toe” region). However, as discussed above, it can be advantageous to include a variety of active components (e.g., including a foot presence sensor) in a central region, such as at or near the arch region. For example, in this region, the housing structure 100 can generally be less noticeable or intrusive to the user when the article of footwear including the housing structure 100 is worn.

[0157] In examples, a magnetometer, such as the magnetometer 1220 in examples of 12A to 12D may be included in or on the housing structure 100 and can be disposed in the arch region of the article of footwear. As described above, one or more magnets positioned in the insole 1201 can be positioned proximate the magnetometer 1220, such as also in the arch region of the article. However, because the arch region generally does not experience significant pressure or force changes (see, e.g., Figure 13 ), a bridge component can optionally be used to transfer force from another foot region to the magnet and / or the magnetometer 1220, e.g., to affect or enhance displacement of the magnet relative to the magnetometer 1220.

[0158] Figure 14A and Figure 14B Generally illustrates a bridge component or pressure plate for use with a magnetic sensor. Figure 14A A first magnet 1401 is illustrated disposed on a bridge component 1410. The bridge component 1410 can be coupled to a cover 1420 of a housing structure 100 by a spring wire 1430. The spring wire 1430 can be configured to push or bias the bridge component 1410 and thereby move the first magnet 1401 to a first position, such as when the first magnet 1401 is not experiencing a foot presence or when no pressure is being applied to an article of footwear that includes the sensor. That is, the spring wire 1430 can act as a cantilever that protrudes from the cover 1420 and holds the first magnet 1401 at or near an edge of the cantilever. When a force or foot pressure is applied to the bridge component 1410, the bridge component 1410 can deflect or move relative to the housing structure 100 and relative to a magnetometer 1220 included within the housing structure 100. In an example, the housing structure 100 and / or another component of the footwear, such as a midsole 60, includes a recess, cavity, or compressible component configured to receive at least a portion of the bridge component 1410 so as to provide a travel path for the bridge component 1410 and the first magnet 1401 when a force or foot pressure is applied to the bridge component 1410 and the first magnet 1401.

[0159] The bridge component 1410 can have a variety of shapes, profiles, or orientations. For example, the bridge component 1410 can have an elongated shape that is parallel or orthogonal to a heel-to-toe axis of the article of footwear. In an example, the elongated shape is configured to receive foot displacement information from a heel region 1301 and / or a hallux region 1303 of a foot (see FIG. 13). Figure 13 In an example, the elongated shape receives foot displacement information from an arch region of a foot by receiving displacement information from a left side and / or a right side of the foot.

[0160] In an example, the bridge component 1410 can be a replaceable element in the article of footwear. The bridge component 1410 can be selected from a plurality of different bridge component types or styles depending on a user’s preference or anatomy. For example, a user with a high arch can use a wider or longer bridge component than a user with a low arch or a flat foot.

[0161] In an example, the article of footwear includes the bridge component 1410 and at least one of a ferromagnetic body, such as the magnet 1210, and the magnetometer 1220 is coupled to the bridge component 1410. The bridge component can be configured to bias at least one of the magnet 1210 and the magnetometer 1220 away from the other of the magnet 1210 and the magnetometer 1220 when the magnet 1210 and the magnetometer 1220 are in a relaxed state or reference position.

[0162] In an example, bridge member 1410 is rigid or semi-rigid, such as made of a non-flexible polymer or thin metal or ceramic. The bridge member can be configured to receive a foot displacement force from the foot from the arch area or other areas of the foot and, in response, cause one of magnet 1210 and magnetometer 1220 (e.g., disposed on or coupled to bridge member 1410) to shift accordingly relative to its reference position.

[0163] Figures 15A to 15C Test data associated with a magnet-based foot presence sensor configuration is illustrated, wherein the magnet poles are oriented along the x-axis. Figures 15D to 15F Test data associated with a magnet-based foot presence sensor configuration is illustrated, wherein the magnet poles are oriented along the y-axis. Figures 15G to 15I Test data associated with a magnet-based foot presence sensor configuration is illustrated, wherein the magnet poles are oriented along the z-axis.

[0164] 16A to 16B The graph shows the magnetic field strength test data of a rectangular magnet. Figures 16C to 16F The graph shows the magnetic field strength test data of the first circular magnet.

[0165] 17A to 17D The graph shows the magnetic field strength test data of the first circular magnet.

[0166] 15A to 17D The figure shows a number of test data associated with the magnet and magnetometer. 15A to 15I In the example above, the field strength may be unstable or inconsistent along the Z axis of the magnetometer. Typically, as the magnet moves along the X or Y axis, the magnetic field strength drops off rapidly, such as about 50 mm laterally away from the magnetometer. As the magnet moves along the X and Y directions, the Z component typically peaks and then drops off.

[0167] 16A to 16F Field strength test data corresponding to different magnet types and different lateral offset positions relative to the magnetometer are illustrated.

[0168] based on 15A to 17D From the examples of , it can be seen that several positions can provide an acceptable signal-to-noise ratio (SNR) for each magnet type. A minimum deflection of about 0.5 mm is typically used to obtain a good SNR. Placing the magnet directly above the magnetometer may not be as good as other magnet placement positions. In the example, the magnetometer may have multiple uses, such as maximizing the signal on one or two axes by placing the magnet without maximizing the signal on the other axes. This arrangement can enable index pulses for spooling or other functions.

[0169] A variety of different magnet types and shapes can be used. For example, neodymium magnets can be used. The magnets can be rectangular, circular, annular, small (e.g., about 0.1 inch diameter x about 0.04 inch thick), or large (e.g., about 0.25 inch diameter x about 0.06 inch thick).

[0170] The present inventors have recognized that to optimize magnetometer performance in a footwear environment having a small magnet travel or deflection distance, the magnet should be offset from the Z-axis associated with the magnetometer, that is, spaced laterally or laterally from the magnetometer's vertical axis or Z-axis.

[0171] In an example, an article of footwear may include or utilize a capacitive foot presence sensor. A capacitive foot presence sensor may include a surface-type sensor or a projection-type sensor. A surface-type sensor utilizes capacitive sensors at the corners of a membrane, which may be distributed over the sensor surface. In this example, the capacitive sensor surface may include the interior surface of the article of footwear, such as on an insole, tongue, wall of the article of footwear, or elsewhere. A projection-type sensor may utilize a grid of conductive elements arranged in rows and columns. In both types, when a body part or foot is positioned at or near the membrane and / or conductive elements, charge may be transferred to the foot to complete the circuit, thereby generating a voltage change.

[0172] Figure 18 An example of a capacitive sensor 1500 is generally illustrated. Capacitive sensor 1500 may include a plurality of capacitive plates, such as may be arranged on shell structure 100, for example, so that when an article of footwear including capacitive sensor 1500 is worn, capacitive sensor 1500 may be positioned on or near an underside of a foot.

[0173] The foot presence sensor 1500 may include a plurality of capacitor plates. Figure 18 In the example shown, four capacitor plates are identified as 1501 to 1504. The capacitor plates can be made of a conductive material, such as a conductive foil. The foil can be flexible and can optionally be embedded in the plastic of the housing structure 100. It should be understood that any conductive material, such as a film, ink, etc., can be used.

[0174] The capacitance value of a capacitor is functionally related to the dielectric constant of the material between the two plates forming the capacitor. Within sensor 1500, a capacitor can be formed between each pair of two or more capacitor plates 1501 to 1504. Therefore, there are six effective capacitors formed by six unique combinations of capacitor plates 1501 to 1504. Alternatively, two or more plates can be electrically coupled to form a single plate. That is, first capacitor plate 1501 and second capacitor plate 1502 can be electrically coupled and used as half of a capacitor, and third capacitor plate 1503 and fourth capacitor plate 1504 can be electrically coupled to form the other half.

[0175] The capacitance effect between the first capacitor plate 1501 and the second capacitor plate 1502 is Figure 18 1504 is represented by a dotted capacitor identified by the letter F. It will be understood by those skilled in the art that each dotted capacitor represents an electric field extending between a corresponding pair of capacitor plates. In the following, for ease of identification, the capacitor formed by each pair of capacitor plates is denoted by the dashed capacitor identified by the letter C. The capacitive effect between the third capacitor plate 1503 and the fourth capacitor plate 1504 is represented by the dotted capacitor identified by the letter D. The capacitive effect between the second capacitor plate 1502 and the third capacitor plate 1503 is represented by the dotted capacitor identified by the letter E. The capacitive effect between the first capacitor plate 1501 and the fourth capacitor plate 1504 is represented by the dotted capacitor identified by the letter F. It will be understood by those skilled in the art that each dotted capacitor represents an electric field extending between a corresponding pair of capacitor plates. In the following, for ease of identification, the capacitor formed by each pair of capacitor plates is denoted by the dashed capacitor identified by the letter F. Figure 18 The same letters used in (e.g., "A," "B," etc.) identify the capacitors drawn with dashed lines.

[0176] for Figure 18 For each pair of capacitor plates in the example, the effective dielectric between the plates includes the air gap (or other material) between the plates. Furthermore, for each pair of capacitor plates, any portion of the foot that is proximate to the corresponding pair of capacitor plates becomes part of the effective dielectric of the given pair of capacitor plates. The dielectric constant between each pair of capacitor plates can be related to the proximity of the foot relative to the corresponding pair of plates. For example, the closer the foot is to a given pair of plates, the greater the value of the effective dielectric. As the dielectric constant value increases, the capacitance value increases.

[0177] The foot presence sensor may include multiple capacitive sensor drive / monitoring circuits. Figure 18 In an example, a drive / monitoring circuit can be associated with each pair of capacitor plates. In an example, the drive / monitoring circuit can provide a drive signal (e.g., electrical excitation) to the capacitor plate pair and, in response, can receive a capacitance indication value. Each drive / monitoring circuit can be configured to measure the variable capacitance value of the associated capacitor (e.g., capacitor "A" corresponding to the first plate 1501 and the second plate 1502) and can be further configured to provide a signal indicative of the measured capacitance value. The drive / monitoring circuit can have any suitable structure for measuring capacitance.

[0178] In an example, the capacitance value measured by the driver / monitoring circuit may be provided to a controller or processor circuit (e.g., see Figure 10AThe operation of the controller includes providing a shoelace mechanism actuator. The operation can optionally be performed by discrete "hard-wired" components, can be performed by a processor executing software, or can be performed by a combination of hard-wired components and software. In an example, the shoelace mechanism actuation function includes (1) monitoring signals from the drive / monitoring circuit, (2) determining which signal (if any) indicates that the capacitance value exceeds a specified threshold (e.g., stored in the processor circuit and / or in a memory circuit in data communication with the processor circuit), (3) characterizing the position, size, etc. of the foot located near the sensor matrix based on, for example, the number of thresholds exceeded and (4) allowing, changing or inhibiting actuation of the shoelace drive mechanism based on the characterization.

[0179] Figure 19 An example of a capacitive electrode configuration is generally illustrated 1600. The example includes a first electrode 1601 and a second electrode 1602 arranged along a generally planar surface, such as in a comb-like configuration. A processor circuit (see Figure 8A ) can be configured to generate a stimulation signal to be applied to the first electrode 1601 and the second electrode 1602, and sense a response signal indicative of a change in capacitance between the electrodes. The capacitance may be affected by the presence of a body or foot relative to the electrodes. For example, the first electrode 1601 and the second electrode 1602 can be arranged on or near a surface of the housing structure 100, such as near the foot.

[0180] In an example, the foot presence sensor includes etching a conductive layer, such as in an XY grid to form an electrode pattern, or by etching multiple separate parallel layers of conductive material, such as with vertical lines or tracks to form a grid. In this and other capacitive sensors, direct contact between the body or foot and the conductive layer is not required. The conductive layer can optionally be embedded in the housing structure 100 or can be coated with a protective layer or insulating layer.

[0181] In an example, a capacitive foot sensor is constructed to sense or use information about the mutual capacitance between multiple electrodes or plates. A mutual capacitance sensor may include a capacitor located at each intersection of each row and column of an electrode grid. Optionally, the electrode grid is arranged into a single row or column. In an example, a voltage signal may be applied to the row or column, and the body or foot near the surface of the sensor changes the local electric field, which in turn may reduce the mutual capacitance. The change in capacitance at each individual point on the grid may be measured to determine body position, such as by measuring the voltage on each axis. In an example, mutual capacitance measurement technology may provide information from multiple locations around the grid simultaneously.

[0182] In an example, mutual capacitance measurements use an orthogonal grid of transmit and receive electrodes. In a mutual capacitance sensor system, each detection can be detected as a discrete XY coordinate pair. In an example, information from multiple measurements of the capacitance sensor can be used to determine the presence of a foot. In an example, information about the rate of change of the X and / or Y detection coordinates can be used.

[0183] In an example, a self-capacitive based foot presence sensor can have the same XY grid as a mutual capacitance sensor, but the columns and rows can operate independently. In a self-capacitive sensor, the capacitive load of the body at each column or row can be detected independently.

[0184] In an example, a capacitive sensor may optionally have electrodes or plates with a relatively large surface area and may sense changes in capacitance over a correspondingly large area.

[0185] In an example, a capacitor-based foot presence sensor can have a baseline or reference capacitance value. The reference capacitance value can be a function of the surface area of ​​the electrode, or a function of the electrode position relative to other footwear components, or a function of the orientation or environment of the sensor or footwear itself. That is, even if the foot is not present in the footwear, the sensor can have some associated capacitance value, and this value can be a function of the dielectric effect of one or more materials or environmental factors at or near the sensor. In an example, a corrective insert in the footwear (e.g., an insole) can change the dielectric properties of the capacitive sensor. However, the processor circuit can optionally be configured to calibrate or self-calibrate the capacitive sensor when the baseline or reference properties change, such as when the insole changes.

[0186] The inventors conducted a variety of tests to evaluate the effects of various orthotic inserts on capacitive foot sensing technology. Full-length and partial-length orthotic insoles were tested. Adding a regular (partial-length) orthotic to footwear increased the overall dielectric properties and reduced the electric field sensitivity to the presence of the foot. Signal amplitude also decreased in the presence of the orthotic. The RMS amplitude of the noise was similar with and without the orthotic. The response was also similar under loaded and unloaded conditions.

[0187] Based on the results of orthotic testing, detecting foot presence using capacitive sensing is feasible in terms of signal-to-noise resolution with regular or full-length orthotics. Under both light and heavy loading conditions, using partial or full-length orthotics, SNRs exceeding the minimum 6dB required to resolve foot presence were measured. The sensor's automatic calibration includes sufficient offset range to compensate for the additional dielectric effects of the orthotic.

[0188] In the case of full-length orthotics, the test procedure involves removing the insole of the produced shoe and only using the orthotic itself. The dielectrics are almost equal, resulting in an SNR in compression similar to that without the orthotic.

[0189] The air gap between the full-length orthotic and the sensing electrodes results in a measurable change in the SNR as a function of the applied load. The different foot zones behave similarly under low-load conditions, showing no permanent deformation of the gap distance under the orthotic. Under high-load conditions, such as when the user is standing, it may be sufficient to press the arch of the orthotic against the sensor and eliminate the gap. The resulting composite electric field can be similar in magnitude to the electric field used in production shoe insoles (without the orthotic). In examples, this change can be compensated for, such as by using gap-filling foam on the underside of the full-length orthotic.

[0190] Figure 20A An example of a capacitive foot presence sensor is generally illustrated. The capacitive foot presence sensor may include a capacitive sensing electrode 1721 coupled to a capacitive sensing controller circuit 1722. The electrode 1721 and / or the controller circuit 1722 may optionally be included in or mounted to the housing structure 100.

[0191] In an example, the controller circuit 1722 includes an Atmel ATSAML21E18B-MU, an ST Microelectronics STM32L476M, or other similar devices. As discussed herein, the electrodes 1721 may optionally be included in a recess above the housing structure, or as part of the foam insole 1201 or elsewhere.

[0192] exist Figure 20A In the example of , the electric field can be emitted from the top side of the electrode 1721. In the example, the electric field under the electrode can be blocked by placing a driven shield under the sensing electrode (see Figure 20B). The driven shield and the sensing electrode 1721 can be electrically insulated from each other. If the sensing electrode 1721 is on one surface of a PCB or FPC, the driven shield can be on the bottom layer of the PCB, or on any underlying inner layer on a multi-layer PCB or FPC. In an example, the driven shield can have a surface area equal to or larger than the sensing electrode 1721 and be centrally located directly below the sensing electrode 1721. The shield can be driven to generate an electric field of the same polarity, phase, and / or amplitude as the x-axis leg of the sensing electrode 1721. The field of the shield can repel the electric field of the sensing electrode 1721, thereby isolating it to avoid undesirable coupling effects, such as undesired coupling to the ground plane below the main PCA.

[0193] One advantage of using capacitive sensing technology to detect foot presence includes that the capacitive sensor can function well even when placed in the arch area and the user has high arches. For example, a preferred integration of the foot presence sensor can include being inside the housing structure 100 to protect it from sweat and dust. This minimizes or eliminates connections through the housing, thereby improving reliability. As mentioned above, a good location for locating the housing is in the arch area because it is least likely to be felt by the wearer or cause discomfort.

[0194] In an example, sensing electrodes 1721 can be configured to sense signal differences between multiple electrodes, such as signal differences between an X electrode and a Y electrode. In an example, a suitable sampling frequency can be between about 2 Hz and 50 Hz. Capacitive sensing technology can also be relatively invariant to sweat (humidity) on the insole of a shoe or in a sock around the foot. The effect of such moisture can reduce the dynamic range of detection because the presence of moisture can increase the measured capacitance. However, in some examples, the dynamic range is sufficient to accommodate such effects within the expected humidity levels.

[0195] Figure 20C The sensing electrode 1725 is generally illustrated in a top view (left) and a perspective view (right). In this example, the sensing electrode can be configured to be disposed inside the housing structure 100, such as at or near the top inner wall of the housing structure 100 (e.g., pressed against or mounted adjacent to the top inner wall of the housing structure 100). In an example, the sensing electrode 1725 includes a flexible substrate.

[0196] The inventors conducted multiple tests to validate foot presence sensing using capacitive sensing technology. In the example, capacitive sensing for detecting foot presence was feasible in terms of signal-to-noise resolution. An SNR of 22dB could be measured at a confidence level of 99.9%. In a series of tests, 16 subjects were used, including 4 females and 12 males. The distribution of foot size was normally distributed, ranging from 5.5 to 12.5. Self-reported arch height was normally distributed between low, medium and high. With an R value of 0.039, there was no correlation between signal quality and the size of the subject's foot.

[0197] In an example, the foot presence sensor includes a first pressure sensor. The first pressure sensor may be embedded in the outsole 60, in a side or top member of the footwear, or elsewhere in the footwear. The first pressure sensor may be configured to sense a change in mass, such as when a user applies weight to the sensor. In an example, the first pressure sensor may include a force-sensitive resistor.

[0198] Figure 21A One example is generally illustrated as a block diagram illustrating footwear components that may include a pressure-based foot presence sensor. Figure 21A Examples include a pressure sensor housing 2100. The pressure sensor housing 2100 can be a substantially airtight or liquidtight housing in which a measuring diaphragm is disposed. The measuring diaphragm can move or respond to changes in the distribution of gas or fluid in the housing 2100. As shown, the pressure sensor housing 2100 can be positioned under the foot and can be configured to receive physical foot impact when the footwear is worn. In examples, the pressure sensor housing 2100 shares a wall with the shell structure 100 or is adjacent to a wall of the shell structure 100. In response to the impact from the foot, at least one wall of the housing 2100 can move slightly, thereby changing the distribution of the gas or fluid in the housing. Information from the sensor or diaphragm about the change in gas or fluid distribution can be processed by a processor circuit (e.g., Figure 10A The processor circuit 1020) receives and uses it to identify the presence of the foot or the foot activity information.

[0199] Figure 21B The diagram generally shows a second pressure sensor 1820. Figure 2B10. The second pressure sensor 1820 can be embedded in the interior of the housing structure 100 of the tethered engine 10. The tethered engine 10 can be substantially vapor-tight or hermetically sealed. That is, the tethered engine 10 can be a substantially enclosed structure including at least a portion that is hermetically sealed. In an example, the second pressure sensor 1820 can be embedded in a sealed chamber 1810, and the sealed chamber 1810 can be included in the interior of the housing structure 100. The sealed chamber 1810 can include one or more walls that are in contact with or shared with the housing structure 100.

[0200] In an example, second pressure sensor 1820 includes a diaphragm embedded in sealed chamber 1810. When subjected to a force, such as when a user applies weight to an article of footwear while standing or walking, one or more sides of sealed chamber 1810 may deflect or flex, thereby changing the gas distribution within sealed chamber 1810. The diaphragm of second pressure sensor 1820 may move in response to this change in gas distribution and may generate a sensor signal indicative of the diaphragm movement. Therefore, when diaphragm movement is detected, the sensor signal from second pressure sensor 1820 may indicate the presence of a foot.

[0201] In an example, information from a foot presence sensor or magnetometer can be used as a pedometer. For example, changes in the time-varying magnetic field signal from magnetometer 1220 can indicate that the article of footwear is moving. Optionally, information from the magnetometer can be used or processed with other sensor information (such as accelerometer or temperature information) to help determine when a step event occurs. The processor circuit (e.g., see Figure 10A The processor circuit 1020 of the device can be used to receive the magnetometer signal and, in response, determine information about the number of steps taken by the wearer. In addition to using it as a pedometer, information from the magnetometer can be used to determine rate or distance.

[0202] In an example, the magnetometer can be configured to monitor physiological characteristics of the wearer. For example, the sensor can provide information about the expansion or contraction characteristics of the foot, pulsation characteristics detected from pressure changes in the foot itself, or other physiological information.

[0203] In an example, a magnetometer can provide information about displacement or force. When the sensor information includes displacement information, information about foot impact can be obtained. Foot impact information can include information about the force or impact of the foot in the footwear. For example, foot impact information can be used to determine whether the wearer is walking (low impact, low force), running (medium impact, medium force), or jumping (high impact, high force).

[0204] Throughout this specification, plural instances can implement components, operations, or structures described as a single instance. Although individual operations of one or more methods are illustrated and described as separate operations, one or more of the individual operations can be performed concurrently, and nothing requires that the operations be performed in the order illustrated. Structures and functionality presented as separate components in example configurations can be implemented as a combined structure or component. Similarly, structures and functionality presented as a single component can be implemented as separate components. These and other variations, modifications, additions, and improvements fall within the scope of the subject matter herein.

[0205] Although the subject matter of the present invention has been described in reference to the specific exemplary embodiments, it is understood that various modifications and changes can be made to these embodiments without departing from the broader scope of the disclosure. Such modifications and changes are to be understood as falling within the scope of the present disclosure. The various embodiments of the present invention described herein can be referred to, individually and / or collectively, as the “invention” simply for convenience and are shown and described in the drawings by illustrations of specific embodiments, from which the scope of the present invention will be apparent.

[0206] The embodiments illustrated herein are described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments can be utilized and that logical, architectural, and / or other changes can be made without departing from the scope of the present disclosure. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present disclosure is indicated by the appended claims rather than by this detailed description. In this description, references to “one embodiment,” “an embodiment,” “exemplary embodiment,” etc., indicate that the embodiment described can include a particular feature, structure, or characteristic, but every

[0207] The following aspects provide a non-limiting overview of the footwear and foot presence or position sensing systems and methods discussed herein.

[0208] Aspect 1 can include or use subject matter such as a device, system, apparatus, method, means for performing acts or device readable medium including instructions that, when performed by the device, cause the device to perform acts, such as can include or use an article of footwear including: a ferromagnetic body disposed in the article; and a magnetometer configured to measure a strength or a direction of a magnetic field affected by a position of the ferromagnetic body. In Aspect 1, one of the ferromagnetic body and the magnetometer can be configured to move relative to the other of the ferromagnetic body and the magnetometer in accordance with movement of a foot in the article or in accordance with movement of the article itself.

[0209] Aspect 2 can include or use, or can optionally be combined with the subject matter described in Aspect 1, to optionally include or use a processor circuit, wherein the magnetometer is configured to generate a magnetometer signal indicative of the position of the ferromagnetic body, and wherein the processor circuit is configured to receive the magnetometer signal from the magnetometer.

[0210] Aspect 3 may include or use or may optionally be combined with the subject matter described in Aspect 2 to optionally include: when the magnetometer signal indicates a specific change in the position of the ferromagnetic body, the processor circuit is configured to initiate data collection from one or more other sensors in or associated with the footwear article.

[0211] Aspect 4 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 2 or 3 to optionally include: when the magnetometer signal indicates a specific change in the position of the ferromagnetic body, the processor circuit is configured to actuate the drive mechanism to tighten or loosen the footwear around the foot.

[0212] Aspect 5 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 2 to 4, to optionally include: the magnetometer is configured to generate a time-varying magnetometer signal indicating the position of the ferromagnetic body when the article is worn by the foot and moved by the foot, and wherein the processor circuit is configured to determine foot impact characteristics based on the time-varying magnetometer signal.

[0213] Aspect 6 may include or use or may optionally be combined with the subject matter of Aspect 5 to optionally include or use a processor circuit configured to determine a foot impact force characteristic or a step timing characteristic based on the time-varying magnetometer signal.

[0214] Aspect 7 may include or use or may optionally be combined with the subject matter of one or any combination of Aspects 5 or 6 to optionally include a processor circuit configured to determine foot strike characteristics of a single step event.

[0215] Aspect 8 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 5 to 7, to optionally include a processor circuit configured to determine a rate of change of a time-varying magnetometer signal and to characterize a stepping force or stepping frequency based on the determined rate of change.

[0216] Aspect 9 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 1 to 8, to optionally include a magnetometer configured to generate a magnetometer signal, the magnetometer signal including information about changes in the magnetic field when the article is worn and at least one of the ferromagnetic body and the magnetometer moves relative to the other due to the foot.

[0217] Aspect 10 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 1 to 9 to optionally include or use a magnetometer configured to sense information about changes in the ambient magnetic field in response to the influence of the foot itself on the ambient magnetic field.

[0218] Aspect 11 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 1 to 10, to optionally include: the ferromagnetic body or the magnetometer is configured to move relative to the other of the ferromagnetic body or the magnetometer when the article is worn or moved.

[0219] Aspect 12 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 1 to 11, to optionally include or use a plurality of ferromagnetic bodies disposed in the article and spaced apart from the magnetometer, and wherein at least one of the plurality of bodies is configured to move relative to the magnetometer when the article is worn or moved.

[0220] Aspect 13 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 1 to 12 to optionally include or use a magnetometer that is a three-axis magnetometer configured to provide information about changes in the magnetic field in at least the x, y, and z dimensions.

[0221] Aspect 14 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 1 to 13 to optionally include or use a ferromagnetic body embedded in a compressible material configured to be worn under the foot in an article of footwear.

[0222] Aspect 15 may include or use or may optionally be combined with the subject matter of Aspect 14 to optionally include or use a magnetometer configured to be positioned under the foot and in the arch region of the article.

[0223] Aspect 16 may include or use or may optionally be combined with the subject matter of one or any combination of Aspects 14 or 15 to optionally include or use a magnetometer configured to be positioned beneath the foot and in a heel region or toe region of the article.

[0224] Aspect 17 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 1 to 16 to optionally include or use a bridge member, wherein at least one of the ferromagnetic body and the magnetometer is coupled to the bridge member, and wherein, when the ferromagnetic body and the magnetometer are in a relaxed state or reference position, the bridge member biases at least one of the ferromagnetic body and the magnetometer away from the other of the ferromagnetic body and the magnetometer.

[0225] Aspect 18 can include or use or can optionally be combined with the subject matter of aspect 17 to optionally include or use a spring coupled to the bridge member, wherein the spring biases the bridge member to the first position.

[0226] Aspect 19 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 17 or 18 to optionally include the use of a bridge member that is rigid or semi-rigid and wherein the bridge member is configured to receive an arch displacement force and, in response, cause one of the ferromagnetic body and the magnetometer to shift accordingly relative to its reference position.

[0227] Aspect 20 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 17 or 18 to optionally include or use a bridge member, the bridge member being rigid or semi-rigid and wherein the bridge member is configured to receive foot displacement forces from the foot other than the central arch region of the foot and, in response, to correspondingly displace one of the ferromagnetic body and the magnetometer relative to its reference position.

[0228] Aspect 21 may include or use or may optionally be combined with the subject matter of one or any combination of aspects 1 to 20 to optionally include or use a ferromagnetic body laterally offset from the first axis of the magnetometer.

[0229] Aspect 22 may include or use or may optionally be combined with the subject matter of one or any combination of aspects 1 to 21 to optionally include or use a ferromagnetic body having one of a circular shape, a rectangular shape, or a toroidal shape.

[0230] Aspect 23 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 1 to 22, to optionally include or use a lacing mechanism positioned in the arch area of ​​the article of footwear, and wherein the lacing mechanism is actuated based on information from a magnetometer regarding the position of the ferromagnetic body.

[0231] Aspect 24 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 1 to 23 to optionally include or use a processor circuit configured to determine the impact force of the step using the measured strength or direction of the magnetic field.

[0232] Aspect 25 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 1 to 24 to optionally include or use a processor circuit configured to determine a step interval or number of steps based on the strength or direction of the measured magnetic field.

[0233] Aspect 26 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 1 to 25 to optionally include or use a processor circuit configured to determine shear stress or shear displacement of the foot relative to the footwear based on the strength or direction of the measured magnetic field.

[0234] Aspect 27 may include or use subject matter (such as an apparatus, system, device, method, means for performing an action, or a device-readable medium comprising instructions that, when executed by a device, cause the device to perform an action), such as an article of footwear having an automatic lacing system, the article comprising: a midsole comprising a cavity; a motor disposed in the cavity; an insole disposed above the midsole; a plurality of straps configured to adjust tightening or loosening properties of the article about a foot when the article is worn, wherein the plurality of straps are configured to move between tightened and loosened positions in response to activity of the motor; a ferromagnetic body disposed in the article; and at least one sensor configured to sense a change in position of the ferromagnetic body in response to compression of the insole by the foot when the article is worn. In aspect 27, the motor is coupled to the sensor (e.g., via a processor circuit), and the motor is configured to respond to the sensed change in position of the ferromagnetic body by adjusting tension in the straps.

[0235] Aspect 28 may include or use or may optionally be combined with the subject matter of Aspect 27 to optionally include or use at least one sensor, the at least one sensor comprising a magnetometer configured to sense changes in a magnetic field that are at least partially attributable to changes in the position of the ferromagnetic body, and wherein one of the ferromagnetic body and the magnetometer is substantially fixed relative to the housing or wall of the article, and wherein the other of the ferromagnetic body and the magnetometer is movable relative to the housing or wall of the article.

[0236] Aspect 29 may include or use or may optionally be combined with the subject matter of aspect 28 to optionally include the insole being compressible by the foot, and the ferromagnetic body being coupled to the insole and moving in response to compression of the insole by the foot.

[0237] Aspect 30 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 27 to 29 to optionally include or use a processor circuit coupled to at least one sensor, and wherein the processor circuit is configured to determine rate of change information regarding a sensed change in position of the ferromagnetic body.

[0238] Aspect 31 may include or use subject matter (such as an apparatus, system, device, method, a device for performing an action, or a device-readable medium comprising instructions that, when executed by the device, cause the device to perform an action), such as may include or use a magnetic foot position sensor (FPS) for use in an article of footwear, the FPS comprising: a bridge configured to be worn beneath or near the arch of a foot, wherein the bridge is configured to move in a vertical or lateral direction in response to pressure applied to the bridge from the foot; and a first magnetic body coupled to the bridge; and a magnetometer spaced apart from the first magnetic body and configured to provide a signal indicating displacement of the first magnetic body relative to the magnetometer when the article is worn and the bridge moves in accordance with movement of the foot.

[0239] Aspect 32 may include or use or may optionally be combined with the subject matter of Aspect 31 to optionally include or use a magnetometer that is a multi-axis magnetometer configured to provide a signal indicative of displacement of the first magnetic body along one or more of a plurality of axes.

[0240] Aspect 33 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 31 or 32 to optionally include or use a magnetometer configured to provide a signal indicative of displacement of the first magnetic body in response to a vertical or lateral displacement of the first magnetic body relative to the magnetometer.

[0241] Aspect 34 may include or use or may optionally be combined with the subject matter described in one or any combination of Aspects 31 to 33 to optionally include or use a second magnetic body, wherein the magnetometer is spaced apart from the second magnetic body and is configured to provide a signal indicative of a displacement of one or both of the first magnetic body and the second magnetic body relative to the magnetometer.

[0242] Aspect 35 may include or use or may optionally be combined with the subject matter of one or any combination of aspects 31 to 34 to optionally include or use a spring mechanism that biases the bridge and first magnetic body away from the magnetometer.

[0243] Each of these non-limiting aspects may stand alone or may be combined in various permutations or combinations with one or more of the other aspects and examples discussed herein.

[0244] As used herein, the term "or" may be interpreted as inclusive or exclusive. In addition, multiple instances may be provided for a resource, operation, or structure that is described as a single instance herein. In addition, the boundaries between various resources, operations, modules, engines, and data stores are somewhat arbitrary, and specific operations are described in the context of specific illustrative configurations. Other allocations of functionality are foreseeable and may fall within the scope of multiple embodiments of the present disclosure. In general, structures and functions presented as separate resources in the exemplary configurations may be implemented as combined structures or resources. Similarly, structures and functions presented as single resources may be implemented as separate resources. These and other variations, modifications, additions, and improvements fall within the scope of the embodiments of the present disclosure as represented by the appended claims. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense.

[0245] The above detailed description includes reference to the accompanying drawings, which form a part of the detailed description. The accompanying drawings show specific embodiments in which the present invention can be implemented by way of illustration. These embodiments are also referred to as "examples" in this article. Such examples may include elements other than those shown or described. However, the inventors have also considered examples that only provide those elements shown or described. In addition, the inventors have also considered examples using any combination or arrangement of those elements shown or described (or one or more aspects thereof), either with respect to a specific example (or one or more aspects thereof), or with respect to other examples shown or described herein (or one or more aspects thereof).

[0246] In the event of a conflicting usage between this document and any document incorporated by reference, the usage in this document controls.

[0247] In this document, the terms "a" or "an" are used to include one or more than one, as is common in patent documents, independent of any other instance or usage of "at least one" or "one or more." In this document, the term "or" is used to refer to a non-exclusive or such that "A or B" includes "A but not B," "B but not A," and "A and B," unless otherwise noted. In this document, the terms "including" and "in which" are used as the plain English equivalents of the respective terms "comprising" and "wherein." Furthermore, in the following claims, the terms "comprising" and "including" are open-ended, that is, systems, apparatus, articles, compositions, formulations, or processes that include elements other than those listed after such terms in a claim are still considered to fall within the scope of the claim. Furthermore, in the following claims, the terms "first," "second," and "third," etc., are used merely as labels and are not intended to impose numerical requirements on their objects.

[0248] The method examples described herein, such as the motor control examples, can be at least partially implemented by a machine or computer. Some examples may include a computer-readable medium or machine-readable medium encoded with instructions that are operable to configure an electronic device to perform the methods described in the above examples. The implementation of these methods may include code, such as microcode, assembly language code, high-level language code, etc. Such code may include computer-readable instructions for performing a variety of methods. The code may form part of a computer program product. In addition, in an example, the code may be tangibly stored on one or more volatile, non-transitory or non-volatile tangible computer-readable media, such as during execution or at other times. Examples of these tangible computer-readable media may include, but are not limited to, a hard disk, a removable disk, a removable optical disk (e.g., an optical disk and a digital video disk), a cassette tape, a memory card or stick, a random access memory (RAM), a read-only memory (ROM), etc.

[0249] The above description is intended to be illustrative and not restrictive. For example, the examples described above (or one or more aspects thereof) can be used in combination with each other. Other embodiments can be used, such as those that can be used by a person of ordinary skill in the art after consulting the above description. The abstract is included to allow the reader to quickly determine the nature of the technical disclosure. It is to be understood that the abstract is submitted alone and is not used to interpret or limit the scope or meaning of the claims. In addition, in the above description, various features can be combined together to simplify the disclosure. This should not be interpreted to mean that undeclared disclosed features are essential to any claim. On the contrary, the subject matter of the present invention may be less than all the features of a particular disclosed embodiment. Therefore, the accompanying claims are incorporated into the detailed description as examples or embodiments, wherein each claim is independently a separate embodiment, and it is conceivable that these embodiments can be combined with each other in various combinations or arrangements. The scope of the present invention should be determined with reference to the appended claims and the full scope of equivalents to which these claims relate.

Claims

1. An article of footwear comprising: a ferromagnetic body disposed in the article of footwear; a magnetometer configured to provide a magnetometer signal indicative of a strength or direction of a magnetic field measured by the magnetometer, wherein the magnetometer signal varies with time based on changes in position of the ferromagnetic body caused by movement of the foot within the article of footwear; a processor circuit configured to receive the magnetometer signal from the magnetometer and to use information related to a rate of change of the magnetometer signal to determine foot strike characteristics; The ferromagnetic body is configured to move relative to the magnetometer due to movement of a foot in the article of footwear, wherein the ferromagnetic body is laterally offset from a vertical axis of the magnetometer.

2. The article of footwear according to claim 1, wherein: The processor circuit is configured to use information related to the magnitude of changes in the magnetometer signal to determine foot impact force characteristics.

3. The article of footwear according to claim 1 , wherein: The processor circuit is configured to use information related to changes in the magnetometer signal to determine a step timing characteristic.

4. The article of footwear according to claim 1 , wherein: The processor circuit is configured to use a rate of change of the magnetometer signal to determine a step count.

5. The article of footwear according to claim 1, further comprising a processor circuit configured to use the measured strength or direction of the magnetic field to determine shear stress or shear displacement of the foot relative to the article of footwear.

6. The article of footwear according to claim 1 , wherein: In response to the magnetometer signal indicating a particular change in position of the ferromagnetic body, the processor circuit is configured to initiate data collection from one or more other sensors in or associated with the article of footwear.

7. The article of footwear according to claim 1 , wherein: In response to the magnetometer signal indicating a particular change in position of the ferromagnetic body, the processor circuit is configured to actuate a drive mechanism to tighten or loosen the article of footwear around the foot.

8. The article of footwear according to claim 7, further comprising the drive mechanism, wherein the drive mechanism is configured to tighten or loosen the article of footwear about the foot in response to actuation commands from the processor circuit.

9. The footwear article according to claim 1 further includes a plurality of ferromagnetic bodies disposed in the footwear article, wherein the magnetometer signal indicates a position change of one or more of the plurality of ferromagnetic bodies, and wherein the plurality of ferromagnetic bodies are spaced apart from each other and from the magnetometer.

10. The article of footwear according to claim 9, wherein: The plurality of ferromagnetic bodies are arranged at different vertical heights above the magnetometer and have different lateral spacings relative to the magnetometer.

11. The article of footwear according to claim 1 , wherein: The ferromagnetic body is embedded in a compressible material configured to be worn under a foot in the article of footwear.

12. A method for sensing the position of a foot in an article of footwear, comprising: measuring, using a magnetometer disposed in the article of footwear, the strength or direction of a magnetic field affected by the position of a ferromagnetic body disposed in the article of footwear; and Using a processor circuit disposed in an article of footwear: receiving a signal from the magnetometer, the signal indicating the strength or direction of the measured magnetic field; and Information related to the rate of change of the signal is used to determine foot impact characteristics corresponding to movement of the foot within the article of footwear, wherein the ferromagnetic body is laterally offset from a vertical axis of the magnetometer.

13. The method according to claim 12, wherein: Receiving the signal from the magnetometer includes receiving a time-varying signal from the magnetometer, the time-varying signal indicating a change in the strength or direction of the magnetic field over time and corresponding to a change in the position of a ferromagnetic body caused by movement of the foot within the footwear.

14. The method according to claim 13, wherein Also included is using information related to changes in the signal to determine a step timing characteristic.

15. The method according to claim 13, wherein Also included is using information about the rate of change of the signal to determine the number of steps.

16. The method according to claim 13, wherein: Also included is using information related to the rate of change of the signal to determine gait characteristics.

17. The method according to claim 13, wherein: Also included is using the measured strength or direction of the magnetic field to determine shear stress or shear displacement of the foot relative to the article of footwear.

18. The method of claim 13, further comprising selectively actuating, using the processor circuit, a lace drive mechanism based on the determined rate of change.

Images