Boxed lacing channel for automated footwear platform

Abstract

A footwear lacing apparatus can include a housing structure, a spool, and a drive mechanism. The housing structure can include a first entry, a second entry, and a lacing channel extending between the first entry and the second entry. The lacing channel can include a spool receptacle between the first entry and the second entry, a first recessed region between the spool receptacle and the first entry, and a second recessed region between the spool receptacle and the second entry. The first recessed region and the second recessed region can taper linearly between the spool receptacle and the first entry and the second entry, respectively. The spool can be disposed in the spool receptacle of the lacing channel. The drive mechanism can be coupled with the spool and adapted to rotate the spool to wind or unwind a cable of a shoe lace that extends through the lacing channel and through the spool.

Description

[0001] This application is a divisional application of the invention patent application filed on March 15, 2017, with application number 201780029858.2 and invention title "Box-type Lace-up Channel for Automated Footwear Platform".

[0002] Priority requirements

[0003] This application claims the benefit of priority to U.S. Provisional Patent Application No. 62 / 308,648, filed March 15, 2016, entitled “DRIVE MECHANISM FOR AUTOMATEDFOOTWEAR PLATFORM”, which is incorporated herein by reference in its entirety.

[0004] The following specifications describe various aspects of motorized lacing systems, motorized and non-motorized lacing engines, footwear components related to lacing engines, automated lacing footwear platforms, and related assembly processes. The specifications also describe various aspects of systems and methods for modular spool assemblies used in lacing engines.

[0005] background

[0006] Devices for automatically tightening footwear articles have been previously proposed. In U.S. Patent No. 6,691,433, entitled "Automatic Tightening Shoe," Liu provides a first fastener and a second fastener mounted on the upper portion of a shoe, the second fastener being connected to a closure member and capable of removably engaging with the first fastener to hold the closure member in a tightened state. Liu teaches a drive unit mounted in the heel portion of the sole. 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 onto the spool for pulling the second fastener toward the first fastener. Liu also teaches a guide tube unit through which the pull wires can extend. Brief description of the attached diagram

[0008] In accompanying drawings that are not drawn to scale, similar numbers can describe similar parts in different views. Similar numbers with different letter suffixes can represent different instances of similar parts. The accompanying drawings illustrate, in a general manner, by way of example and not limitation, several embodiments discussed in this document.

[0009] Figure 1 This is an exploded view illustrating components of a motorized tethering system according to some exemplary embodiments.

[0010] Figures 2A to 2N The illustrations and diagrams show a motorized tethered engine according to some exemplary embodiments.

[0011] Figures 3A to 3D The illustrations and diagrams show an actuator for interacting with a motorized tethered engine according to some exemplary embodiments.

[0012] Figures 4A to 4D The illustrations and diagrams show a sole interlayer plate for retaining a lacing engine according to some exemplary embodiments.

[0013] Figures 5A to 5D The illustrations and diagrams show, according to some exemplary embodiments, a midsole and outsole for accommodating a lacing engine and related components.

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

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

[0016] Figures 8A to 8B It is an illustration and flowchart illustrating the assembly process of a footwear upper for assembly into the sole interlayer according to some exemplary embodiments.

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

[0018] Figure 10A This is a block diagram illustrating components of a motorized tethering system according to some exemplary embodiments.

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

[0020] Figures 11A to 11D This is an illustration of a motor control scheme for a motorized tethered engine according to some exemplary embodiments.

[0021] Figure 12A This is a perspective view illustrating a motorized tethering system with anti-tangling tether channels according to some exemplary embodiments.

[0022] Figure 12B yes Figure 12A A top view of the motorized tethering system, showing a winding channel passing through the spool, which is aligned with an anti-tangling tethering channel passing through the housing.

[0023] Figure 12C It's a diagram. Figure 12A An exploded view of the motorized tethering system, showing the components of the motorized tethering system.

[0024] Figure 13 yes Figure 12B The top plan view of the housing illustrates the entrance to the anti-tangling tie channel and the buffer zone near the spool recess.

[0025] Figure 14A It is a section cut along section 14C-14C that passes through Figure 13 A side cross-sectional view of the anti-tangling tie channel, illustrating the width of the tie channel at the entrance to the tie channel.

[0026] Figure 14B It is the section cut along section 14B-14BA that passes through Figure 13 A side cross-sectional view of the anti-tangling tie channel, illustrating the width of the tie channel at the entrance leading to the spool recess.

[0027] Figure 14C It is a section cut along section 14A-14A that passes through Figure 13 A side cross-sectional view of the anti-tangling tie channel, illustrating the width of the tie channel at the recess of the spool.

[0028] Figure 15A It is a longitudinal cross-sectional view through the anti-tangling tie channel, showing the outline of the tie channel from the entrance to the spool recess.

[0029] Figure 15B It shows Figure 15A A cross-sectional view showing the spool inserted into the tether channel.

[0030] The titles provided in this article are for convenience only and do not necessarily affect the scope or meaning of the terms used.

[0031] Detailed description

[0032] In the 1989 film *Back to the Future Part II*, the fictional powerful straps worn by Marty McPhee... The concept of self-tensioning shoelaces was first widely popularized in athletic shoes. Despite At least one high-performance lacing sneaker resembling the prop from *Back to the Future Part II* has been released, but the internal mechanical systems and surrounding footwear platforms employed are not necessarily suitable for mass production or everyday use. Furthermore, previous designs for motorized lacing systems have several drawbacks, including high manufacturing costs, complexity, difficult assembly, lack of maintainability, and weak or fragile mechanics—to name just a few. The inventors have developed a modular footwear platform to accommodate both motorized and non-motorized lacing engines, which, among other issues, addresses some or all of the aforementioned problems. The components discussed below offer numerous benefits, including but not limited to: maintainable components, replaceable automatic lacing engines, robust mechanical design, reliable operation, streamlined assembly processes, and retail-grade customization. Many other benefits of the components described below will be apparent to those skilled in the art.

[0033] The motorized lacing engine discussed below was developed to provide a robust, durable, and replaceable component for automated lacing footwear platforms from the ground up. The lacing engine incorporates unique design elements that enable retail-grade final assembly within modular footwear platforms. The lacing engine design allows for the utilization of largely known assembly techniques in the footwear assembly process, while its unique adaptation to standard assembly processes still leverages current assembly resources.

[0034] In the example, the footwear lacing device may include a housing structure, a spool, and a drive mechanism. The housing structure may include a first inlet, a second inlet, and a lacing channel extending between the first and second inlets. The lacing channel may include a spool receptacle located between the first and second inlets, a first recessed region located between the spool receptacle and the first inlet, and a second recessed region located between the spool receptacle and the second inlet. The first and second recessed regions may be linearly tapered between the spool receptacle and the first and second inlets, respectively. The spool may be disposed within the spool receptacle of the lacing channel. The drive mechanism may be coupled to the spool and adapted to rotate the spool to wind or unwind shoelace cables extending through the lacing channel and passing through the spool.

[0035] The automated footwear platform discussed herein may include a housing structure for footwear lacing equipment. The housing structure may include a main body, internal compartments, and a lacing channel. The main body may include a top surface, a bottom surface, a first sidewall connecting the top and bottom surfaces, and a second sidewall connecting the top and bottom surfaces. The internal compartment may be located between the top and bottom surfaces and between the first and second sidewalls. The lacing channel may extend from the first sidewall to the second sidewall. The lacing channel may include a first inlet in the first sidewall, a second inlet in the second sidewall, a spool housing located between the first and second inlets, a first recessed region located between the spool housing and the first inlet, and a second recessed region located between the spool housing and the second inlet. The first and second recessed regions may be linearly tapered between the spool housing and the first and second inlets, respectively.

[0036] A method for unwinding a spool in a footwear lacing device may include: rotating the spool with a drive mechanism to reduce the tension of the shoelace cable wound around the spool; pushing the shoelace cable from the spool into a lacing channel within the housing of the footwear lacing device; collecting the shoelace cable in a recessed area of ​​the lacing channel; and allowing the shoelace cable to loosely exit the lacing channel from the recessed area to unwind the shoelace cable from the spool.

[0037] This initial overview is intended to introduce the subject matter of this patent application. It is not intended to provide an exclusive or exhaustive interpretation of the various inventions disclosed in the more detailed description below.

[0038] Automated footwear platform

[0039] The following discusses several components of an automated footwear platform, including a motorized lacing engine, a midsole plate, and several other components of the platform. While much of this disclosure focuses on motorized lacing engines, many mechanical aspects of the designs discussed can be applied to human-driven lacing engines or other motorized lacing engines with additional or fewer capabilities. Therefore, 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" encompasses a variety of electrically and human-driven, automatically and human-activated mechanisms for tightening or retaining the lacing system of footwear.

[0040] Figure 1 This 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 the figure includes a lacing engine 10, a cover 20, an actuator 30, a sole interlayer plate 40, a sole interlayer 50, and an outsole 60. Figure 1The diagram illustrates the basic assembly sequence of the components of an automated lacing footwear platform. The motorized lacing system 1 begins by securing the sole interlayer plate 40 within the sole interlayer. Next, the actuator 30 is inserted into an opening in the outer portion of the sole interlayer plate in the opposite direction to the interface button that can be embedded in the outsole 60. Next, the lacing engine 10 is lowered into the sole interlayer plate 40. In this example, the lacing system 1 is inserted under a continuous loop of lacing cables, and the lacing cables are aligned with the spools in the lacing engine 10 (discussed below). Finally, a cover 20 is inserted into a recess in the sole interlayer plate 40, secured to a closed position, and locked in a recess within the sole interlayer plate 40. The cover 20 can capture the lacing engine 10 and can help maintain the alignment of the lacing cables during operation.

[0041] In the example, the footwear article or motorized lacing system 1 includes one or more sensors capable of monitoring or determining foot presence characteristics, or is configured to interact with such sensors. Based on information from the one or more foot presence sensors, the footwear including the motorized lacing system 1 can be configured to perform various functions. For example, the foot presence sensors can be configured to provide binary information about the presence of a foot in the footwear. If the binary signal from the foot presence sensors indicates the presence of a foot, the motorized lacing system 1 can be activated, such as automatically tightening or loosening (i.e., releasing) the footwear lacing cables. In the example, the footwear article includes processor circuitry capable of receiving or decoding signals from the foot presence sensors. The processor circuitry may optionally be embedded in or incorporated into the lacing engine 10, such as in the sole of the footwear article.

[0042] In the example, a foot presence sensor can be configured to provide information about the foot's position when it enters the footwear. The motorized lacing system 1 can typically be activated, such as tightening the lacing cables, only when the foot is properly positioned or placed within the footwear, such as against all or part of the sole of the footwear. The foot presence sensor, which senses information about the foot's movement or position, can provide information about whether the foot is fully or partially placed, such as relative to the sole or some other feature of the footwear. The automatic lacing procedure can be interrupted or delayed until information from the sensor indicates that the foot is in the proper position.

[0043] In the example, a foot presence sensor can be configured to provide information about the relative position of the foot inside the footwear. For example, by determining the relative position of one or more of the arch, heel, toes, or other parts of the foot, such as relative to the corresponding part of the footwear configured to receive such foot parts, the foot presence sensor can be configured to sense whether the footwear fits well "to" a given foot. In the example, the foot presence sensor can be configured to sense whether the position of the foot or foot parts has changed relative to a reference, such as due to the lacing cables loosening over time or due to the natural expansion and contraction of the foot itself.

[0044] In the example, the 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 configured to measure the impedance characteristics between at least two electrodes. When a body, such as a foot, is located near or adjacent to the electrodes, the electrical sensor can provide a sensor signal with a first value, while when the body is located away from the electrodes, the electrical sensor can provide a sensor signal with a different second value. For example, the 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.

[0045] Electrical sensors may include AC signal generator circuitry and an antenna configured to transmit or receive radio frequency information. Based on the proximity of a body to the antenna, one or more electrical signal characteristics (such as impedance, frequency, or signal amplitude) can be received and analyzed to determine the presence of a body. In the 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, can be used to identify the presence or absence of a body. In the example, WiFi frequencies can be used, such as one or more bands in the 2.4 GHz, 3.6 GHz, 4.9 GHz, 5 GHz, and 5.9 GHz bands. In the example, frequencies in the kilohertz range can be used, for example, approximately 400 kHz. In the example, power signal variations can be detected in the milliwatt or microwatt range.

[0046] The presence of a foot sensor may include a magnetic sensor. A first magnetic sensor may include a magnet and a magnetometer. In an example, the magnetometer may be positioned in or near the lacing engine 10. The magnet may be located away from the lacing engine 10, such as in a second sole or insole configured to be worn over the outsole 60. In an example, the magnet is embedded in foam or other compressible material of the secondary sole. When a user presses the secondary sole, such as when standing or walking, the corresponding change in the position of the magnet relative to the magnetometer can be sensed and reported via sensor signals.

[0047] 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 a 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 its 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 an electrical conductor (such as a current transverse to the conductor and a magnetic field perpendicular to the current).

[0048] In the example, the second magnetic sensor is configured to receive electromagnetic field signals from the body. For instance, Varshavsky et al. teach authentication using a unique electromagnetic signature of the body in U.S. Patent No. 8,752,200, entitled "Devices, systems and methods for security using magnetic field based identification". In the example, a magnetic sensor in footwear could be used to authenticate or verify that the current user is the owner of the shoes by detecting the electromagnetic signature, and the item should automatically lace the shoes, such as according to one or more lacing preferences specified by the owner (e.g., tightness profile).

[0049] In the example, the foot presence sensor includes a thermal sensor configured to sense temperature changes within or near a portion of the footwear. When a wearer's foot enters the footwear, the internal temperature of the item changes because the wearer's body temperature differs from the ambient temperature of the footwear. Therefore, the thermal sensor can provide an indication of whether a foot may be present or absent based on these temperature changes.

[0050] In this 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 it may include a multi-plate or multi-electrode configuration. Capacitive foot presence sensors will be described in detail below.

[0051] In this example, the foot presence sensor includes an optical sensor. The optical sensor can be configured to determine whether the line of sight is interrupted, such as between opposite sides of the shoe cavity. In this example, the optical sensor includes a light sensor that can be covered by the foot when it is inserted into the shoe. An indication of foot presence or position can be provided when the sensor indicates a sensed change in brightness conditions.

[0052] In the example, housing structure 100 provides an airtight seal or hermetically tight seal around the component enclosed by housing structure 100. In the example, housing structure 100 encloses a separate hermetically tight cavity in which a pressure sensor can be housed.

[0053] Reference Figures 2A to 2N A detailed example of the tethered engine 10 is provided. (Reference) Figures 3A to 3D An example of actuator 30 is described in detail. (See reference) Figures 4A to 4D An example of the sole interlayer plate 40 is described in detail. Several additional details of the motorized lacing system 1 are discussed throughout the remainder of the specification.

[0054] Figures 2A to 2N The illustrations and diagrams show a motorized tethered engine according to some exemplary embodiments. Figure 2A Several external features of the exemplary lacing engine 10 are described, including a housing structure 100, a housing screw 108, a lace channel 110 (also referred to 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 diaphragm seal 124, a programming header 128, a spool 130, and a lace groove 132. Further details of the housing structure 100 will be referenced below. Figure 2B Let's have a discussion.

[0055] In the example, the tethered motor 10 is held together by one or more screws (such as housing screws 108). The housing screws 108 are positioned near the main drive mechanism to enhance the structural integrity of the tethered motor 10. The housing screws 108 also assist in assembly processes, such as holding the housing together for ultrasonic welding of the external joints.

[0056] In this example, the lacing engine 10 includes a shoelace channel 110 that receives shoelaces or shoelace cables once the lacing engine 10 is assembled into an automated footwear platform. The shoelace channel 110 may include a shoelace channel wall 112. The shoelace channel wall 112 may include chamfered edges to provide a smooth guiding surface for the shoelace cables during operation. A portion of the smooth guiding surface of the shoelace channel 110 may include a channel transition 114, which is a widened portion of the shoelace channel 110 leading to a spool recess 115. The spool recess 115 transitions from the channel transition 114 to a generally circular portion that closely conforms to the profile of the spool 130. The spool recess 115 helps retain wound shoelace cables and helps maintain the position of the spool 130. However, other aspects of the design provide primary retention of the spool 130. In this example, the spool 130 is shaped like a half of a yo-yo, having a shoelace groove 132 extending through a flat top surface and a spool shaft 133 extending downward from the opposite side. Figure 2A (Not shown in the figure). The spool 130 will be described in more detail below with reference to the additional figures.

[0057] The outer portion of the tethered motor 10 includes a button opening 120 for a button 121 that extends through the housing structure 100 to activate the mechanism. As illustrated in additional figures discussed below, the button 121 provides an external interface for activating the switch 122. In some examples, the housing structure 100 includes a button diaphragm seal 124 to provide protection against dirt and water. In this example, the button diaphragm seal 124 is a transparent plastic (or similar material) several mils (thousandths of an inch) thick, bonded from the upper surface of the housing structure 100 across a corner and downwards along the outer portion. In another example, the button diaphragm seal 124 is a 2-mil thick vinyl adhesive backing film covering the button 121 and the button opening 120.

[0058] Figure 2B This 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 a housing screw 108, a shoelace channel 110, a shoelace channel transition 114, a spool recess 115, a button opening 120, and a button sealing recess 126. The button sealing recess 126 is a recessed portion of the top portion 102 that provides for insertion of a button diaphragm seal 124. In this example, the button sealing recess 126 is a few mils of recess located on the outer side of the upper surface of the top portion 104, transitioning over a portion of the outer edge of the upper surface and extending the length of a portion of the outer side of the top portion 104.

[0059] In this example, the bottom portion 104 includes features such as a wireless charger inlet 105, a junction 106, and a grease barrier 109. Also illustrated (but not specifically identified) are a housing screw base for receiving the housing screw 108 and various features within the grease barrier 109 for retaining the drive mechanism. The grease barrier 109 is designed to keep grease or similar compounds around the drive mechanism away from the electrical components of the tethered engine 10, including the geared motor and enclosed gearbox.

[0060] Figure 2C This is an illustration of multiple internal components of a tether motor 10 according to an exemplary embodiment. In this example, the tether motor 10 also includes a spool magnet 136, an O-ring seal 138, a worm gear drive 140, a bushing 141, a worm gear 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 facilitates the movement of a magnetometer (…). Figure 2C The detection (not shown) is used to track the movement of the spool 130. The O-ring seal 138 acts to seal out dirt and moisture that may migrate into the tethered engine 10 around the spool shaft 133.

[0061] 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 gearbox 144. The worm gear 150 is designed to prevent reverse drive between the worm drive 140 and the gear motor 145, meaning that the main input force from the lacing cable via the spool 130 is addressed on the relatively large worm gear and worm drive teeth. This arrangement protects the gearbox 144 from the need for gears of sufficient strength to withstand the dynamic loads from active use of the footwear platform or the tightening loads from the lacing system. The worm drive 140 includes additional features to help protect more vulnerable parts of the drive system, such as a worm drive key 142. In this example, the worm drive key 142 is a radial groove in the motor end of the worm drive 140 that engages with a pin via a drive shaft extending from the gearbox 144. This arrangement prevents the worm drive 140 from exerting any axial force on the gearbox 144 or gear motor 145 by allowing the worm drive 140 to move freely in the axial direction (away from the gearbox 144) to transfer those axial loads to the bushing 141 and housing structure 100.

[0062] Figure 2DThis is an illustration depicting additional internal components of the belt engine 10. In this example, the belt 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 battery 170 has been added, along with better views of some of the drive components discussed above.

[0063] Figure 2E This is another illustration depicting the internal components of the belted engine 10. Figure 2E In this illustration, the worm gear 150 is removed to better illustrate the indexing wheel 151 (also known as the Geneva wheel 151). As described in further detail below, the indexing wheel 151 provides a mechanism for returning the drive mechanism to its home position in the event of electrical or mechanical failure and loss of position. In this example, the tethered motor 10 also includes a wireless charging interconnect 165 and a wireless charging coil 166, located below the battery 170 (not shown in this figure). In this example, the wireless charging coil 166 is mounted on the lower surface of the outer side of the bottom portion 104 of the tethered motor 10.

[0064] Figure 2F This is a cross-sectional view of the tethered engine 10 according to an exemplary embodiment. Figure 2F The illustration helps to show the structure of the spool 130 and how the lace groove 132 and lace channel 110 engage with the lace cable 131. As shown in this example, the lace 131 extends continuously through the lace channel 110 and enters the lace groove 132 of the spool 130. The cross-sectional illustration also depicts the lace recess 135 where the lace 131 gathers as the lace is wound up due to the rotation of the spool 130. The lace 131 is captured by the lace groove 132 as it extends through the lacing engine 10, such that when the spool 130 rotates, the lace 131 rotates onto the body of the spool 130 within the lace recess 135.

[0065] As illustrated in cross-section through the lacing engine 10, the spool 130 includes a spool shaft 133, which engages with the worm gear 150 after extending through the O-ring 138. In this example, the spool shaft 133 is engaged to the worm gear via a keyed connecting pin 134. In some examples, the keyed connecting pin 134 extends from the spool shaft 133 only in one axial direction and engages via a key on the worm gear, allowing the worm gear 150 to undergo a near-complete revolution before the keyed connecting pin 134 engages when the worm gear 150 is reversed. A clutch system can also be implemented to engage the spool 130 with the worm gear 150. In such an example, the clutch mechanism can be deactivated to allow the spool 130 to move freely when the laces are untied (loosened). In the example where the keyed connecting pin 134 extends from the spool shaft 133 only in one axial direction, the spool is allowed to move freely during the initial activation of the untying process, while the worm gear 150 is driven backward. Allowing the spool 130 to move freely during the initial part of the untying process helps prevent tangling in the shoelaces 131, as it gives the user time to begin loosening the shoes, which in turn will tension the shoelaces 131 in the loosening direction before being driven by the worm gear 150.

[0066] Figure 2G This is another cross-sectional view of the tethered engine 10 according to an exemplary embodiment. Figure 2F compared to, Figure 2G The illustration shows a cross-section of the inner side of the tethered 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 around the interface of the spool 130 and the shoelace 131.

[0067] Figure 2H This is a top view of the tether engine 10 according to an exemplary embodiment. Figure 2H The grease isolation wall 109 is highlighted and illustrated, showing how it surrounds certain parts of the drive mechanism, including the spool 130, worm gear 150, worm drive 140, and gearbox 145. In some examples, the grease isolation wall 109 separates the worm drive 140 from the gearbox 145. Figure 2H A top view of the interface between the spool 130 and the shoelace cable 131 is also provided, wherein the shoelace cable 131 extends in an inside-out direction through the shoelace groove 132 in the spool 130.

[0068] Figure 2IThis is a top view illustration of the worm gear 150 and marker wheel 151 portions of a belt-connecting engine 10 according to an exemplary embodiment. The marker wheel 151 is a variation of the Geneva wheel, a well-known type used in watchmaking and film projectors. A typical Geneva wheel or drive mechanism provides a method for converting continuous rotational motion into intermittent motion, as required in film projectors or for intermittently moving the second hand of a watch. Watchmakers use different types of Geneva wheels to prevent the springs of mechanical watches from overwinding; instead, they use Geneva wheels with missing slots (e.g., one of the Geneva slots 157 is missing). The missing slot prevents further marking on the Geneva wheel, which is responsible for winding the springs and preventing overwinding. In the illustrated example, the belt-connecting engine 10 includes a variation of the Geneva wheel, marker wheel 151, which includes a small stop tooth 156 that acts as a stop mechanism in homing operation. Figures 2J to 2M As illustrated, when the marking tooth 152 engages with the Geneva groove 157 of one of the Geneva teeth 155, the standard Geneva tooth 155 simply marks each rotation of the worm gear 150. However, when the marking tooth 152 engages with the Geneva groove 157 of the stop tooth 156, a greater force is generated, which can be used to stop the drive mechanism during a return-to-home operation. The stop tooth 156 can be used to generate a known position of a mechanism (such as the motor encoder 146) for return-to-home operation in the event of loss of other positioning information.

[0069] Figures 2J to 2M This is an illustration of a worm gear 150 and a marker wheel 151 that move via a marking operation according to an exemplary embodiment. As described above, from Figure 2J Start to Figure 2M These accompanying figures illustrate what happens during a single complete rotation of the worm gear 150 around its axis. Figure 2J In the worm gear 150, the marking tooth 153 is engaged in the groove 157 between the first groove tooth 155a and the stop tooth 156 in the groove tooth 155. Figure 2K The illustration shows the marking wheel 151 in the first marking position, which is held in place as the marking tooth 153 begins its rotation about its axis along with the worm gear 150. Figure 2L In the middle, the marking tooth 153 begins to engage with the groove 157 on the opposite side of the first groove tooth 155a. Finally, in Figure 2M In the middle, the marking tooth 153 is fully engaged in the groove 157 of the groove wheel between the first groove wheel tooth 155a and the second groove wheel tooth 155b. Figures 2J to 2M The process shown continues with each rotation of the worm gear 150 around its axis until the marking tooth 153 engages the stop tooth 156. As described above, when the marking tooth 153 engages the stop tooth 156, the increased force causes the drive mechanism to stop.

[0070] Figure 2NThis is an exploded view of the lacing engine 10 according to an exemplary embodiment. The exploded view of the lacing engine 10 provides an illustration of how all the different components fit together. Figure 2N An inverted tethered motor 10 is shown, with the bottom portion 104 at the top of the page and the top portion 102 near the bottom. In this example, the wireless charging coil 166 is shown as being bonded to the outside (bottom) of the bottom portion 104. The exploded view also provides a good illustration of how the worm drive 140 is assembled with the bushing 141, drive shaft 143, gearbox 144, and gear motor 145. This illustration does not include the drive shaft pin received within the worm drive key 142 at the first end of the worm drive 140. As described above, the worm drive 140 slides on the drive shaft 143 to engage the drive shaft pin in the worm drive key 142, which is essentially a slot extending transversely to the drive shaft 143 in the first end of the worm drive 140.

[0071] Figures 3A to 3D This is a diagram and illustration of an actuator 30 for connection to a motorized tethered engine interface according to 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 central arm 332, and a forearm 334. Figure 3A The illustration also shows relevant features of the lacing engine 10, such as multiple LEDs 340 (also referred to as LED340), a button 121, and a switch 122. In this example, both the rear arm 330 and the forearm 334 can be individually activated by the button 121, allowing one of the switches in the switch 122 to be activated independently. The actuator 30 is also designed to activate both switches 122 simultaneously for situations such as reset 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 channel 320 that directs light from the LEDs 340 to an external portion of the footwear platform (e.g., the outsole 60). The light channel 320 is configured to uniformly distribute light from the multiple individual LED light sources across the surface of the actuator 30.

[0072] In this example, the arms of actuator 30 (rear arm 330 and forearm 334) include flanges to prevent overactivation of switch 122, thus providing a safety measure to prevent impact to the side of the footwear platform. The large central arm 332 is also designed to bear impact loads against the side of the lacing engine 10, rather than allowing these loads to be transmitted against button 121.

[0073] Figure 3B A side view of the actuator 30 is provided, which further illustrates an exemplary structure of the forearm 334 and its engagement with the button 121. Figure 3CThis is another top view of actuator 30, illustrating the activation path through the rear arm 330 and forearm 334. Figure 3C Section line AA is also depicted, which corresponds to Figure 3D The cross-section shown in the diagram. Figure 3D In the diagram, the actuator 30 is illustrated in a cross-section showing the transmitted light 345, which is shown in dashed lines. The light conduit 320 provides a transmission medium for the transmitted light 345 from the LED 340. Figure 3D The illustration also shows several aspects of the outsole 60, such as the actuator cover 610 and the raised actuator interface 615.

[0074] Figures 4A to 4D This is a diagram and illustration of a sole interlayer plate 40 for retaining a lacing engine 10 according to some exemplary embodiments. In this example, the sole interlayer plate 40 includes features such as a lacing engine cavity 410, an inner lacing guide 420, an outer lacing guide 421, a cover groove 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 receive the lacing engine 10. In this example, the lacing engine cavity 410 retains the lacing engine 10 in the lateral and front / rear directions, but does not include any built-in features that lock the lacing engine 10 into the cavity. Optionally, the lacing engine cavity 410 may include pawls, tabs, or similar mechanical features along one or more sidewalls that can rigidly retain the lacing engine 10 within the lacing engine cavity 410.

[0075] The medial lacing guide 420 and lateral lacing guide 421 facilitate the guidance of the lacing cables into the lacing engine chamber 410 and over the lacing engine 10 (when present). The medial / lateral lacing guides 420, 421 may include chamfered edges and inferiorly slated ramps to aid in guiding the lacing cables to a desired location above the lacing engine 10. In this example, the medial / lateral lacing guides 420, 421 include openings in the sides of the sole interlayer plate 40 that are many times wider than the diameter of a typical lacing cable; in other examples, the openings of the medial / lateral lacing guides 420, 421 may be only a few times wider than the diameter of the lacing cable.

[0076] In this example, the sole interlayer plate 40 includes a shaped or wavy front flange 440 extending further on the medial side of the sole interlayer 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 prominent on the medial side. In this example, the rear flange 450 also includes a specific profile with extended portions on both the medial and lateral sides. The shape of the illustrated rear flange 450 provides enhanced lateral stability to the lacing engine 10.

[0077] Figures 4B to 4D The illustration shows a cover 20 inserted into a sole interlayer plate 40 to hold the lacing engine 10 and capture the lace cable 131. In this example, the cover 20 includes features such as a latch 210, a cover lace guide 220, a cover spool recess 230, and a cover clip 240. The cover lace guide 220 may include inner and outer cover lace guides 220. The cover lace guide 220 helps maintain alignment of the lace cable 131 as it passes through the appropriate portion of the lacing engine 10. The cover clip 240 may also include inner and outer cover clips 240. The cover clip 240 provides a pivot point for attaching the cover 20 to the sole interlayer plate 40. Figure 4B As shown in the diagram, the cover 20 is inserted directly downward into the sole interlayer plate 40, and the cover clip 240 enters the sole interlayer plate 40 through the cover groove 430.

[0078] like Figure 4C As illustrated, once the cover clip 240 is inserted through the cover slot 430, the cover 20 moves forward to prevent the cover clip 240 from detaching from the sole interlayer plate 40. Figure 4D The illustration shows the rotation or pivoting of the cover 20 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 sole interlayer plate 40. Once snapped into place, the cover 20 secures the lacing engine 10 within the sole interlayer plate 40.

[0079] Figures 5A to 5D This is a diagram and illustration of a midsole 50 and an outsole 60 configured to accommodate a lacing engine 10 and related components, according to some exemplary embodiments. The midsole 50 can be formed of any suitable footwear material and includes various features to accommodate 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 multiple cutouts and similar features to match corresponding features of the midsole plate 40. The actuator opening 540 is sized and positioned to approach the actuator 30 from the outer side of the footwear platform 1. Figure 5B and Figure 5C As illustrated, the actuator cover recess 550 is a recessed portion of the sole interlayer 50, which is adapted to accommodate a molded cover to protect the actuator 30 and provide a specific tactile and visual appearance for the main user interface of the lace-up engine 10.

[0080] Figure 5B and Figure 5C The illustration shows portions of the insole interlayer 50 and the outsole 60 according to an exemplary embodiment. Figure 5BThe illustration includes an exemplary actuator housing 610 and a raised actuator interface 615, which is molded or otherwise formed in the actuator housing 610. Figure 5C Another example of actuator 610 and raised actuator interface 615 is illustrated, the raised actuator interface 615 including horizontal stripes to disperse the portion of light transmitted through the light conduit 320 portion of actuator 30 to the outsole 60.

[0081] Figure 5D The illustration also shows an actuator cover recess 550 on the midsole 50 and the positioning of the actuator 30 within the actuator opening 540 before the actuator cover 610 is applied. In this example, the actuator cover recess 550 is designed to receive adhesive to bond the actuator cover 610 to the midsole 50 and the outsole 60.

[0082] Figures 6A to 6D This 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 transparent example of an assembled automated footwear platform 1 is depicted, which includes a lacing engine 10, a sole interlayer plate 40, a sole interlayer 50, and an outsole 60. Figure 6A This is an external view of the automated footwear platform 1. Figure 6B This is an inner view of the automated footwear platform 1. Figure 6C This is a top view of the automated footwear platform 1, with the upper portion removed. The top view shows the relative positioning of the lacing engine 10, cover 20, actuator 30, sole interlayer plate 40, sole interlayer 50, and outsole 60. In this example, the top view also illustrates the spool 130, inner lacing guide 420, outer lacing guide 421, front flange 440, rear flange 450, actuator cover 610, and protruding actuator interface 615.

[0083] Figure 6D This is a top view of an upper 70 according to some exemplary embodiments, illustrating an exemplary lacing configuration. In this example, in addition to the laces 131 and lacing engine 10, the upper 70 includes an outer lace fastener 71, an inner lace fastener 72, an outer lace guide 73, an inner lace guide 74, and brio cables 75. Figure 6DThe example illustrated includes a continuous knitted fabric upper 70 with a diagonal lacing pattern comprising non-overlapping inner and outer lacing paths. The lacing path begins at the outer lacing fastener, extends through the outer lacing guide 73, through the lacing engine 10, forward through the inner lacing guide 74, and returns to the inner lacing fastener 72. In this example, the laces 131 form a continuous loop from the outer lacing fastener 71 to the inner lacing fastener 72. In this example, tightening from the inside to the outside is transmitted via a brioche cable 75. In other examples, the lacing path may cross or incorporate additional features to transmit tightening force across the upper 70 in the inner-outer direction. Furthermore, the concept of a continuous lacing loop can be incorporated into more conventional uppers with a central (inner) gap where the laces 131 cross back and forth at the central gap.

[0084] Assembly process

[0085] Figure 7 This is a flowchart 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 the outsole / sole interlayer assembly at 710, inserting and bonding the sole interlayer plate at 720, attaching the laced upper at 730, inserting the actuator at 740, optionally transporting the sub-assembly to a retail store at 745, selecting the lacing engine at 750, inserting the lacing engine into the sole interlayer plate at 760, and securing the lacing engine at 770. Process 700, described in further detail below, may include some or all of the process operations described, and at least some process operations may occur at multiple locations (e.g., from the manufacturing plant to the retail store). In some examples, all process operations discussed with reference to process 700 may be completed within the manufacturing site, and the completed automated footwear platform is delivered directly to the consumer or retail location for purchase.

[0086] In this example, process 700 begins at 710, where an outsole and a midsole assembly, such as a midsole 50 that can be bonded to the outsole 60, are obtained. At 720, process 700 continues by inserting a midsole plate (such as a midsole plate 40) into a plate recess 510. In some examples, the midsole plate 40 includes an adhesive layer on its lower surface to bond the midsole plate to the midsole. In other examples, adhesive is applied to the midsole before the midsole plate is inserted. In still other examples, the midsole is designed to interference fit with the midsole plate, which eliminates the need for adhesive to secure the two components of the automated footwear platform.

[0087] In step 730, process 700 continues, and the laced upper portion of the automated footwear platform is attached to the sole interlayer. The attachment of the laced upper portion is accomplished using any known footwear manufacturing process, and adds the positioning of lower lace loops within the sole interlayer plate for subsequent engagement with a lacing engine (such as lacing engine 10). For example, when the laced upper is attached to the sole interlayer 50 into which the sole interlayer plate 40 is inserted, the lower lace loops are positioned to align with the inner lace guide 420 and the outer lace guide 421, which appropriately position the lace loops for engagement with the lacing engine 10 when the lacing engine 10 is later inserted during assembly. (See below for reference.) Figures 8A to 8B The assembly of the shoe upper will be discussed in more detail.

[0088] In step 740, process 700 continues by inserting an actuator (such as actuator 30) into the sole interlayer plate. Optionally, the actuator insertion can be completed before attaching the upper portion at operation 730. In the example, inserting actuator 30 into the actuator cutout 480 of the sole interlayer plate 40 involves a snap-fit ​​engagement between actuator 30 and actuator cutout 480. Optionally, process 700 continues in step 745, where a sub-component of the automated footwear platform is transported to a retail location or similar point of sale. The remaining operations in process 700 can be performed without special tools or materials, allowing for flexible customization of products sold at the retail level without the need to manufacture and stock every combination of automated footwear sub-components and lacing engine options.

[0089] In step 750, process 700 continues, selecting a lacing engine, which can be an optional operation if only one lacing engine is available. In the example, lacing engine 10 (motorized lacing engine) is selected for assembly into the sub-assembly from operations 710 to 740. However, as mentioned above, the automated footwear platform is designed to accommodate various types of lacing engines, ranging from fully automated motorized lacing engines to manually activated lacing engines. The sub-assemblies constructed in operations 710 to 740, featuring components such as the outsole 60, the midsole 50, and the midsole plate 40, provide a modular platform to accommodate a variety of optional automated components.

[0090] In step 760, process 700 continues by inserting the selected lacing engine into the sole interlayer plate. For example, lacing engine 10 can be inserted into sole interlayer plate 40, and lacing engine 10 slides under the lace loops, extending through lacing engine cavity 410. With lacing engine 10 in place and lacing cables engaged within the lacing engine spool (such as spool 130), a cover (or similar component) can be installed into the sole interlayer plate to secure lacing engine 10 and shoelaces. Figures 4B to 4DThe diagram above illustrates and discusses an example of installing the cover 20 into the sole interlayer plate 40 to secure the lacing engine 10. With the cover secured to the lacing engine, the automated footwear platform is complete and ready for active use.

[0091] Figures 8A to 8B This includes a flowchart illustrating, in general, an assembly process 800 for preparing a footwear upper for assembly into a sole interlayer, according to some exemplary embodiments.

[0092] Figure 8A The process of assembling the laced upper portion of a footwear component into an automated footwear platform is visually depicted, such as through process 700 discussed above. Figure 8A The process 800 illustrated in the figure begins with operation 1, which involves obtaining a knitted upper and shoelaces (shoelace cables). Next, the first half of the knitted upper is laced with the shoelaces. In this example, lacing the upper involves threading the shoelace cables through multiple eyelets and securing one end to the front portion of the upper. Next, the lacing cables are routed below the securing device supporting the upper and wrapped around to the opposite side. Then, in operation 2.6, the other half of the upper is laced, while keeping the lower shoelace loop around the securing device. In 2.7, the shoelaces are secured and trimmed, and in 3.0, the securing device is removed so that the laced knitted upper with the lower shoelace loop remains beneath the upper portion.

[0093] Figure 8B This is a flowchart illustrating another example of a process 800 for assembling a footwear upper. In this example, process 800 includes operations such as: obtaining the upper and lacing cables at 810, lacing the first half of the upper at 820, lacing the lacing cables below the lacing fastener at 830, lacing the second half of the upper at 840, tightening the lacing at 850, completing the upper at 860, and removing the lacing fastener at 870.

[0094] Process 800 begins at 810 by obtaining the upper and lacing cables for assembly. Obtaining the upper may include placing the upper onto a lacing fastening device used in other operations of process 800. In 820, process 800 continues by lacing a first half of the upper with the lacing cables. The lacing operation may include routing the lacing cables through a series of eyelets or similar features built into the upper. The lacing operation in 820 may also include securing one end of the lacing cable to a portion of the upper. Securing the lacing cables may include sewing, knotting, or otherwise terminating the first end of the lacing cable to the secured portion of the upper.

[0095] In step 830, process 800 continues, arranging the free ends of the shoelace cables under the upper and around the lacing fastener. In this example, the lacing fastener is used to create suitable shoelace loops under the upper for eventual engagement with the lacing engine after the upper is joined to the midsole / outsole assembly (see above for...). Figure 7 (Discussion). The tether securing device may include a groove or similar feature to at least partially retain the tether cable during subsequent operations of process 800.

[0096] In step 840, process 800 continues by lacing the second half of the upper with the free ends of the lace cables. Lacing the second half may include routing the lace cables through a second series of eyelets or similar features on the second half of the upper. In step 850, process 800 continues by tightening the lace cables that have passed through multiple eyelets and around the lacing fastener to ensure that the lower lace loops are properly formed to engage with the lacing mechanism. The lacing fastener helps to achieve the appropriate lace loop length, and different lacing fasteners can be used for different sizes or styles of footwear. The lacing process is completed in step 860, with the free ends of the lace cables secured to the second half of the upper. Finishing the upper may also include additional trimming or sewing operations. Finally, in step 870, process 800 is completed, and the upper is removed from the lacing fastener.

[0097] Figure 9 This is a diagram illustrating a mechanism for securing shoelaces within a spool of a lacing engine, according to some exemplary embodiments. In this example, the spool 130 of the lacing engine 10 receives shoelace cables 131 located within shoelace grooves 132. Figure 9 The device includes a shoelace cable with ferrules and a spool with lace grooves, the lace grooves including recesses for receiving the ferrules. In this example, the ferrules snap (e.g., with an interference fit) into the recesses to help hold the lace cable within the spool. Other exemplary spools, such as spool 130, do not include recesses, and other components of the automated footwear platform are used to hold the lace cable within the lace grooves of the spool.

[0098] Figure 10A This is a block diagram illustrating components of a motorized lacing system for footwear according to some exemplary embodiments. System 1000 illustrates basic components of the motorized lacing system, including an interface button, a foot presence sensor, a printed circuit board assembly (PCA) with processor circuitry, a battery, a charging coil, an encoder, a motor, a gearbox, and a spool. In this example, the interface button and the foot presence sensor communicate with the circuit board (PCA), which also communicates with the battery and the charging coil. The encoder and the motor are also connected to the circuit board and to each other. The gearbox connects the motor to the spool to form a drive mechanism.

[0099] In the example, the processor circuitry controls one or more aspects of the drive mechanism. For example, the processor circuitry may be configured to receive information from buttons and / or foot presence sensors and / or from a battery and / or from the drive mechanism and / or from an encoder, and may also be configured to issue commands to the drive mechanism, such as to tighten or loosen the footwear, or to acquire or record sensor information, and other functions.

[0100] Figure 10B An example of method 1001 is illustrated in general, which may include actuating a drive mechanism using information from a foot presence sensor. In 1010, this example includes receiving foot presence information from the foot presence sensor. The foot presence information may include binary information about the presence or absence of a foot, or may include an indication of the likelihood of a foot being present in a footwear article. This information may include electrical signals provided from the sensor to processor circuitry. In this example, the foot presence information includes qualitative information about the position of the foot relative to one or more sensors in the footwear.

[0101] In step 1020, 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 can continue in step 1030, where the lacing drive mechanism is actuated. For example, when the foot is fully seated, as described above, the lacing drive mechanism can engage via a spool mechanism to tighten the footwear laces. If the sensor signal indicates that the foot is not fully seated, the example can continue in step 1022 by delaying or idling for a specified interval (e.g., 1 to 2 seconds or longer). After the delay has elapsed, the example can return to step 1010, and the processor circuitry can resample the information from the foot presence sensor to determine again whether the foot is fully seated.

[0102] After the shoelace drive mechanism is actuated in 1030, the processor circuitry can be configured to monitor foot position information in operation 1040. For example, the processor circuitry can be configured to periodically or intermittently monitor information from a foot presence sensor regarding the absolute or relative position of the foot within the footwear. In this example, monitoring foot position information in 1040 and receiving foot presence information in 1010 can include receiving information from the same or different foot position sensors. In 1040, this example includes monitoring information from one or more buttons associated with the footwear, such as those that could instruct a user to untie (loosen) the shoelaces, such as when the user wishes to remove the footwear. In this example, shoelace tension information can be additionally or alternatively monitored or used as feedback information for actuating the drive motor or tensioning the shoelaces. For example, shoelace tension information can be monitored by measuring the drive motor current. The tension can be characterized at the factory or preset by the user and can be correlated with the monitored or measured drive motor current level.

[0103] In step 1050, this example includes determining whether the foot position in the footwear has changed. If no change in foot position is detected by the processor circuitry, for example by analyzing foot presence signals from one or more foot presence sensors, the example can continue with a delay 1052. After a specified delay interval, the example can return to step 1040 to resample the information from the foot presence sensors to determine again whether the foot position has changed. The delay 1052 can range from a few milliseconds to a few seconds and can optionally be specified by the user.

[0104] In the example, delay 1052 can be automatically determined by the processor circuitry, such as in response to determining footwear usage characteristics. For example, if the processor circuitry determines that the wearer is engaged in strenuous activity (e.g., running, jumping, etc.), then the processor circuitry can reduce delay 1052. If the processor circuitry determines that the wearer is engaged in non-strenuous activity (e.g., walking or sitting), then the processor circuitry can increase delay 1052, such as by delaying sensor sampling events to increase battery life. In the example, if a change in position is detected in 1050, then the example can continue to operation 1030, such as actuating a shoelace drive mechanism, such as tightening or loosening the shoelaces. In the example, the processor circuitry includes or incorporates a hysteretic controller for the drive mechanism to help avoid unwanted lacing tangles.

[0105] Motor control scheme

[0106] Figures 11A to 11D This illustration depicts a motor control scheme 1100 for a motorized lacing engine according to some exemplary embodiments. In this example, with respect to lacing, the motor control scheme 1100 involves dividing the total travel into multiple segments, the size of which varies based on the position on a continuous lacing travel (e.g., between the in-situ / loose position at one end and the maximum tightening at 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 segment size can be determined based on the degree of spool travel (or can be viewed from the encoder count). On the loose side of the continuum, because the amount of lacing movement is less important, the segments can be larger, such as 10 degrees of thread travel. However, as the lacing is tightened, each increase in lacing travel becomes increasingly important for achieving the desired lacing tightness. Other parameters, such as motor current, can be used as auxiliary measurements of lacing tightness or continuous position. Figure 11A This includes illustrations based on the different segment sizes along the position of the tightened continuum.

[0107] Figure 11BThe diagram illustrates a table that constructs motion profiles using the position of the tightening continuum based on the current position and the desired end position. The motion profile can then be translated into specific inputs from user input buttons. The motion profile includes parameters of the spool's motion, such as acceleration (acceleration (degrees / seconds)), velocity (velocity (degrees / seconds)), deceleration (deceleration (degrees / seconds)), and the angle of motion (angle (degrees)). Figure 11C An exemplary motion pattern is depicted on a graph showing the velocity as a function of time.

[0108] Figure 11D It is a diagram illustrating an example of user input to activate multiple motion patterns along a tightening continuum.

[0109] Anti-tangling box-shaped shoelace channel shape

[0110] Figure 12A This is a perspective view illustrating a motorized tethering system 1101 with an anti-tangling tether channel 1110 according to some exemplary embodiments. Figure 12B yes Figure 12A A top view of the motorized lacing system 1101 shows a winding channel 1132 extending through the modular spool 1130 and aligned with the lacing channel 1110 passing through the housing structure 1105. Similar to the spool 130 discussed above, the modular spool 1130 serves as the lacing channel (such as shoelaces or cable 131) when the modular spool 1130 is wound to tie the shoelaces 131 downwards onto the upper of the footwear item. Figure 2F Provides storage location. The modular spool 1130 can be assembled from a set of components such as the upper plate 1131 and the lower plate 1134.

[0111] Modular spool 1130 can be positioned within spool recess 1115 of lacing channel 1110. Lacing channel 1110 is shaped to optimize or improve the performance of modular spool 1130 when winding and unwinding shoelaces 131 from housing structure 1105. Specifically, as described below, lacing channel 1110 may include shoelace channel transition 1114 and other shapes, geometries, and surfaces that help prevent shoelaces 131 from getting stuck in spool recess 1115, such as due to bird's nesting. Shoelace channel transition 1114 can provide sufficient volume in lacing channel 1110 to store shoelaces 131 without compressing or tangling them.

[0112] An exemplary lacing engine 1101 may include an upper part 1102 and a lower part 1104 of a housing structure 1105, a housing screw 1108, a lacing channel 1110 (also referred to as a shoelace guide recess 1110), a shoelace channel wall 1112, a shoelace channel transition 1114, a spool recess 1115, a button opening 1120, a button 1121, a button membrane seal 1124, a programming head 1128, a modular spool 1130, and a winding channel (shoelace groove) 1132.

[0113] For example, as described herein, housing structure 1105 is configured to provide a compact lacing motor for insertion into the sole of footwear. Housing screws 1108 can be used to hold the upper component 1102 and lower component 1104 engaged. The upper component 1102 and lower component 1104 together provide components for housing the motorized lacing system 1101 (such as the modular spool 1130 and the worm gear drive 1140). Figure 12C The internal space of the lacing channel 1112 can be shaped to guide the shoelace 131 into and out of the housing structure 1105, and the shoelace channel transition 1114 can be shaped to guide the shoelace into and out of the modular spool 1130. In the example, the shoelace channel wall 1112 extends generally parallel to the long axis of the lacing channel 1110, while the shoelace channel transition 1114 extends at an angle to the long axis of the lacing channel 1110 and extends between the shoelace channel wall 1112 and the spool recess 1115. The spool recess 1115 may include a partially cylindrical socket for receiving the modular spool 1130.

[0114] Shoelace 131 ( Figure 2F The spool 1130 can be positioned to extend into and traverse the lacing channel 1110 and winding channel 1132. As the modular spool 1130 rotates via the worm gear driver 1140, the shoelace 131 is wound onto a spool 1135 between the upper plate 1131 and the lower plate 1134. Figure 15B (shown more clearly in the image). Button 1121 can extend through button opening 1120 and can be used to actuate worm drive 1140 to rotate modular spool 1130 clockwise and counterclockwise. Programming head 1128 can allow circuit board 1160 of belt engine 1101 (shown more clearly in the image). Figure 12C It is connected to an external computing system to, for example, characterize the tether action provided by button 1121 and the operation of worm drive 1140.

[0115] Figure 12C yes Figure 12AAn exploded view of a motorized tethering system 1101, showing multiple components of the motorized tethering system 1101 relative to the anti-tangling tether channel 1110. The motorized tethering system 1101 may include a housing structure 1105. Figure 12A The upper part 1102 and lower part 1104, modular spool 1130, worm gear 1150, marking wheel 1151, circuit board 1160, battery 1170, wireless charging coil 1166, button membrane seal 1124, button 1121 and worm drive 1140.

[0116] The housing structure 1105 may include an upper component 1102 and a lower component 1104. The upper component 1102 may include a lacing channel 1110 and a spool recess 1115. The modular spool 1130 may include an upper plate 1131, a winding channel 1132, a spool shaft 1133, and a lower plate 1134. The lower component 1104 may include a gear receptacle 1182, a shaft socket 1188, and a wheel post 1190.

[0117] The worm gear actuator 1140 may include a bushing 1141, a key 1142, a drive shaft 1143, a gearbox 1144, a gear motor 1145, a motor encoder 1146, and a motor circuit board 1147. The worm gear actuator 1140, circuit board 1160, wireless charging coil 1166, and battery 1170 may operate in a similar manner to those described herein, and for the sake of brevity, further description is not provided here.

[0118] Fastener 1183 can be used to secure the upper plate 1131 to the lower plate 1134 to form an assembled modular spool 1130. During assembly, a seal 1138 can be positioned between the upper plate 1131 and the lower plate 1134. The modular spool 1130 can be positioned in a spool recess 1115 such that the spool shaft 1133 is inserted into a shaft bearing 1174. The lower plate 1134 can be configured to sit in a counterbore 1178, while the upper plate 1131 is positioned adjacent to a spool flange 1172 extending from the spool wall 1116. The spool shaft 1133 can extend through the shaft bearing 1174 and through a worm gear 1150 engaged at a socket 1152 to engage a shaft socket 1188.

[0119] The worm gear 1150 can be positioned within the gear housing 1182 of the lower component 1104. The distal tip of the spool shaft 1133 can be inserted into the socket 1188. The hole 1195 in the marking wheel 1151 can be positioned around the wheel post 1190, allowing the marking wheel 1151 to rotate partially within the socket 1188. With the worm gear 1150 resting in the gear housing 1182 and the marking wheel 1151 positioned on the wheel post 1190, as described herein, the teeth of the marking wheel 1151 can engage with teeth (such as tooth 153) on the bottom side of the worm gear 1150. Figure 2I The worm gear drive 1140 can therefore drive the worm wheel 1150 to cause direct rotation of the spool shaft 1133, such as by pressing the spool 1133 into the fit or by spline insertion into the socket 1152. As described above, the marking wheel 1151 can be configured to stop the rotation of the worm wheel 1150 after it has rotated about its axis a certain number of times due to the marking action.

[0120] When the modular spool 1130 is positioned within the countersunk hole 1178 in the lacing channel 1110, the modular spool 1130 defines a shoelace volume, and the lacing channel 1110 defines a storage volume. For example, the modular spool 1130 may include a shoelace volume defined by a space between an upper plate 1131 and a lower plate 1134, and this shoelace volume extends from the central axis of the modular spool 1130 (to a further extent) to the outer diameter edge of the upper plate 1131. For example, the lacing channel 1110 may include a storage volume defined by a space between shoelace wall transitions 1114 and extending between the shoelace channel wall 1112 and the shoelace volume. In several embodiments, the storage volume is larger than the shoelace volume.

[0121] Figure 13 yes Figure 12B The top plan view of the housing illustrates the entrance to the lacing channel 1110 defined by the lacing channel wall 1112, and the buffer zone near the spool recess 1115 defined by the lacing channel transition portion 1114.

[0122] The upper component 1102 may include a ties channel 1110, a channel wall (inlet) 1112, a channel transition (recessed area / buffer area) 1114, a spool wall 1116 for the spool recess 1115, a spool flange 1172, a shaft bearing 1174, a channel base plate 1176, a base plate 1177, a countersunk hole 1178, and a channel lip 1180.

[0123] The shoelace channel wall 1112 may include planar segments extending perpendicular to axis A defined by the lacing channel 1110. Figure 13In this configuration, axis A coincides with section line 15-15. The spool recess 1115 may include a partially cylindrical space within the upper component 1102, the center of which may lie on axis A and be centrally located halfway between the shoelace passage walls 1112 on opposite sides of the spool recess 1115. The countersunk hole 1178 may include a circular shape and may be centrally located within the spool recess 1115. The shaft bearing 1174 may include a circular flange through which the spool shaft 1133 can extend. The shaft bearing 1174 may be centrally located within the countersunk hole 1178. The spool wall 1116 may include a partially arcuate segment surrounding the spool recess 1115. The spool flange 1172 may include an arcuate body that extends upward from the spool wall 1116 (relative to...). Figure 13 (or orientation). In the example, each of the spool wall 1116 and the spool flange 1172 can extend over an arc length of approximately eighty degrees.

[0124] The channel transition 1114 may include a planar wall that extends linearly between the channel wall 1112 and the spool wall 1116. In the illustrated embodiment, the channel transition 1114 connects to the channel wall 1112 at its distal end to form an angle between them. In other embodiments, a small curved surface or radius may be positioned between the channel transition 1114 and the channel wall 1112. In the illustrated embodiment, the channel transition 1114 connects to the spool wall 1116 at its proximal end to form an angle therebetween. In other embodiments, the channel transition 1114 may be tangent to the curved surface of the spool wall 1116, as indicated by line T. In such embodiments, the entrance formed by the channel wall 1112 may or may not be used. This can help maximize the volume of the aforementioned storage capacity. In the illustrated embodiment, the channel transition 1114 extends to the inner corner of the spool flange 1172.

[0125] The channel base plate 1176 may include a flat or planar surface extending between the channel wall 1112 and the channel lip 1180. The base plate 1177 may include a flat surface extending partially within the lacing channel 1110 and partially within the spool recess 1115. The base plate 1177 may be lower than the channel base plate 1176 within the upper component 1102 (relative to...). Figure 13 (or orientation). The channel lip 1180 may include an arcuate or curved surface extending between the channel base plate 1176 and the base plate 1177. In other examples, the channel lip 1180 may include an angled flat or planar surface between the channel base plate 1176 and the base plate 1177. In examples, such as... Figure 15AAs seen in the diagram, the channel lips 1180 can have a consistent cross-sectional shape, such that they have the same curvature anywhere between the opposite channel transitions 1114.

[0126] Figure 14A It is a section cut along section 14A-14A that passes through Figure 13 A side cross-sectional view of the anti-tangling lacing channel 1110 illustrates the width W1 of the lacing channel 1110. The width W1 corresponds to the width of the entrance to the lacing channel 1110, which is formed at opposing channel walls 1112. As shown, the channel walls 1112 and the channel base plate 1176 are flat to form a straight entrance. The channel walls 1112 are approximately parallel to each other and approximately perpendicular to the channel base plate 1176. The width W1 can be wider than the height of the channel walls 1112, and can be several times larger than the cross-section of the shoelace (e.g., shoelace 131) intended for use in the lacing channel 1110. This aspect ratio allows the shoelace to be approximately filled into the upper part 1102 near the center of the lacing channel 1110 to reduce the tendency to tangle, while also allowing the shoelace to move from one side to the other as the winding channel 1132 of the spool 1130 rotates.

[0127] Figure 14B It is the section cut along section 14B-14BA that passes through Figure 13 A side cross-sectional view of the anti-tangling tie channel 1110 is shown, illustrating the width W2 of the tie channel 1110 at its entrance to the spool recess 1115. Opposing channel transitions 1114 can form recessed areas within the tie channel 1110. Opposing channel transitions 1114 face each other to generally form a V-shape. The channel transitions 1114 are inclined such that the plane extending through each channel transition 1114 is along the... Figure 14B The axes extending from the plane intersect. Therefore, during unwinding, the channel transition 1114 can slowly gather the shoelace 131 toward the channel wall 1112, while providing space to allow the shoelace 131 to unfold from the spool 1130. As previously described, the channel transition 1114 contacts the spool wall 1116 near the spool flange 1172 to form an edge 1184, but in other embodiments it can be tangential to the spool wall 1116, such that the edge 1184 is replaced by a smooth transition. The channel transition 1114 extends through the channel lip 1180. The channel transition 1114 can be larger than the channel lip 1180, such that the channel lip 1180 has curved side edges 1186. The channel transition 1114 terminates at the spool recess 1115 near the countersunk hole 1178.

[0128] Figure 14C It is a section cut along section 14C-14C that passes through Figure 13 A side cross-sectional view of the anti-tangling lacing channel 1110 illustrates the width W3 of the lacing channel 1110 at the spool recess 1115. At the center of the spool recess 1115, opposing spool walls 1116 are spaced to the width W3 to form the spool recess 1115. The width W3 may be wider than the countersunk hole 1178 to at least partially form the base plate 1177. The width W3 may be wider than the countersunk hole 1178 in which the lower plate 1134 of the spool 1130 is located to provide additional space for the aforementioned shoelace volume. The spool flange 1172 can provide clearance for the modular spool 1130 to facilitate rotation. That is, the flange 1172 can protect the modular spool 1130 from any covering or cover structure (e.g., ...) positioned above the modular spool 1130 and the shoelace channel 1110. Figure 1 The cover 20) is designed to prevent the cover or cover structure from interfering with the rotation of the modular spool 1130. The spool flange 1172 may also include ribs or other barriers to prevent the laces 131 from entering the space within the housing structure 1105. The spool flange 1172 may also reduce friction on the laces 131, such as by providing a gap relative to the elements of the sole structure above the lacing channel 1110.

[0129] Figure 15A It is a longitudinal cross-sectional view through the anti-tangling tie channel 1110, showing the outline of the tie channel 1110 between the entrance at the channel wall 1112 and the spool recess 1115. Figure 15A The relative heights of the channel base plate 1176, channel lip 1180, base plate 1177, and countersunk hole 1178 are shown. As illustrated, the channel base plate 1176 can provide the tie channel 1110 with (relative to) Figure 15A The highest part (of the orientation) corresponds to the shallowest part of the lacing channel 1110. The channel lip 1180 lowers the lacing channel 1110 from the channel base plate 1176 down to the base plate 1177. The channel lip 1180 provides a smooth transition to reduce or eliminate sharp edges that may damage the shoelaces. The base plate 1177 transitions the lacing channel 1110 into the spool recess 1115 and surrounds the countersunk hole 1178 between the spool walls 1116. The countersunk hole 1178 is centrally located within the base plate 1117 and forms the lowest part of the lacing channel 1110. However, as... Figure 15B As shown, the countersunk hole 1178 is generally filled by the lower plate 1134 of the spool 1130. Therefore, the bottom plate 1177 forms the shallowest portion of the tether channel 1110 during operation. Figure 15AIn cross-section, the profile of the lacing channel 1110 allows the shoelaces 131 to slowly converge toward the channel wall 1112 during unwinding, while also providing space to allow the shoelaces 131 to unfold from the spool 1130, similar to the channel transition 1114 but in the transverse plane. Therefore, the lacing channel 1110 is funnel-shaped in both planes to provide anti-tangling recessed spaces for storing laces or cables.

[0130] Figure 15B It shows Figure 15A A cross-sectional view showing a spool 1130 inserted into a lacing channel 1110. The contour of the lacing channel 1110 facilitates the loading of shoelaces 131 into the spool 1130. For example, the channel base plate 1176 can be configured to be approximately aligned with the center of the shoelace volume V1 of the spool 1130, as shown by the dashed line F.

[0131] The lower plate 1134 of the spool 1130 may include a disc-shaped portion 1204 and a ramp 1206. The ramp 1206 may have a tapered end that can be aligned with the base plate 1177 to provide a smooth transition between the upper component 1102 and the disc-shaped portion 1204 of the lower plate 1134, thereby helping to prevent damage to the shoelaces 131. The disc-shaped portion 1204 and the ramp 1206 may also help prevent the shoelaces 131 from entering the space within the housing structure 1105.

[0132] Figure 15BThe illustration shows the shoelace volume V1 of the spool 1130 and the storage volume V2 of the lacing channel 1110. The shoelace volume V1 can be defined as the space between the upper plate 1131 and the lower plate 1132, and extends from the roll 1135 of the spool 1130 to the outer diameter edges of the upper plate 1131 and the lower plate 1132. Therefore, the shoelace volume V1 can include an annular space with a semi-trapezoidal cross-section. The shoelace volume V1 can also be defined to extend outwardly to the outer diameter of the upper plate 1131 at the lower plate 1132 to surround the space above the sole plate 1177. The storage volume V2 can be defined as the space between the upper edge of the channel wall 1112 and the channel transition 1114 at the upper edge and the channel sole plate 1176, channel lip 1180, and sole plate 1177 at the lower edge, and the storage volume V2 can extend from the channel wall 1112 to the shoelace volume V1. The storage volume V2 is compact enough to allow shoelaces or cables to collect within the lacing channel 1110 while still allowing the housing structure 1105 to fit within the sole structure of the footwear article, but large enough to prevent the shoelaces or cables from becoming tangled or knotted, such as by being pushed tightly against themselves and compressed. In various embodiments, the storage volume V2 is larger than the shoelace volume V1. Several aspects of the lacing channel 1110 described herein allow shoelaces to be efficiently pulled into the housing structure 1105 for storage on the spool 1130 and pushed out of the housing structure 1105 by the spool 1130 without becoming tangled, knotted, or compressed to the point that the shoelaces cannot be slowly pulled out of the housing structure 1105 from the outside, while avoiding the shoelaces encountering sharp edges or potential pinch points between the sole structure and the housing structure 1105, and between the housing structure 1105 and the spool 1130.

[0133] Example

[0134] Example 1 may include or use a subject such as a footwear lacing device, which may include: a housing structure including: a first inlet; a second inlet; and a lacing channel extending between the first and second inlets, the lacing channel including: a spool housing located between the first and second inlets; a first recessed region located between the spool housing and the first inlet; and a second recessed region located between the spool housing and the second inlet; wherein the first and second recessed regions are linearly tapered between the spool housing and the first and second inlets, respectively; a spool disposed in the spool housing of the lacing channel; and a drive mechanism coupled to the spool and adapted to rotate the spool to wind or unwind shoelace cables extending through the lacing channel and through the spool.

[0135] Example 2 may include, or optionally incorporate, the subject matter described in Example 1, and may optionally include: the first recessed region and the second recessed region may include planar sidewalls extending from the spool housing to form conical pathways from the spool housing to the first inlet and the second inlet, respectively.

[0136] Example 3 may include, or optionally combine, the subject matter described in one or any combination of Examples 1 or 2 to optionally include a planar sidewall that may be tangent to the spool housing.

[0137] Example 4 may include or optionally combine the subject matter described in one or any combination of Examples 1 to 3, to optionally include: the first recessed region and the second recessed region forming a trapezoidal passage between the linear shaft housing and the first inlet and the second inlet, respectively.

[0138] Example 5 may include, or optionally combine, the subject matter described in one or any combination of Examples 1 to 4 to optionally include a spool storage capacity that is smaller than the combined storage capacity of the recessed area.

[0139] Example 6 may include, or optionally combine, the subject matter described in one or any combination of Examples 1 to 5 to optionally include a spool housing that may include a pair of opposing arcuate sidewalls.

[0140] Example 7 may include, or optionally combine, the subject matter described in one or any combination of Examples 1 to 6 to optionally include a spool housing, which may further include: a shaft socket; and a countersunk hole surrounding the shaft socket.

[0141] Example 8 may include or optionally incorporate the subject matter described in one or any combination of Examples 1 to 7 to optionally include a spool housing, which may further include a pair of opposing arcuate flanges extending above the spool housing.

[0142] Example 9 may include, or optionally combine, the subject matter described in one or any combination of Examples 1 to 8 to optionally include a first inlet and a second inlet, which may include rectangular openings in the housing structure.

[0143] Example 10 may include, or optionally combine, the subject matter described in one or any combination of Examples 1 to 9, to optionally include a first entrance and a second entrance, the first entrance and the second entrance further comprising planar sidewalls forming a rectangular passageway.

[0144] Example 11 may include, or optionally combine, the subject matter described in one or any combination of Examples 1 to 10, to optionally include a first recessed region and a second recessed region, the first recessed region and the second recessed region may include a curved lip at the point of engagement with the spool housing.

[0145] Example 12 may include, or optionally combine, the subject matter described in one or any combination of Examples 1 to 11 to optionally include a spool, which may include: a lower plate; a shaft extending from the lower plate; an upper plate; a drum positioned between the upper and lower plates; and a winding channel extending through the drum.

[0146] Example 13 may include or use a subject such as a housing structure for a footwear lacing device, the housing structure including: a body, the body including: a top surface; a bottom surface; a first sidewall connecting the top surface and the bottom surface; a second sidewall connecting the top surface and the bottom surface; an internal compartment between the top surface and the bottom surface and between the first sidewall and the second sidewall; and a lacing channel extending from the first sidewall to the second sidewall, the lacing channel including: a first inlet in the first sidewall; a second inlet in the second sidewall; a spool housing located between the first inlet and the second inlet; a first recessed region located between the spool housing and the first inlet; and a second recessed region located between the spool housing and the second inlet; wherein the first recessed region and the second recessed region are linearly tapered between the spool housing and the first inlet and the second inlet, respectively.

[0147] Example 14 may include, or optionally incorporate, the subject matter described in Example 13, to optionally include a first recessed region and a second recessed region, the first recessed region and the second recessed region may include planar sidewalls extending from the spool housing to form conical passages from the spool housing to the first inlet and the second inlet, respectively.

[0148] Example 15 may include, or optionally combine, the subject matter described in one or any combination of Examples 13 or 14 to optionally include a spool housing comprising a pair of opposing arcuate sidewalls.

[0149] Example 16 may include, or optionally combine, the subject matter described in one or any combination of Examples 13 to 15 to optionally include a planar sidewall that is tangent to the arcuate sidewall of the spool housing.

[0150] Example 17 may include, or optionally combine, the subject matter described in one or any combination of Examples 13 to 16, to optionally include a first recessed region and a second recessed region, the first recessed region and the second recessed region forming a trapezoidal passage between the linear shaft housing and the first inlet and the second inlet, respectively.

[0151] Example 18 may include, or optionally combine, the subject matter described in one or any combination of Examples 13 to 17 to optionally include a spool housing, which may further include: a pair of opposing arcuate flanges extending above the spool housing.

[0152] Example 19 may include or optionally combine the subject matter described in one or any combination of Examples 13 to 18 to optionally include each of the first and second entrances, each of the first and second entrances may include: a rectangular opening in the body; and a planar sidewall forming a rectangular passage.

[0153] Example 20 may include, or optionally combine, the subject matter described in one or any combination of Examples 13 to 19 to optionally include a body that may include an upper component and a lower component.

[0154] Example 21 may include, or optionally combine, the subject matter described in one or any combination of Examples 13 to 20 to optionally include a lacing channel that penetrates the top surface of the body.

[0155] Example 22 may include or use the subject matter of a method for unwinding a spool in a footwear lacing device, the method comprising: rotating the spool using a drive mechanism to reduce tension in the shoelace cable wound on the spool; pushing the shoelace cable from the spool into a lacing channel within a housing of the footwear lacing device; collecting the shoelace cable in a recessed area of ​​the lacing channel; and allowing the shoelace cable to loosely exit the lacing channel from the recessed area to unwind the shoelace cable from the spool.

[0156] Example 23 may include, or optionally incorporate, the subject matter described in Example 22, to optionally include: preventing footwear cables from tangling in the recessed area by allowing footwear cables to collect freely in the recessed area.

[0157] Example 24 may include, or optionally combine, the subject matter described in one or any combination of Examples 22 or 23, to optionally include: emptying the spool to enter the recessed area.

[0158] Example 25 may include, or optionally combine, the subject matter described in one or any combination of Examples 22 to 24, to optionally include: pulling the shoelace cable from the recessed area without tangling.

[0159] Additional notes

[0160] Throughout this specification, multiple instances can implement components, operations, or structures described as single instances. While the various operations of one or more methods are illustrated and described as separate operations, one or more of these separate operations can be performed simultaneously, and they do not need to be performed in the order shown. Structures and functions presented as separate components in the example constructions can be implemented as composite structures or components. Similarly, structures and functions presented as single components can be implemented as separate components. These and other variations, modifications, additions, and improvements fall within the scope of the subject matter herein.

[0161] Although an overview of the subject matter of the invention has been described with reference to specific exemplary embodiments, various modifications and changes may be made to these embodiments without departing from the broader scope of embodiments of this disclosure. These embodiments of the subject matter of the invention may be referred to herein individually or uniformly as the term "invention," which is merely for convenience and is not intended to voluntarily limit the scope of this application to any single disclosure or inventive concept (if more than one is disclosed in fact).

[0162] The embodiments illustrated herein have been described in sufficient detail to enable those skilled in the art to practice the disclosed teachings. Other embodiments may be used and derived therefrom, such that structural and logical substitutions and changes may be made without departing from the scope of this disclosure. Therefore, this disclosure should not be construed as limiting, and the scope of the various embodiments includes the full scope of the authorized equivalents of the disclosed subject matter.

[0163] As used herein, the term "or" can be interpreted as inclusive or exclusive. Furthermore, multiple instances may be provided for a resource, operation, or structure described herein as a single instance. Moreover, the boundaries between various resources, operations, modules, engines, and data stores are somewhat arbitrary, and a particular operation is illustrated within the context of a particular illustrative construct. Other allocations of functionality are foreseeable and may fall within the scope of various embodiments of this disclosure. Generally, structures and functions presented as separate resources in exemplary constructs 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 embodiments of this disclosure as represented by the appended claims. Therefore, the specification and drawings are to be considered illustrative rather than restrictive.

[0164] Each of these non-restrictive examples can exist independently, or can be combined with one or more other examples in various permutations or combinations.

[0165] The above detailed description includes reference to the accompanying drawings, which form part of the detailed description. The drawings illustrate specific embodiments in which the invention can be practiced. These embodiments are also referred to herein as “examples.” Such examples may include elements other than those shown or described. However, the inventors have also contemplated examples that provide only those elements shown or described. Furthermore, the inventors have contemplated examples of any combination or arrangement of those elements (or one or more aspects thereof) shown or described herein, either with respect to a particular example (or one or more aspects thereof) or to other examples (or one or more aspects thereof) shown or described herein.

[0166] In the event of any inconsistency between the usage of this document and any other document incorporated by reference, the usage in this document shall prevail.

[0167] In this document, the terms “a” or “an” are used, as is common in patent documents, to include one or more, independent of any other instance or use of “at least one” or “one or more.” In this document, the term “or” is used to mean non-exclusive or such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise stated. In this document, the terms “including” and “in which” are used as simple English equivalents to the corresponding terms “comprising” and “wherein.” Furthermore, in the appended claims, the terms “comprising” and “including” are open-ended, meaning that a system, apparatus, article, composition, formulation, or process that includes elements other than those listed after such terms in the claim is still considered to fall within the scope of that claim. Additionally, in the appended claims, the terms “first,” “second,” and “third,” etc., are used merely as labels and are not intended to impose numerical requirements on their objects.

[0168] The method examples described herein, such as the motor control example, can be implemented at least in part by a machine or computer. Some examples may include computer-readable or machine-readable media encoded with instructions operable to configure electronic devices to perform the methods described in the examples above. Implementations 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 multiple methods. The code may form part of a computer program product. Furthermore, in the examples, 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 such tangible computer-readable media may include, but are not limited to, hard disks, removable disks, removable optical discs (e.g., optical discs and digital video discs), magnetic tape cassettes, memory cards or sticks, random access memory (RAM), read-only memory (ROM), etc.

[0169] The above description is intended to be illustrative and not restrictive. For example, the examples described above (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be used, such as those that can be used by one of ordinary skill in the art upon review of the above description. An abstract (if provided) is included to allow the reader to quickly determine the nature of the technical disclosure. It is to be understood that the abstract is provided but is not intended to interpret or limit the scope or meaning of the claims. Furthermore, in the above description, multiple features may be combined together to simplify this disclosure. This should not be construed as meaning that any unstated disclosed feature is essential to any claim. Rather, the subject matter of the invention may be less than all the features of a particular disclosed embodiment. Therefore, the appended claims are incorporated into the detailed description as examples or embodiments, wherein each claim is independently as a separate embodiment, and it is contemplated that these embodiments may be combined with each other in various combinations or arrangements. The scope of the invention should be determined by reference to the appended claims and the full scope of the equivalents to which these claims relate.

Claims

1. A type of footwear, comprising: The upper is configured to accommodate the wearer's foot. A sole structure, connected to the upper, comprising: Toe portion; Heel area; and The arch of the foot between the heel and the toes; A shell structure disposed within the sole structure, the shell structure comprising: First entrance; Second entrance; and Lace-up channel, extending between the first inlet and the second inlet, the lacing channel comprising: A spool holder, located between the first inlet and the second inlet; A first recessed region is located between the spool housing and the first inlet; and The second recessed area is located between the spool housing and the second inlet; A bobbin, the bobbin being disposed in the bobbin housing of the tether channel; and A drive mechanism, coupled to the spool and adapted to rotate the spool to wind or unwind the shoelace cable extending through the lacing channel and through the spool. The first recessed region and the second recessed region include planar sidewalls extending from the spool housing to form tapered passages from the spool housing to the first inlet and the second inlet, respectively, such that the widths of the first recessed region and the second recessed region increase from the first inlet and the second inlet to the spool housing, respectively.

2. The footwear article according to claim 1, wherein, The planar sidewall is tangent to the spool housing.

3. The footwear article according to claim 1, wherein, The storage capacity of the spool is less than the combined storage capacity of the recessed area.

4. The footwear article according to claim 1, wherein, The spool housing includes a pair of opposing arcuate sidewalls.

5. The footwear article according to claim 1, wherein, The bobbin holder also includes: Shaft socket; and Countersunk hole, the countersunk hole surrounding the shaft socket.

6. The footwear article according to claim 5, wherein, The spool housing further includes a pair of opposing arcuate flanges extending above the spool housing.

7. The footwear article according to claim 1, wherein, The first recessed region and the second recessed region include a curved lip at the point of engagement with the spool housing.

8. The footwear article according to claim 1, wherein, The bobbin includes: Lower board; A shaft extending from the lower plate; upper plate; A reel, the reel being positioned between the upper plate and the lower plate; and A winding channel that extends through the roll.

9. The footwear article according to claim 1, wherein, The shell structure is arranged in the arch portion of the sole.

10. The footwear article according to claim 1, wherein, The first and second inlets of the shell structure are located in the arch portion of the sole structure.

11. The footwear article according to claim 1, wherein, The first and second entrances of the shell structure penetrate the inner and outer sides of the sole structure, respectively.

12. The footwear article according to claim 1, wherein, The lacing channel extends in a direction from the inside to the outside.

13. The footwear article according to claim 1, wherein, The spool is located above the housing structure.

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