Automatic shoe-lacing motor with rotary drum encoder

Abstract

An article of footwear and related methods include a midsole, an upper fixed relative to the midsole, and a lace extending through the upper. A motorized lacing system is positioned within the midsole and configured to engage the laces to increase and decrease tension on the laces. The motorized lacing system includes: a motor including a motor shaft; a spool coupled to the motor shaft and configured to wind and unwind the laces based on rotation of the motor shaft; a processor circuit; and an optical encoder. The optical encoder includes: a three-dimensional encoder defining a main axis and having a surface including a first plurality of segments, the first plurality of segments being positioned between a second plurality of segments; and an optical sensor positioned within an optical range of the cylindrical encoder and configured to output a signal to the processor circuit indicating a detected one of the first and second pluralities of segments.

Description

[0001] This application is a divisional application of the invention patent application with the application date of August 30, 2019, application number 201980067248.0, and invention name “Automatic shoe lacing shoe motor with rotary drum encoder”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims the benefit of priority to U.S. Provisional Patent Application Serial No. 62 / 725,733, filed on August 31, 2018, the entire contents of which are incorporated herein by reference. Technical Field

[0004] The subject matter disclosed herein generally relates to an article of footwear having an automatic lacing motor using a rotating drum-based optical encoder. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Some embodiments are shown by way of example and not limitation in the figures of the accompanying drawings.

[0006] Figure 1 is an exploded view of components of a motorized lacing system for an article of footwear in an example embodiment.

[0007] Figure 2 A block diagram generally illustrates components of a motorized shoe lacing system in an example embodiment.

[0008] Figure 3 is an illustration of an optical encoder including a two-dimensional disk, in an example embodiment.

[0009] Figure 4 is an illustration of a three-dimensional encoder in an example embodiment.

[0010] Figure 5 is an illustration of an optical encoder including a three-dimensional encoder in an example embodiment.

[0011] Figures 6A-6C The operation of an optical encoder that is off-center relative to a primary axis of the optical encoder in an example embodiment is shown.

[0012] Figure 7 is an illustration of an alternative example of a three-dimensional encoder in an example embodiment.

[0013] Figures 8A-8C A manufacturing process of a three-dimensional encoder in an example embodiment is shown. DETAILED DESCRIPTION

[0014] Example methods and systems are directed to an article of footwear with an automatic shoelace motor using a rotating drum-based optical encoder. The examples represent only possible variations. Unless otherwise explicitly stated, components and functions are optional and may be combined or subdivided, and operations may vary in sequence or be combined or subdivided. In the following description, for purposes of explanation, numerous specific details are set forth to provide a thorough understanding of the example embodiments. However, it will be apparent to one skilled in the art that the subject matter may be practiced without these specific details.

[0015] Footwear, such as shoes, may include various conventional and unconventional components. Conventional components may include an upper, a sole, and laces or other securing mechanisms to enclose and secure the wearer's foot within the footwear. Unconventionally, a motorized lacing system may engage the laces to tighten and / or loosen the laces. Additional or alternative electronic devices may provide various functions for the footwear, including operating and driving motors, sensing information related to the properties of the footwear, providing a lighted display and / or other sensory stimulation, and the like.

[0016] In general, particularly for performance footwear intended for athletic activities, features such as the size, form, sturdiness, and weight of the footwear may be particularly important. Where components of the footwear contribute to, for example, a relatively tall, heavy, and / or fragile footwear, the ability of the footwear to be effective in performing athletic activities may be compromised.

[0017] One type of component that can be used in electronic devices for footwear, including within motorized shoelace systems, is an optical encoder. An optical encoder can be used to track the rotational motion of a motor and / or, for example, a spool coupled to the motor and on which the shoelaces are wound and unwound. By tracking the rotation of the motor and / or spool, a controller can obtain information about how much the motor and / or spool can rotate to achieve a desired configuration of the shoelaces. However, conventional optical encoders can present problems with footwear, such as those described above, including relatively high buildup and relative fragility.

[0018] Conventional optical encoders can be planar, such as a circle. The optical encoder rotates on the circle's axis, and optical sensors positioned above or below the circle sense the passage of various parts of the encoder. Three-dimensional optical encoders have been developed that have the general shape of a drum or cylinder. As will be described in detail herein, three-dimensional optical encoders offer both ease of manufacture and a more compact and robust implementation than conventional two-dimensional optical encoders.

[0019] Figure 1is an exploded view of components of a motorized shoe lacing system for an article of footwear in an example embodiment. Although the system is described with respect to an article of footwear, it should be recognized and understood that the principles described with respect to an article of footwear are equally applicable to any of a variety of wearable articles. Figure 1 The illustrated motorized lacing system 100 includes a lacing engine 102 having a housing structure 103 , a cover 104 , an actuator 106 , a midsole plate 108 , a midsole 110 , and an outsole 112 . Figure 1 Shown is the basic assembly sequence of the parts of the automatic shoe lacing footwear platform. The electric shoe lacing system 100 begins by fixing the midsole plate 108 in the midsole. Next, the actuator 106 is inserted into the opening in the side of the midsole plate opposite to the interface button that can be embedded in the outsole 112. Next, the shoe lacing engine 102 is placed in the midsole plate 108. In an example, the shoe lacing system 100 is inserted under the continuous loop of the shoe lacing cable, and the shoe lacing cable is aligned with the spool in the shoe lacing engine 102 (discussed below). Finally, the cover 104 is inserted into the groove in the midsole plate 108, fixed to the closed position, and latched into the recess in the midsole plate 108. The cover 104 can capture the shoe lacing engine 102 and can help keep the alignment of the shoe lacing cable during operation.

[0020] Figure 2 A block diagram generally illustrates the components of an electric shoelace system 100 in an exemplary embodiment. System 100 includes some (but not necessarily all) of the components of the electric shoelace system, such as an interface button 200, a foot presence sensor 202, and a shoelace engine housing 102, which encloses a printed circuit board assembly (PCA) with a processor circuit 204, a battery 206, a receiver coil 208, an optical encoder 210, a motion sensor 212, and a drive mechanism 214. The optical encoder 210 may include an optical sensor and an encoder having different portions that can be independently detected by the optical sensor. The drive mechanism 214 may include, in particular, a motor 216, a transmission 218, and a shoelace spool 220. The motion sensor 212 may include, in particular, a single-axis or multi-axis accelerometer, a magnetometer, a gyroscope, or other sensor or device configured to sense motion of the housing structure 102 or one or more components within or coupled to the housing structure 102. In one example, the electric shoelace system 100 includes a magnetometer 222 coupled to the processor circuit 204.

[0021] exist Figure 2 In the example of FIG, the processor circuit 204 communicates data or power signals with one or more of the interface button 200, the foot presence sensor 202, the battery 206, the receiving coil 208, and the drive mechanism 214. The transmission 218 couples the motor 216 to the spool to form the drive mechanism 214. Figure 2In the example of , button 200 , foot presence sensor 202 , and environmental sensor 224 are shown as being external or partially external to lacing engine 102 .

[0022] In one example, the receiving coil 208 is positioned on or within the housing 103 of the shoelace engine 102. In various examples, the receiving coil 208 is positioned on an outer major surface (e.g., the top surface or the bottom surface) of the housing 103, and in certain examples, the bottom surface. In various examples, the receiving coil 208 is a qi charging coil, but any suitable coil, such as an A4WP charging coil, may be used instead.

[0023] In one example, the processor circuit 204 controls one or more aspects of the drive mechanism 214. For example, the processor circuit 204 can be configured to receive information from the button 200 and / or the foot presence sensor 202 and / or the motion sensor 212 and, in response thereto, control the drive mechanism 214 to tighten or loosen the footwear around the foot. In one example, the processor circuit 204 is additionally or alternatively configured to issue commands to obtain or record sensor information from the foot presence sensor 202 or other sensors and other functions. In one example, the processor circuit 204 regulates the operation of the drive mechanism 214 in terms of: (1) detecting the presence of a foot using the foot presence sensor 202 and (2) detecting a specified gesture using the motion sensor 212.

[0024] Information from the environmental sensor 224 can be used to update or adjust the baseline or reference value of the foot presence sensor 202. As further explained below, the capacitance value measured by the capacitive foot presence sensor can change over time, for example, in response to environmental conditions near the sensor. Using information from the environmental sensor 224, the processor circuit 204 and / or the foot presence sensor 202 can update or adjust the measured or sensed capacitance value.

[0025] Figure 3 is a diagram of an optical encoder 300 including a two-dimensional disk 302 in an example embodiment. Figure 2 In the block diagram of FIG, an optical encoder 300 can be used as the optical encoder 210. A two-dimensional disk 302 is positioned with a major surface 304 facing the motor 216, and a shaft 306 of the motor 216 engages with a transmission 218 (not shown) extending through the approximate center 308 of the disk 302. The disk 302 is fixed to the shaft 306 so that when the shaft 306 rotates, the disk 302 also rotates. The disk 302 includes a plurality of alternating dark segments 310 and reflective segments 312. An optical sensor 314 is positioned on a printed circuit board (PCB) 316. Due to the orientation of the optical sensor 314 relative to the disk 302, the printed circuit board 316 can be a different PCB than the PCB on which the processor circuit 204 and other components are located.

[0026] As the motor 216 rotates the shaft 306, the disk 302 also rotates, causing the dark segment 310 and the reflective segment 312 to sequentially pass the optical sensor 314. The optical sensor 314 outputs a signal indicative of each segment 310, 312 that is communicated to the processor circuit 204. The processor circuit 204 can be keyed to the passage of each segment 310, 312 to identify how much the shaft 306 has rotated, and by extension, how much the spool 220 will rotate.

[0027] However, as disclosed herein, an optical encoder 210 having a two-dimensional disk 302 may have several disadvantages relative to an optical encoder 210 having a three-dimensional disk 302. In particular, the challenges of precisely manufacturing the disk 302 may increase cost and reduce reliability. Imprecise or "fuzzy" edges between the segments 310, 312 may increase the reliability of the optical sensor 314 in identifying each segment 310, 312 as it transitions within the field of view of the optical sensor 314.

[0028] Figure 4 is an illustration of a three-dimensional encoder 400 in an example embodiment. The three-dimensional encoder 400 is a drum encoder that includes a drum portion 402 and a fixed portion 404 that is coupled to a cylindrical portion and configured to secure the three-dimensional encoder 400 to, for example, a motor shaft 306. The fixed portion can be solid or can be various portions, such as spokes, extending between the drum portion 402 and the shaft 306.

[0029] As shown, drum portion 402 is cylindrical and has a circular cross-section, but any of a variety of suitable geometric shapes are contemplated, including conical, octagonal, etc. As with two-dimensional disk 300, drum 400 includes a first plurality of segments 406, e.g., dark segments, alternately positioned between a second plurality of segments 408, e.g., reflective segments. The first and second pluralities of segments 406, 408 are located on an outer surface 410 of drum portion 402.

[0030] Figure 5 is a diagram of an optical encoder 500 including a three-dimensional encoder 400 in an example embodiment. Figure 2In the block diagram of FIG. 4 , an optical encoder 500 can be used as the optical encoder 210. In addition to the 3D encoder 400, the optical encoder 500 includes an optical sensor 502, which includes a first optical sensor 504 and a second optical sensor 506, each within an optical range 508 of the 3D encoder 400. The optical range 508 is the distance over which the first and second optical sensors 504, 506 can distinguish between the first and second pluralities of segments 406, 408. Thus, the optical range 508 can vary between and among different types of the first and second optical sensors 504, 506. In situations where external design requirements may require a specific distance between the optical sensor 502 and the 3D encoder 400, the first and second optical sensors 504, 506 can be selected to have an optical range 508 at least as long as that distance.

[0031] The first optical sensor 504 is located on the first major surface 510 of the PCB 316, while the second optical sensor 508 is located on the second major surface 512 of the PCB 316. In the example shown, the vertical separation 514 between the first and second optical sensors 504, 506 is approximately equal to the height 516 of each individual one of the first and second pluralities of segments 406, 408, for example, within about five (5) percent of the height 516. Thus, each of the first and second optical sensors 504, 506 will tend to detect the same type of segment, i.e., both will detect either a dark segment or a reflective segment. If each of the first and second optical sensors 504, 506 does not detect the same type of segment, for example, the first optical sensor 504 detects one of the first plurality of segments 406 and the second optical sensor 506 detects one of the second plurality of segments 408 (or vice versa), it can be expected that the inconsistency will be resolved quickly, which facilitates each of the first and second optical sensors 504, 506 detecting the same type of segment 406, 408.

[0032] While a specific configuration of optical sensor 502 is shown, it is noted and emphasized that the number and orientation of optical sensors may vary between and among different implementations. Thus, in one example, an alternative embodiment of optical sensor 502 may have only one individual optical sensor, while another alternative embodiment of optical sensor 502 may include three or more individual optical sensors. However, in each example, each optical sensor is located on one of the major surfaces 510, 512 of PCB 316.

[0033] Figures 6A-6C The operation of the optical encoder 500 in an example embodiment is shown off-center relative to the main axis 600 of the optical encoder 500. Figure 6AIn FIG, the center 602 of the hole 604 through which the motor shaft 306 (not shown) in the fixed portion 404 can pass is offset relative to the main axis 600. Figure 6B , with the aperture 604 fixed about the axis 306 (not shown), the outer surface 410, and by extension the first and second pluralities of segments 406, 408, are within a first distance 606 of the optical sensor 502. Figure 6C In the optical encoder 500, the optical encoder 500 has been completed relative to Figure 6B After half a rotation of , outer surface 410 comes within a second distance 608 of optical sensor 502 , and second distance 608 is greater than first distance 606 because eccentric hole 604 is fixed around motor shaft 306 .

[0034] The offset between the main axis 600 and the center 602 of the hole may be an unintended consequence of the manufacturing process. However, due to the characteristics of the optical sensor 500, the disc 302 ( Figure 3 ) of the segments 310, 312, the apparent height 516 ( Figure 5 ) can remain the same. As a result, such concentricity issues may only result in differences in the focal length of optical sensor 502. Differences in focal length can be accounted for by optical sensor 502 within the optical range 508 of optical sensor 502. Thus, optical encoder 500 can tolerate greater variations during manufacturing and be more robust to normal wear and tear during use than would otherwise be tolerated during the manufacturing process of optical encoder 300.

[0035] Figure 7 is a depiction of an alternative example of a three-dimensional encoder 700 in an example embodiment. The three-dimensional encoder 700 can otherwise have the same properties as the three-dimensional encoder 400. However, in addition to having the first and second pluralities of segments 406, 408 on the outer surface of the drum portion 402, the three-dimensional encoder 700 includes the first and second pluralities of segments 406, 408 on the inner surface 702. The three-dimensional encoder 700 can be utilized in an arrangement similar to that of the optical sensor 500, wherein the optical sensor 502 is positioned to sense the inner surface 702.

[0036] Figures 8A-8C The manufacturing process of the three-dimensional encoder 500, 700 in the example embodiment is shown.

[0037] exist Figure 8A8, a sheet 800 of elongated first and second pluralities of segments 406, 408 is cut into individual strips 802. The sheet 800 is made of any suitable material, such as polyester film, and the dark segments, such as the first plurality of segments 406, are printed onto a major surface 804 of the sheet 800. The reflective segments, such as the second plurality of segments 408, are untreated or substantially untreated polyester film.

[0038] exist Figure 8B In FIG. 8 , the strip 802 is folded so that the major surface 804, i.e., the printed side, is located on either the outer surface 508 or the inner surface 702, as desired. The first end 806 is secured to the second end 808 to form a loop.

[0039] exist Figure 8C 8, strip 802 is coupled to frame 810 to form three-dimensional encoder 500, 700 as desired. Frame 810 includes a fixing portion 404 and a drum 812 on which strip 802 is fixed to form drum portion 402.

[0040] Example

[0041] In Example 1, an article of footwear includes: a midsole; an upper fixed relative to the midsole; a motorized lacing system positioned within the midsole and configured to engage with the laces to increase and decrease tension on the laces, the motorized lacing system comprising: a motor including a motor shaft; a spool coupled to the motor shaft and configured to wind and unwind the laces based on rotation of the motor shaft; a processor circuit; and an optical encoder comprising: a three-dimensional encoder defining a main axis and having a surface including a first plurality of segments, the first plurality of segments being located between a second plurality of segments, the first plurality of segments having different light reflection characteristics than the second plurality of segments, the three-dimensional encoder being fixed to the motor shaft so that rotation of the motor shaft rotates the three-dimensional encoder about the main axis; and an optical sensor located within an optical range of the cylindrical encoder and configured to output a signal to the processor circuit indicating one of the first and second plurality of segments detected; wherein the processor circuit is configured to operate the motor based at least in part on the signal received from the optical sensor.

[0042] In Example 2, the article of footwear of Example 1 optionally further includes: the three-dimensional encoder forming a cylinder.

[0043] In Example 3, the article of footwear of any one or more of Examples 1 and 2 optionally further includes that the motorized lacing system includes a printed circuit board (PCB) having the processor circuit and the optical sensor positioned thereon.

[0044] In Example 4, the article of footwear of any one or more of Examples 1-3 optionally further includes that the optical sensor includes a first optical sensor on the first major surface of the PCB and a second optical sensor on the second major surface of the PCB.

[0045] In Example 5, the article of footwear of any one or more of Examples 1-4 optionally further includes: a spacing between the first and second optical sensors being approximately the same as a spacing between adjacent segments of the first plurality of segments.

[0046] In Example 6, the article of footwear of any one or more of Examples 1-5 optionally further includes a surface of the three-dimensional encoder facing the primary axis.

[0047] In Example 7, the article of footwear of any one or more of Examples 1-6 optionally further includes: a surface of the three-dimensional encoder facing away from the primary axis.

[0048] In Example 8, a method of manufacturing an article of footwear includes: securing a midsole relative to an upper; extending a lace through the upper; and positioning an electric lacing system within the midsole, the electric lacing system configured to engage the lace to increase and decrease tension on the lace, the electric lacing system comprising: a motor including a motor shaft; a spool coupled to the motor shaft and configured to wind and unwind the lace based on rotation of the motor shaft; a processor circuit; and an optical encoder comprising: a three-dimensional encoder defining a main axis and having a surface including a first plurality of segments, the first plurality of segments being located between a second plurality of segments, the first plurality of segments having different light reflection characteristics than the second plurality of segments, the three-dimensional encoder being secured to the motor shaft so that rotation of the motor shaft rotates the three-dimensional encoder about the main axis; and an optical sensor located within an optical range of the cylindrical encoder and configured to output a signal to the processor circuit indicating one of the first and second plurality of segments detected; wherein the processor circuit is configured to operate the motor based at least in part on the signal received from the optical sensor.

[0049] In Example 9, the method of Example 8 optionally further includes: the three-dimensional encoder forming a cylinder.

[0050] In Example 10, the method of any one or more of Examples 8 and 9 optionally further includes the motorized shoe-lacing system including a printed circuit board (PCB) having the processor circuit and the optical sensor positioned thereon.

[0051] In Example 11, the method of any one or more of Examples 8-10 optionally further includes the optical sensor comprising a first optical sensor on the first major surface of the PCB and a second optical sensor on the second major surface of the PCB.

[0052] In Example 12, the method of any one or more of Examples 8-11 may optionally further include: a spacing between the first and second optical sensors being approximately the same as a spacing between adjacent segments of the first plurality of segments.

[0053] In Example 13, the method of any one or more of Examples 8-12 optionally further includes the surface of the three-dimensional encoder facing the main axis.

[0054] In Example 14, the method of any one or more of Examples 8-13 may optionally further include: a surface of the three-dimensional encoder facing away from the main axis.

[0055] In Example 15, an electric shoelace system includes: a motor including a motor shaft; a spool coupled to the motor shaft and configured to wind and unwind the shoelaces based on rotation of the motor shaft; a processor circuit; and an optical encoder including: a three-dimensional encoder defining a main axis and having a surface including a first plurality of segments, the first plurality of segments being located between a second plurality of segments, the first plurality of segments having light reflection characteristics different from those of the second plurality of segments, the three-dimensional encoder being fixed to the motor shaft so that rotation of the motor shaft rotates the three-dimensional encoder about the main axis; and an optical sensor located within an optical range of the cylindrical encoder and configured to output a signal to the processor circuit indicating one of the first and second plurality of segments detected; wherein the processor circuit is configured to operate the motor based at least in part on the signal received from the optical sensor.

[0056] In Example 16, the electric shoe lacing system of Example 15 optionally further includes: the three-dimensional encoder forms a cylinder.

[0057] In Example 17, the electric shoelace system of any one or more of Examples 15 and 16 optionally further includes that the electric shoelace system includes a printed circuit board (PCB) having the processor circuit and the optical sensor positioned thereon.

[0058] In Example 18, the motorized shoelacing system of any one or more of Examples 15-17 optionally further includes: the optical sensor including a first optical sensor on the first major surface of the PCB and a second optical sensor on the second major surface of the PCB.

[0059] In Example 19, the motorized shoe-lacing system of any one or more of Examples 15-18 optionally further includes: a spacing between the first optical sensor and the second optical sensor being approximately the same as a spacing between adjacent segments of the first plurality of segments.

[0060] In Example 20, the motorized shoelacing system of any one or more of Examples 15-19 optionally further includes: a surface of the three-dimensional encoder facing the main axis.

[0061] In Example 21, the motorized shoelacing system of any one or more of Examples 15-20 optionally further includes: a surface of the three-dimensional encoder facing away from the main axis.

[0062] Throughout the specification, multiple instances can implement the components, operations or structures described as single instances. Although the individual operations of one or more methods are shown and described as separate operations, one or more individual operations can be performed simultaneously and the operations do not need to be performed in the order shown. The structure and function of the components represented as separate components in the example configuration can be implemented as a combined structure or component. Similarly, the structure and function represented as a single component can be implemented as separate components. These and other variations, modifications, additions and improvements fall within the scope of this paper's theme.

[0063] Certain embodiments are described herein as including logic or multiple components, modules, or mechanisms. A module may constitute a software module (e.g., code embodied on a machine-readable medium or in a transmission signal) or a hardware module. A "hardware module" is a tangible unit that is capable of performing certain operations and may be configured or arranged in some physical manner. In various example embodiments, one or more computer systems (e.g., a stand-alone computer system, a client computer system, or a server computer system) or one or more hardware modules of a computer system (e.g., a processor or a group of processors) may be configured by software (e.g., an application or application portion) to operate as a hardware module that performs certain operations described herein.

[0064] In some embodiments, the hardware module can be implemented mechanically, electronically, or any suitable combination thereof. For example, the hardware module can include dedicated circuits or logic that are permanently configured to perform certain operations. For example, the hardware module can be a dedicated processor, such as a field programmable gate array (FPGA) or an ASIC. The hardware module can also include programmable logic or circuits that are temporarily configured to perform certain operations by software. For example, the hardware module can include software contained in a general-purpose processor or other programmable processor. It will be appreciated that cost and time considerations may dictate whether the hardware module is mechanically implemented in a dedicated and permanently configured circuit or in a temporarily configured circuit (e.g., configured by software).

[0065] Accordingly, the phrase "hardware module" should be understood to include a tangible entity that is physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner or perform certain operations described herein. As used herein, a "hardware-implemented module" refers to a hardware module. Considering embodiments in which hardware modules are temporarily configured (e.g., programmed), each hardware module need not be configured or instantiated at any one instance in time. For example, where a hardware module includes a general-purpose processor that is configured by software to become a special-purpose processor, the general-purpose processor can be configured as different special-purpose processors (e.g., including different hardware modules) at different times. The software can configure the processor accordingly, for example, to constitute a particular hardware module at one instance in time, and to constitute different hardware modules at different instances in time.

[0066] Hardware modules can provide information to other hardware modules and receive information from them. Therefore, the described hardware modules can be considered to be communicatively coupled. In the case of multiple hardware modules being present at the same time, communication can be achieved by signal transmission between two or more hardware modules (e.g., through appropriate circuits and buses). In embodiments where multiple hardware modules are configured or instantiated at different times, communication between such hardware modules can be achieved, for example, by storing and retrieving information in a memory structure accessible to multiple hardware modules. For example, a hardware module can perform an operation and store the output of the operation in a storage device to which it is communicatively coupled. Then, another hardware module can access the storage device at a later time to retrieve and process the stored output. Hardware modules can also initiate communication with input or output devices and can operate on resources (e.g., a collection of information).

[0067] The various operations of the example methods described herein may be performed, at least in part, by one or more processors that are temporarily configured (e.g., by software) or permanently configured to perform the relevant operations. Whether temporarily or permanently configured, such processors may constitute processor-implemented modules that operate to perform one or more operations or functions described herein. As used herein, a "processor-implemented module" refers to a hardware module implemented using one or more processors.

[0068] Similarly, the methods described herein can be implemented at least in part by a processor, which is an example of hardware. For example, at least some operations of a method can be performed by one or more processors or processor-implemented modules. In addition, one or more processors can also support the performance of related operations in a "cloud computing" environment or as "software as a service" (SaaS). For example, at least some operations can be performed by a group of computers (as an example of a machine including a processor), which can be accessed via a network (e.g., the Internet) and one or more appropriate interfaces (e.g., application program interfaces (APIs)).

[0069] The performance of certain operations can be distributed among one or more processors, not only residing within a single computer, but also deployed across multiple computers. In some example embodiments, one or more processors or processor-implemented modules can be located in a single geographic location (e.g., in a home environment, an office environment, or a server farm). In other example embodiments, one or more processors or processor-implemented modules can be distributed across multiple geographic locations.

[0070] Certain parts of this specification are presented in terms of algorithms or symbolic representations of data operations stored as bits or binary digital signals in machine memory (e.g., computer memory). These algorithms or symbolic representations are examples of techniques used by those of ordinary skill in the art of data processing to convey the essence of their work to other persons of skill in the art. As used herein, an "algorithm" is a self-consistent sequence of operations or similar processes that lead to a desired result. In this case, algorithms and operations involve physical manipulations of physical quantities. Typically, but not necessarily, these quantities can take the form of electrical, magnetic, or optical signals that can be stored, accessed, transmitted, combined, compared, or otherwise manipulated by a machine. Mainly for general purposes, it is sometimes convenient to use words such as "data," "content," "bit," "value," "element," "symbol," "character," "term," "quantity," "digital," etc. to refer to such signals. However, these words are merely convenient labels and should be associated with appropriate physical quantities.

[0071] Unless expressly stated otherwise, discussions herein using terms such as "process," "calculate," "determine," "represent," and "display" may refer to the action or process of a machine (e.g., a computer) that manipulates or transforms data represented as physical (e.g., electrical, magnetic, or optical) quantities within one or more memories (e.g., volatile memory, non-volatile memory, or any suitable combination thereof), registers, or other machine components that receive, store, transmit, or display information. Furthermore, as is common in patent documents, the terms "a" or "an" are used herein to include one or more instances, unless expressly stated otherwise. Finally, as used herein, the conjunction "or" refers to a non-exclusive "or," unless expressly stated otherwise.

Claims

1. An electric shoe lacing system comprising: a motor comprising a motor shaft; processor circuit; as well as Optical encoders, including: a three-dimensional encoder defining a main axis and having a surface including a first plurality of segments, the first plurality of segments being located between a second plurality of segments, the first plurality of segments having different light reflective characteristics than the second plurality of segments, the three-dimensional encoder being secured to the motor shaft such that rotation of the motor shaft rotates the three-dimensional encoder about the main axis; and an optical sensor positioned within an optical range of the three-dimensional encoder and configured to output a signal indicative of a detected one of the first and second pluralities of segments to the processor circuit; wherein the processor circuit is configured to operate the motor based at least in part on a signal received from the optical sensor; and A printed circuit board having the processor circuit and the optical sensor positioned thereon, wherein the optical sensor comprises a first optical sensor on a first major surface of the printed circuit board and a second optical sensor on a second major surface of the printed circuit board on an opposite side of the first major surface.

2. The electric shoe lacing system according to claim 1, wherein: The three-dimensional encoder forms a cylinder.

3. The electric shoe lacing system according to claim 1, wherein: A spacing between the first optical sensor and the second optical sensor is substantially the same as a spacing between adjacent segments of the first plurality of segments.

4. The electric shoe lacing system according to claim 1, wherein: A surface of the three-dimensional encoder faces the main axis.

5. The electric shoe lacing system according to claim 1, wherein: The surface of the three-dimensional encoder faces away from the main axis.

6. A method for manufacturing a motorized shoe lacing system, comprising: positioning the processor circuit on the printed circuit board; operatively connecting a motor to the processor circuit, the motor comprising a motor shaft; positioning a three-dimensional encoder about the motor, the three-dimensional encoder defining a main axis and having a surface including a first plurality of segments, the first plurality of segments being located between a second plurality of segments, the first plurality of segments having different light reflective properties than the second plurality of segments, the three-dimensional encoder being secured to the motor shaft such that rotation of the motor shaft rotates the three-dimensional encoder about the main axis; and positioning an optical sensor on the printed circuit board and within an optical range of the three-dimensional encoder, the optical sensor configured to output a signal indicative of a detected one of the first and second pluralities of segments to the processor circuit; wherein the processor circuit is configured to operate the motor based at least in part on a signal received from the optical sensor; and The optical sensor includes a first optical sensor on a first major surface of the printed circuit board and a second optical sensor on a second major surface of the printed circuit board on an opposite side of the first major surface.

7. The method according to claim 6, wherein: The three-dimensional encoder forms a cylinder.

8. The method according to claim 6, wherein: A spacing between the first optical sensor and the second optical sensor is substantially the same as a spacing between adjacent segments of the first plurality of segments.

9. The method according to claim 6, wherein: A surface of the three-dimensional encoder faces the main axis.

10. The method according to claim 6, wherein: The surface of the three-dimensional encoder faces away from the main axis.

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