Systems and methods for powered shoe device control

Abstract

Disclosed is a powered shoe with a distributed control system configured to maintain synchronization between a pair of powered shoes, the powered shoe including a sole having a sole portion and a toe portion, a plurality of rotatable wheels disposed beneath the sole, a motor disposed beneath the sole and in driving connection with at least one of the plurality of rotatable wheels, a control circuit interfaced to the motor, and a network adapter interfaced to the control circuit and configured to communicate with the pair of powered shoes using unidirectional communication.

Description

[Technical field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 319,014, filed March 11, 2022, the disclosure of which is incorporated by reference herein in its entirety.

[0002] SUMMARY OF THE DISTRIBUTION This application relates to a powered shoe device with distributed control circuitry. [Background technology]

[0003] Due to growing urban populations and concerns about disease transmission through shared commuting modes such as public transport, the last kilometre problem, i.e. the relatively long and time-consuming final walking distance, remains an issue for commuters. There are various solutions on the market to ameliorate the last kilometre problem, including motorised transport devices such as motorised roller skates.

[0004] Current market solutions for powered roller skates suffer from ergonomic and safety issues. Abnormal postures and walking cycles can cause discomfort and require excessive physical effort. These issues are further exacerbated by the increasing complexity of urban roads and sidewalks, where commuters must navigate on and off the sidewalk while avoiding obstacles such as holes, grates, and puddles. This complexity prevents users from walking normally on powered roller skates, greatly reducing the practicality of the current technology. Current wheel configurations under the user's feet create challenges when navigating obstacles and create dangerous situations due to sudden decelerations or unexpected stops. Additionally, the bulkiness of the electronics required to drive the transportation device increases weight and width, reducing applicability and ergonomic usability. This can cause skates to collide with each other or with obstacles during use. Additionally, in recent multi-body powered roller skates, the hinge points place undesirable pressure on the user's feet, causing instability at certain angles of the foot relative to the ground, and abruptly reducing the number of wheels in contact with the ground. Summary of the Invention [Problem to be solved by the invention]

[0005] Safety concerns arise because current electric roller skates do not have the ability to manage the wearer's speed in the event of an emergency. Specifically, current electric roller skates suffer from synchronization issues between the two skates. In some models, the individual skates do not communicate at all, which can cause the two skates to go at different speeds. In some models, the two skates communicate using two-way communication, which can cause delays in the skates' decision-making. To keep the two skates synchronized and responsive, a distributed control method using one-way communication is needed. [Means for solving the problem]

[0006] In some embodiments, a powered shoe includes a sole having a heel portion and a toe portion, a plurality of rotatable wheels disposed beneath the sole, a motor disposed beneath the sole, the motor in driving connection with at least one of the plurality of rotatable wheels, a control circuit interfaced to the motor, and a network adapter interfaced to the control circuit, the network adapter configured to communicate with a second powered shoe using unidirectional communication.

[0007] In some embodiments, the plurality of rotatable wheels includes a toe group of rotatable wheels disposed under the toe portion, a mid group of rotatable wheels disposed under a front portion of the heel portion, and a heel group of rotatable wheels disposed under a rear portion of the heel portion.

[0008] In some embodiments, the motor is interfaced to at least one rotatable wheel of the middle group and at least one rotatable wheel of the rear group.

[0009] In some embodiments, the powered shoe further comprises a gearbox housing containing a geared drivetrain system.

[0010] In some embodiments, the powered shoe further comprises a strap interfaced directly to said gearbox housing and configured to attach said powered shoe to a user's shoe or foot.

[0011] In some embodiments, the control circuitry is within the gearbox housing.

[0012] In some embodiments, the powered shoe further comprises a power module within said gearbox housing.

[0013] In some embodiments, the power module is interfaced to the control circuitry via one or more electromechanical connectors.

[0014] In some embodiments, the motor is a brushless DC motor.

[0015] In some embodiments, the powered shoe further comprises a Hall effect sensor integrated into said motor and interfaced with said control circuitry.

[0016] In some embodiments, the motor magnets extend beyond the length of the motor coils.

[0017] In some embodiments, the powered shoe further comprises an inertial measurement unit interfaced to said control circuitry.

[0018] In some embodiments, the powered shoe further comprises a remote control device configured to interface with said network adapter.

[0019] In some embodiments, a method of controlling a velocity of a powered shoe includes calculating a first velocity of the powered shoe based on inputs of an inertial measurement unit and a motor sensor; The method includes the steps of transmitting the first speed to a mating powered shoe, receiving a second speed from the mating powered shoe, determining whether the first speed and the second speed match, determining a safer speed between the first speed and the second speed if the first speed and the second speed do not match, operating the motor at the safer speed, and operating the motor at the first speed if the first speed and the second speed match.

[0020] In some embodiments, the step of calculating the first speed further includes the steps of detecting a motor torque from the motor sensor, determining a walking state of the powered shoe based on the motor torque, converting the motor torque into a force acting on a wheel of the powered shoe, and upon detecting a predetermined walking state, capturing a wheel force, standardizing the wheel force based on a reference wheel force, determining an acceleration based on the standardized wheel force, and determining the first speed based on the acceleration. [Brief description of the drawings]

[0021] Aspects and embodiments of the present application are illustrated in the drawings and set forth below. [Figure 1A] FIG. 1A is a perspective view of a powered shoe according to an embodiment. [Figure 1B] FIG. 1B is a perspective view of a strap mechanism of a powered shoe according to an embodiment. [Diagram 2] FIG. 2 is a side view of a powered shoe according to an embodiment. [Diagram 3] FIG. 3 is an underside view of a powered shoe according to an embodiment. [Figure 4A] FIG. 4A illustrates an example logic block diagram of a control system for a powered shoe, according to an embodiment. [Figure 4B]FIG. 4B illustrates a miniature brushless DC motor configuration according to an embodiment. [Figure 5A] FIG. 5A shows the internal components of a control system according to an embodiment. [Figure 5B] FIG. 5B shows another view of the internal components of a control system according to an embodiment. [Figure 5C] FIG. 5C shows another view of the internal components of a control system according to an embodiment. [Figure 6A] FIG. 6A illustrates the connection of a motor and a gearbox according to an embodiment. [Figure 6B] FIG. 6B illustrates another view of the motor and gearbox connection according to an embodiment. [Figure 7] FIG. 7 illustrates an exemplary flow diagram of a method for controlling the speed of a powered shoe, according to an embodiment. [Figure 8] FIG. 8 illustrates an example flow diagram of data within a powered shoe system including a remote controller, according to an embodiment. [Figure 8-2] FIG. 8 illustrates an example flow diagram of data within a powered shoe system including a remote controller, according to an embodiment. [Figure 9] FIG. 9 illustrates an example flow diagram for pre-determining no-load wheel forces according to an embodiment. [Figure 10] FIG. 10 illustrates an exemplary flow diagram for determining force-based acceleration according to an embodiment. [Figure 11] FIG. 11 illustrates an exemplary flow diagram for changing operational modes according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] The disclosure is not limited to the particular systems, apparatus, and methods described, as these may vary, and the terminology used in the description is for the purpose of describing the particular versions or embodiments only and is not intended to limit the scope of the disclosure.

[0023] The following terms, for purposes of this application, shall have the respective meanings set forth below. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. Nothing in this disclosure should be construed as an admission that the embodiments described in this disclosure are not entitled to antedate such disclosure by virtue of prior invention.

[0024] As used herein, the singular forms "a," "an," and "the" include the plural forms unless the context clearly dictates otherwise. Thus, for example, a reference to a "cell" is a reference to one or more cells and equivalents thereof known to those skilled in the art, and so forth.

[0025] As used herein, the term "about" means plus or minus 10% of the number with which it is used, so about 50 mm means a range of 45 mm to 55 mm.

[0026] As used herein, the term "consists of" or "consisting of" means that the apparatus or method includes only those elements, steps, or components specifically recited in a particular claimed embodiment or claim.

[0027] In embodiments or claims where the term "comprising" is used as a transitional phrase, such embodiments can be contemplated by replacing the term "comprising" with the term "consisting of" or "consisting essentially of."

[0028] As will be appreciated by those of skill in the art, for all purposes, including in terms of providing a specification, all ranges disclosed herein are intended to encompass each intervening value between the upper and lower limits of the range, and any other stated or intervening value within that stated range. All ranges disclosed herein also encompass all possible ranges of its subranges and combinations of subranges. Any stated range is readily identifiable as fully descriptive and allowing for division of the same range into at least equal halves, thirds, quarters, fifths, tenths, etc. As a non-limiting example, each range discussed herein can be readily divided into a lower third, middle third, upper third, etc. As will be appreciated by those of skill in the art, all terms such as "up to," "at least," etc. refer to ranges that are inclusive of the recited numbers and that can be subsequently subdivided into subranges as previously described. Finally, as will be appreciated by those of skill in the art, ranges include individual components. Thus, for example, a group having 1 to 3 components refers to groups having 1, 2, or 3 components, and ranges of values ​​from at least 1 component to no more than 3 components. Similarly, a group having 1 to 5 components refers to groups having 1, 2, 3, 4, or 5 components, as well as ranges of values ​​from 1 component to 5 components inclusive.

[0029] Further, even when a particular number is explicitly recited, one of ordinary skill in the art will recognize that such recitation should be interpreted to mean at least the recited number (e.g., the mere recitation of "two recitations" without other modifiers means at least two recitations, or more than two recitations). Furthermore, when a convention similar to "at least one of A, B, and C, etc." is used, such a configuration is generally intended in the sense that one of ordinary skill in the art would understand the convention (e.g., "a system having at least one of A, B, and C" includes, but is not limited to, systems that include only A, only B, only C, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). When a convention similar to "at least one of A, B, or C, etc." is used, such configuration is generally intended in the sense that one of ordinary skill in the art would understand that convention (e.g., "a system having at least one of A, B, or C" includes, but is not limited to, systems that include only A, only B, only C, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). Furthermore, one of ordinary skill in the art should understand that virtually all disjunctions and / or phrases that present two or more alternative terms, whether in the description, sample embodiments, or drawings, intend the possibility of including one of the terms, either of the terms, or both terms. For example, the phrase "A or B" is understood to include the possibilities of "A" or "B" or "A and B."

[0030] Moreover, where features of the disclosure are described in terms of a Markush group, those skilled in the art will recognize that the disclosure also is described in terms of any individual element or subgroup of elements of the Markush group.

[0031] The present disclosure provides a control method and system configured for safe and ergonomic operation of the powered shoe. Additionally, the powered shoe is equipped with an emergency braking system that slows down the shoe if the signal from the control circuitry is lost (possibly meaning a loss of power, i.e., the shoe is shut off while in operation, the battery is depleted / failed, or there is an issue with the electrical connection).

[0032] Referring to FIG. 1A, a perspective view of a powered shoe 100 according to an embodiment is shown. The powered shoe 100 comprises a sole. In some embodiments, the sole comprises two or more independent elements configured to rotate or translate relative to one another. For example, the powered shoe 100 may comprise a heel portion 101 and a toe portion 102. In some embodiments, the heel portion 101 and the toe portion 102 may be coupled via one or more translation hinges. In some embodiments, the one or more translation hinges may be located under the ball of the user's foot. An example of the use of hinges in the context of a powered shoe is described in U.S. Patent Application No. 17 / 507,270, filed October 21, 2021, entitled "Powered Shoe Apparatus Wheel Configuration Combining Translational and Rotational Hinge Mechanisms and Integrated Gear Bushing Assembly," which is incorporated herein by reference in its entirety.

[0033] In certain embodiments, the strap mechanism 107 can be positioned over the heel portion 101. Referring to FIG. 1B, the strap mechanism 107 can be configured to receive one or more straps or buckles to allow a user to place the powered shoe on the foot. In some embodiments, the strap mechanism 107 is connected under the sole using a plurality of cylindrical pins 110 to couple the sole with a fastener-driven compression piece 111. In certain embodiments, the plurality of cylindrical pins 110 connect the strap mechanism 107 directly to the gearbox housing. In some embodiments, the strap mechanism 107 can be a magnetic buckle. In some embodiments, the strap mechanism 107 is semi-rigid (i.e., flexible) and configured to allow for correct positioning of the strap elements that secure the user's foot to the sole portion for extended use and comfort. In yet another embodiment, positioning is further aided by slots 112 in the strap mechanism to allow for slight movement during use. In some embodiments, the strap mechanism 107 is configured to function as a handle for carrying the powered shoe when not in use.

[0034] In certain embodiments, the powered shoe 100 includes a plurality of wheels disposed under the sole of the shoe. In some embodiments, the plurality of wheels are separated into one or more groups. In further embodiments, the one or more groups of wheels can include at least one of a group disposed under the toe 103 of the shoe, a group disposed under the middle 104 of the shoe, and a group disposed under the heel 105 of the shoe.

[0035] In certain embodiments, the powered shoe 100 includes a motor 106 drivingly connected to at least a portion of the plurality of wheels. In some embodiments, the portion of the plurality of wheels drivingly connected to the motor 106 includes at least one of the wheels in the middle group 104 and at least one of the wheels in the heel group 105. In some embodiments, the motor 106 is drivingly connected to at least a portion of the plurality of wheels using one or more gears. Referring briefly to FIG. 2, another view of the powered shoe 100 is depicted, where one or more gears according to an embodiment are housed within a gearbox housing 201. In some embodiments, the gearbox housing 201 is located beneath the sole of the shoe.

[0036] In some embodiments, the gearbox housing 201 comprises a geared drivetrain system that comprises a bushing integrated into at least one drive gear.

[0037] FIG. 3 shows an underside view of the powered shoe 100 according to an embodiment. In some embodiments, a gearbox housing 201 is mounted under the sole of the powered shoe. In some embodiments, the gearbox housing 201 can house a power module. In some embodiments, the gearbox housing 201 can be subdivided into two or more housings. In some embodiments, a first housing of the gearbox housing 201 can include a power module and a second housing of the gearbox housing can include a drive gear. 3 is a bottom view of the powered shoe 100 according to an embodiment. In some embodiments, a gearbox housing 201 is mounted under the sole of the powered shoe. In some embodiments, the gearbox housing 201 can house a power module. In some embodiments, the gearbox housing 201 is subdivided into two or more housings. In some embodiments, a first housing of the gearbox housing 201 can include a power module and a second housing of the gearbox housing can include a drive gear.

[0038] In certain embodiments, the powered shoe 100 includes a power module. The power module can include circuitry, a battery, and one or more connections between the circuitry and the battery. In some embodiments, the power module can limit the movement of the battery and prevent ingress of external elements. In some embodiments, the circuitry is mounted within the power module. In such embodiments, the power module can hold the circuitry in a fixed position and configuration during use of the powered shoe. The exterior of the power module can further prevent dirt and moisture from reaching the circuitry, the battery, and / or the connections. In some embodiments, wiring and movement within the power module can be further limited to improve reliability of the powered device.

[0039] In some embodiments, the circuit components may include control circuitry, one or more sensors, and one or more network communication adapters.

[0040] FIG. 4A illustrates an exemplary block diagram of a control system 400 for a powered shoe, according to an embodiment. In some embodiments, the control system includes a control circuit 401. In further embodiments, the control circuit 401 includes one or more processors and a non-transitory storage medium, such as one or more memory devices, that include programming instructions for the one or more processors. In some embodiments, the non-transitory storage medium includes a non-volatile memory or a flash memory. An exemplary control system in the context of a powered shoe is described in U.S. Patent Application No. 17 / 421,479, filed July 8, 2021, and entitled “Method and Apparatus for Controlling a Mobility Device Using Estimated Gait Trajectory,” which is incorporated herein by reference in its entirety.

[0041] In certain embodiments, the control circuit 401 is in operative communication with the motor 402 and is configured to control operation of the motor 402. In some embodiments, the control circuit 401 receives status information from at least one sensor associated with the motor 402. In some embodiments, the status information includes at least one of a current, a position, a speed, and / or a direction of the rotational motor.

[0042] In certain embodiments, the control circuit 401 is operatively connected to the battery 403. The battery 403 may include one or more batteries in series or parallel, as would be apparent to one of ordinary skill in the art. In some embodiments, the control circuit 401 may be configured to monitor the status of the battery 403 via an integrated sensor. In some embodiments, the integrated sensor may measure the current at one or more terminals of the battery. In some embodiments, the control circuit 401 may electrically connect or disconnect one or more electrical components in the powered shoe 100 to the battery 403. The connection or disconnection of one or more electrical components may be performed in response to status information received from other components of the powered shoe 100, such as the motor 402.

[0043] In some embodiments, the control circuitry 401 is in operative communication with a network adapter 404. In some embodiments, the network adapter 404 includes a wireless adapter. The wireless adapter may be configured to receive and / or transmit signals via IEEE 802.11 wireless, Bluetooth, or other wireless technologies or protocols. In some embodiments, the network adapter 404 may alternatively or additionally include a wired interface. In such embodiments, the wired interface may include a Universal Serial Bus connection.

[0044] In certain embodiments, the network adapter 404 facilitates communication with an external processor and / or storage device to update programming instructions on the control circuitry 401 (e.g., updating firmware or pairing two shoes), relay system data, relay usage data, or relay data for external control processing.

[0045] In a particular embodiment, the network adapter 404 facilitates communication between two powered shoes worn by a user. In some embodiments, the communication between the shoes is configured to maintain synchronization between the two powered shoes while the user is walking. In further embodiments, synchronization is improved by distributed control between the two powered shoes.

[0046] In certain embodiments, the powered shoe may include one or more inertial measurement units 405 in operative communication with the control circuit 401. In some embodiments, the one or more inertial measurement units 405 include one or more accelerometers and / or gyroscopes.

[0047] In certain embodiments, the motor 402 may be a brushless direct current (BLDC) motor. In some embodiments, the BLDC motor may include a magnetic Hall effect sensor to assist in speed control. Typical BLDC motors with large rotors (over 45 mm) integrate the magnetic Hall effect sensor directly into the coils of the motor. The coils of small BLDC motors (under 45 mm) are too small for the magnets, so an external interface for the magnets is required. The problem with this configuration for small BLDC motors is that magnetic interference from the coils can distort the magnetic field generated by the moving magnet. Referring to FIG. 4B, an alternative small BLDC motor configuration 410 is shown according to an embodiment. The length of the magnet 412 is extended beyond the length of the coil 411 so that the magnetic field from the magnet 412 is stronger than the magnetic interference so that the magnetic Hall effect sensor 413 can consistently detect motion regardless of the current in the coil 411. This arrangement allows the magnetic field to be measured beyond the magnetic interference from the coil 411 at peak operating current, even at the furthest distance between the magnet 412 and the Hall effect sensor 413.

[0048] 5A, internal components of a control system 500 are shown according to an embodiment. In certain embodiments, the control system includes a power module 501 further including a circuit component 502, a battery 503, and one or more connections between the circuit component 502 and the battery 503. In certain embodiments, the power module 501 may be mounted inside the gearbox housing 201. In some embodiments, the power module 501 may limit the movement of the battery 503. In some embodiments, the circuit component 502 may be mounted within the power module 501. In such embodiments, the power module 501 may hold the position and configuration of the circuit component 502 fixed during operation of the powered shoe.

[0049] With brief reference to Fig. 5A, in Fig. 5B and Fig. 5C, battery current is routed directly through electromechanical connector 505 to circuit component 502 where additional electrical signals are relayed through multiple connectors 506. Electromechanical connector 505 eliminates wired connections and precisely locates circuit component 502, including sensors required for control. Wireless connections eliminate the need for bulk capacitors, improving reliability of the powered drive.

[0050] Referring to FIG. 6A, a motor to gearbox 601 interface is shown according to an embodiment. In certain embodiments, multiple low friction circumferential locators 602 are used to ensure proper alignment of the input shaft 603 and the input gear 604. In some embodiments, this configuration provides efficient torque transfer from the motor to the gearbox 601 without the use of fasteners to secure the rotating shaft. In further embodiments, this configuration may increase gear life and significantly reduce stress concentrations at the connection interface by compensating for shaft misalignment and reducing runout errors in the connection. In some embodiments, the circumferential locators are located inside the gearbox 601. The resulting configuration may allow multiple replacements of the input shaft without destroying the ring. Additionally, the presented quick installation and removal assembly method may reduce assembly tact time and improve maintainability.

[0051] Referring to FIG. 6B, another view of the motor and gearbox interface of FIG. 6A is illustrated. In certain embodiments, alignment of the input shaft 603 and gearbox 601 is achieved using geometric features 606 / 607 provided on both the motor 605 and the gearbox 601, respectively. In some embodiments, assembly of the drivetrain can include sliding alignment features of the motor 606 into alignment features of the gearbox 607, positioning the motor and securing it to the gearbox. The embodiments depicted in FIGS. 6A and 6B allow for easy alignment that is repeatable during installation without relying on fasteners.

[0052] Referring to FIG. 7, an exemplary method of controlling the speed of a powered shoe according to an embodiment is disclosed. In some embodiments, the method 700 can include calculating the speed 701 of the shoe based on one or more factors, independent of other shoes. In some embodiments, the one or more factors include data received from one or more sensors as disclosed herein. In certain embodiments, the calculation of the speed 701 can further include estimating a gait trajectory and calculating a baseline acceleration as disclosed in U.S. Patent Application Serial No. 17 / 421,479. The algorithm can be improved by incorporating data from sensors associated with the motor and battery. As a non-limiting example, data from the motor sensor can allow the control circuit 401 to extend the gait trajectory based on actual trends of activity (i.e., torque) in the motor. As another non-limiting example, if the battery sensor detects a current that indicates the battery may be depleted, the control circuit 401 can increase the baseline acceleration to preserve battery life. In some embodiments, the currently collected gait data can be matched against stored historical gait data. In further embodiments, the historical gait data can include recent steps taken by the user. Those skilled in the art will recognize that when a powered shoe is traveling over an uneven surface, the inertial measurement unit may acquire extraneous data, and in some embodiments, data collected from sensors associated with either the motor or the battery may be used to correct for the extraneous data.

[0053] In some embodiments, the independent speed is communicated to the control circuitry 401 of the other shoe 100 (702). In certain embodiments, each shoe 100 cross-checks the locally calculated speed with the speed calculated by and received from the other shoe (703). If the locally calculated speed and the remotely calculated speed match, the system instructs the motor to move the shoe 100 at the calculated speed (706). If the locally calculated speed and the remotely calculated speed do not match, a correct speed is determined (705). In some embodiments, the correct speed comprises a speed that allows the user to travel more safely. In some embodiments, calculating the correct speed comprises at least one of selecting a lower speed, selecting a speed closest to a previously determined speed, or selecting a speed within a threshold of a previously selected speed. If the locally calculated speed and the remotely calculated speed do not match, the control circuitry 401 can send a signal via the network adapter 404 indicating the discrepancy. In some embodiments, the signal is a negative response. In other embodiments, the signal can comprise a calculated correct speed.

[0054] Those skilled in the art will recognize that the distributed control system presented herein may improve the performance of the powered shoes because each shoe only requires one-way communication from the other shoe. By eliminating the need for feedback for every command (i.e., two-way communication), both powered shoes can operate with improved responsiveness and synchronization. Additionally, distribution results in a lower computational load on the control circuitry 401 of each powered shoe, limiting computational bottlenecks.

[0055] In certain embodiments, the network adapter 404 facilitates communication with a remote device configured to provide control inputs to the powered shoes. Referring to FIG. 8, a system configuration 800 is shown including a remote controller 801 and left 802 and right 803 powered shoes according to an embodiment. In some embodiments, the remote controller 801 may be a mobile computing device such as a mobile phone. In other embodiments, the remote controller 801 may be a dedicated device configured to control the powered shoes 802 / 803. In some embodiments, the remote controller 801 may only set the configuration and read the status of the powered shoes 802 / 803. In some embodiments, the remote controller 801 may facilitate control of the entire system 800. In some embodiments, the remote controller 801 may receive gait estimates based on inputs from a single shoe 804. In further embodiments, the shoes may further calculate gait control based on real-time pre-processed data exchange 805 between the two powered shoes 802 / 803 as disclosed herein. Limiting the remote controller 801 to receiving estimates based on each single shoe can prevent communication or computation bottlenecks at the remote controller 801. In another embodiment, the remote controller 801 can receive status information based on previously stored gait data based on data exchange 805 between the powered shoes 802 / 803.

[0056] In certain embodiments, the control circuit 401 can interpret the force applied to the wheel of the powered shoe by sensing the motor torque. In some embodiments, the applied force is used as an additional input to classify whether the leg is in the swing phase or the standing phase by comparing the current wheel force to a predetermined no-load wheel force. Referring to FIG. 9, a method 900 for predetermining the no-load wheel force is shown according to an embodiment. In some embodiments, the method 900 for predetermining the no-load wheel force may require the use of a remote controller. In some embodiments, the method 900 for predetermining the no-load wheel force may include step 901 of placing the shoe in a condition without an external load, step 902 of requesting a calibration, step 903 of commanding the shoe through a series of different drivetrain speeds, step 904 of determining the load of the drivetrain, and step 905 of saving the parameters. In some embodiments, the calibration may be performed on the user's foot. In some embodiments, the calibration can be performed on the mount of the powered shoe. The calibration on the mount can provide an initial calibration during manufacturing. In an alternative embodiment, the user is required to provide an initial calibration before using the powered shoe. The unloaded wheel force 900 is a notable metric because during the swing phase, when the user's legs are in the air, the motor torque is only needed to overcome the friction of the gearbox, compared to the standing phase, where the motor torque is additionally overcoming the friction between the wheels and the ground.

[0057] In certain embodiments, the acceleration of the powered shoe can be determined based on a force applied to the shoe. In some embodiments, the force-based acceleration is used in addition to the walking-based acceleration. In other embodiments, the force-based acceleration is used as a substitute for the walking-based acceleration.

[0058] Referring to FIG. 10, a method for determining force-based acceleration 1000 according to an embodiment is shown. The method 1000 can include sensing 1001 a motor torque from the stance leg and a walking speed from the swing leg. The determination of the stance leg can be performed using a comparison to the unloaded wheel force described above. The system can convert the motor torque to a wheel tangential force 1002. In some embodiments, the system can wait until a consistent state detectable in the gait 1003. In some embodiments, the state in the gait is a peak walking speed. In some embodiments, the system can capture a current wheel force 1004. In some embodiments, the wheel force is captured a predetermined time after a detection event. The wheel force can be compared 1006 to a baseline wheel force 1005. In some embodiments, the comparison includes subtracting the wheel force 1006 from the baseline wheel force 1005. In some embodiments, the baseline wheel force is captured at the detection event. In some embodiments, if the baseline wheel force is not available, the control acceleration is set to zero 1008 for safety. After the comparison 1006, the difference between the current wheel force and the baseline wheel force may be applied to determine a force-based acceleration 1007.

[0059] In certain embodiments, different modes of operation may be required to accommodate different commuting scenarios. In the standard mode described above, the user can control the device's motion (accelerate, decelerate, turn, cruise, etc.) in a natural walking motion. In some embodiments, a fixed mode may be incorporated in which the wheels are locked. Locking the wheels includes holding the wheels in place through a combination of application of a braking system or application of motor torque. As non-limiting examples, the fixed mode is advantageous when the user needs to use stairs, ride a vehicle, or traverse rough terrain. In yet other embodiments, additional modes such as free skating may be available.

[0060] In certain embodiments, the user can change modes via a remote controller or interface of the powered shoe. In some embodiments, the user can change modes via a pose. In some embodiments, at least some of the mode changes require the shoe to be secured to accommodate a safe transition. In some embodiments, a single input can be used to switch between multiple modes. In some embodiments, a first input may be tied to the transition from a first mode to a second mode, and a second input may be used to transition from the second mode to the first mode. In some embodiments, the poses used to change modes may be pre-configured by the manufacturer or configured by the user. To transition to another mode, the user may perform a pre-configured pose. In some embodiments, the poses may include a combination of lifting the foot, lowering the foot, or tilting the foot vertically or horizontally. In further embodiments, a series of these movements may be combined in a specified order to create a sequence of poses. In additional embodiments, the sequence of poses must be completed within a predefined time frame to change modes. In some embodiments, the user may be notified of the mode change by a visual, audio, or tactile feedback response. In some embodiments, the feedback response interface may be included in the powered shoe. In some embodiments, the feedback response interface may be included in the remote controller.

[0061] In certain embodiments, the system may start in an initialization mode. In some embodiments, the initialization mode may include the wheels being in a locked state for safety. In some embodiments, the system may include one or more additional requirements for getting out of the locked state during initialization. In some embodiments, the requirements include performing a recent calibration.

[0062] Referring to FIG. 11, an exemplary method of control of two operating modes 1100 is depicted, according to an embodiment. In some embodiments, the device may enter a locked state or "Mode 1" 1101 upon power up. The control circuitry may check if the device is stationary 1102 and / or if an unlocked pause is completed 1103, which may be requirements to allow the device to enter the standard operating mode "Mode 2" 1104. To return to "Mode 1" 1101, the control circuitry may check if the device is stationary 1105 and / or if a locked pause is completed 1107. In some embodiments, entering "Mode 1" 1101 may further require performing an unlocked pause 1106.

[0063] The present disclosure has been illustrated by a description of its exemplary embodiments, and while the embodiments have been described in specific details, the applicant does not intend to restrict or in any way limit the scope of the appended claims to such details. Additional advantages and modifications will be readily apparent to those skilled in the art. Thus, the present disclosure in its broader aspects is not limited to any of the specific details, representative apparatus and methods, and / or illustrative examples shown and described. Accordingly, departures may be made from such details without departing from the spirit or scope of the applicant's general inventive concept.

[0064] In the above detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, like symbols typically indicate like components, unless the context dictates otherwise. The exemplary embodiments described in this disclosure are not intended to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein. It will be readily understood that the various features of the present disclosure, as generally described and illustrated in the figures herein, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are expressly contemplated herein.

[0065] The present disclosure is not limited with respect to the particular embodiments described in this application, which are intended as illustrations of the various features. Instead, this application is intended to cover any variations, uses, or adaptations of the present teachings and to use their general principles. Moreover, this application is intended to cover departures from the present disclosure within known or customary practice in the art to which these teachings pertain. As will be apparent to those skilled in the art, many modifications and variations can be made in the particular embodiments described without departing from the spirit and scope of the present disclosure. Functionally equivalent methods and apparatuses within the scope of the present disclosure, in addition to those enumerated herein, will be apparent to those skilled in the art from the foregoing description. It is understood that the present disclosure is not limited to particular methods, reagents, compounds, compositions, or biological systems, which may, of course, vary. It is also understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.

[0066] Various of the above-disclosed and other features and functions, or alternatives thereof, may be combined into many other different systems or applications. Those skilled in the art may subsequently make various alternatives, modifications, changes, or improvements that are presently unforeseen or unanticipated, each of which is intended to be encompassed by the disclosed embodiments.

Claims

1. Powered shoes, A sole having a bottom portion and a toe portion, Multiple rotatable wheels positioned beneath the sole of the shoe, A motor positioned beneath the sole of the shoe, the motor being driven by at least one of the plurality of rotatable wheels, A control circuit connected to the motor via an interface, A network adapter interfaced to the control circuit, wherein the network adapter is configured to communicate with a second power drive shoe using one-way communication, Power-driven shoes.

2. In the powered shoe according to claim 1, the plurality of rotatable wheels are A toe group of rotatable wheels positioned below the toe portion, A rotatable intermediate group of wheels positioned beneath the front part of the heel, A rotatable wheel heel group positioned below the rear of the aforementioned heel section, Powered shoes that have the following features.

3. A powered shoe according to claim 2, wherein the motor is interfaced to at least one rotatable wheel of the intermediate group and at least one rotatable wheel of the rear group.

4. In the powered shoe according to claim 1, A powered drive shoe, further comprising a gearbox housing including a geared drivetrain system.

5. A powered shoe according to claim 4, further comprising a strap that is directly interfaced to the gearbox housing and configured to attach the powered shoe to the user's shoe or foot.

6. A power-driven shoe according to claim 4, wherein the control circuit is located within the gearbox housing.

7. A powered shoe according to claim 4, further comprising a power module within the gearbox housing.

8. A powered shoe according to claim 7, wherein the power module is interfaced to the control circuit via one or more electromechanical connectors.

9. A powered shoe according to claim 1, wherein the motor is a brushless DC motor.

10. A power-driven shoe according to claim 1, further comprising a Hall effect sensor integrated with the motor and interfaced with the control circuit.

11. A power-driven shoe according to claim 1, wherein the magnet of the motor extends beyond the length of the coil of the motor.

12. A power-driven shoe according to claim 1, further comprising an inertial measuring unit interfaced to the control circuit.

13. A powered shoe according to claim 1, further comprising a remote control device configured to interface with the network adapter.

14. A method for controlling the speed of powered shoes, A step of calculating a first speed of the power-driven shoe based on the input of an inertial measurement unit and a motor sensor, The process involves transmitting the aforementioned first speed to a pair of power-driven shoes, The process of receiving a second speed from the aforementioned pair of power-driven shoes, A step of determining whether the first speed and the second speed are the same, If the first speed and the second speed do not match, A step of determining a safer speed between the first speed and the second speed, A step of operating the motor at the safer speed, The process of operating the motor at the first speed when the first speed and the second speed are equal, A method having

15. In the method according to claim 14, the step of calculating the first speed is: A step of detecting motor torque from the motor sensor, A step of determining the walking state of the power-driven shoe based on the motor torque, A step of converting the motor torque into a force that contacts the wheel of the power-driven shoe, When a predetermined walking state is detected, The process of capturing the force of the wheels, A process of standardizing the wheel force based on the reference wheel force, A step of determining acceleration based on the standardized wheel force, A step of determining the first velocity based on the acceleration, A method that further possesses the following.

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