Footwear including tilt adjusters

Abstract

To solve a problem of a conventional technology.SOLUTION: A sole structure may include chambers and a transfer channel containing an electrorheological fluid. Electrodes may be positioned to create, in response to a voltage across the electrodes, an electrical field in at least a portion of the electrorheological fluid in the transfer channel. The sole structure may further include a controller including a processor and a memory. At least one of the processor and the memory may store instructions executable by the processor to perform operations that include maintaining the voltage across the electrodes at one or more flow-inhibiting levels at which flow of the electrorheological fluid through the transfer channel is blocked, and that further include maintaining the voltage across the electrodes at one or more flow-enabling levels permitting flow of the electrorheological fluid through the transfer channel.SELECTED DRAWING: Figure 4B

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Provisional Patent Application No. 62 / 552,548, entitled "FOOTWEAR INCLUDING AN INCLINE ADJUSTER," filed August 31, 2017. No. 62 / 552,548 is incorporated by reference in its entirety. [Background technology]

[0002] Conventional footwear generally includes an upper and a sole structure. The upper provides coverage for the foot and stably positions the foot relative to the sole structure. The sole structure is secured to a lower portion of the upper and is configured to be positioned between the foot and the ground when the wearer is standing, walking, or running.

[0003] Conventional footwear is often designed with the goal of optimizing the shoe for a particular condition or set of conditions. For example, sports such as tennis and basketball require substantial side-to-side movement. Shoes designed for wear during such sports often include substantial reinforcement and / or support in areas that experience greater forces during side-to-side movement. As another example, running shoes are often designed for the wearer's linear, forward movement. Difficulties can arise when the shoe must be worn in changing conditions or during multiple different types of movements. Summary of the Invention [Means for solving the problem]

[0004] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. It is not intended to identify key features or essential features of the invention.

[0005] In at least some embodiments, the tilt adjuster can include a variable-volume outer chamber and a variable-volume inner chamber. The tilt adjuster can further include a transmission channel extending between the outer chamber and the inner chamber, an electrorheological fluid filling the outer chamber, the transmission channel, and the inner chamber, and a counter electrode exposed to the electrorheological fluid along the transmission channel. The electrode can be formed, for example, from a metal sheet or conductive rubber.

[0006] In some embodiments, the tilt adjuster may include a variable-volume first chamber and a variable-volume second chamber. The tilt adjuster may further include a transmission channel extending between the first chamber and the second chamber, an electrorheological fluid filling the first chamber, the transmission channel, and the second chamber, and a counter electrode exposed to the electrorheological fluid along the transmission channel. The first chamber may include a flexible first chamber wall further including a first chamber wall central section and first chamber wall side sections surrounding the first chamber wall central section. The first chamber wall side sections may include at least one fold that defines the bellows shape of the first chamber.

[0007] In some embodiments, a method of fabricating a tilt adjuster may include molding a first component, wherein first portions of an inner chamber and an outer chamber and a first portion of a transmission channel are defined therein, and wherein a portion of a first electrode is exposed along the first portion of the transmission channel. The method may also include molding a second component, wherein second portions of the inner chamber and an outer chamber and a second portion of the transmission channel are defined therein, and wherein a portion of the second electrode is exposed along the second portion of the transmission channel. The method may further include joining the first component to the second component to create the tilt adjuster, wherein the first and second portions of the inner chamber are combined to form the inner chamber, the first and second portions of the outer chamber are combined to form the outer chamber, and the first and second portions of the transmission channel are combined to form the transmission channel, the transmission channel connecting the inner chamber and the outer chamber.

[0008] Further embodiments are described herein. [Brief explanation of the drawings]

[0009] Several embodiments are illustrated by way of example, and not by way of limitation, in the accompanying drawings, in which like reference numerals refer to similar elements. [Figure 1] FIG. 1 illustrates a medial side view of a shoe according to some embodiments. [Figure 2A] FIG. 2 is a bottom view of the sole structure of the shoe of FIG. 1. [Figure 2B] FIG. 2 is a bottom view of the sole structure of the shoe of FIG. 1 with the forefoot outsole element removed. [Figure 2C] FIG. 2 is a bottom view of a forefoot outsole element of the sole structure of the shoe of FIG. [Figure 3] 2 is a partially exploded, inner perspective view of the sole structure of the shoe of FIG. 1. FIG. [Figure 4A] FIG. 2 is an enlarged rear lateral top perspective view of a tilt adjuster of the shoe of FIG. 1. [Figure 4B]FIG. 4B is a top view of the tilt adjuster of FIG. 4A. [Figure 4C] FIG. 4C is a cross-sectional view of the plane shown in FIG. 4B. [Figure 5A] 4B shows the first layer of the first component of the tilt adjuster of FIG. 4A and the first metallic electrode. [Figure 5B] 5B shows the first layer of FIG. 5A after the first electrode of FIG. 5A has been attached. [Figure 5C] 4B shows the first component of the tilt adjuster of FIG. 4A after molding a second layer over the first layer and attached first electrode. [Figure 6A] 4B shows the first layer and metallic second electrode of the second component of the tilt adjuster of FIG. 4A. [Figure 6B] 6B shows the first layer of FIG. 6A after attachment of the second electrode of FIG. 6A. [Figure 6C] 4B shows the second component of the tilt adjuster of FIG. 4A after molding a second layer over the first layer and attached second electrode. [Figure 7A] 4A from the first component of FIG. 5C and the second component of FIG. 6C. [Figure 7B] 4A from the first component of FIG. 5C and the second component of FIG. 6C. [Figure 7C] FIG. 13 is an enlarged rear outer top perspective view of the tilt adjuster after assembly and before filling with ER fluid. [Figure 8] 4B is an enlarged cross-sectional view of a portion of the transmission channel of the tilt adjuster of FIG. 4A. [Figure 9] FIG. 2 is a block diagram showing components of the electrical system of the shoe of FIG. 1. [Figure 10A] 2 is a partial schematic cross-sectional view illustrating the operation of the tilt adjuster of the shoe of FIG. 1 going from a minimum tilt state to a maximum tilt state. [Figure 10B] 2 is a partial schematic cross-sectional view illustrating the operation of the tilt adjuster of the shoe of FIG. 1 going from a minimum tilt state to a maximum tilt state. [Figure 10C]2 is a partial schematic cross-sectional view illustrating the operation of the tilt adjuster of the shoe of FIG. 1 going from a minimum tilt state to a maximum tilt state. [Figure 10D] 2 is a partial schematic cross-sectional view illustrating the operation of the tilt adjuster of the shoe of FIG. 1 going from a minimum tilt state to a maximum tilt state. [Figure 10E] 10A-10D show top views of the tilt adjuster and sole plate of the shoe of FIG. 1, showing the approximate locations of the compartment lines corresponding to the views of FIGS. 10A-10D. [Figure 11A] 10 is a graph of foot state, pressure difference, voltage level, and tilt angle at various times during the transition from minimum to maximum tilt. [Figure 11B] 10 is a graph of foot state, pressure difference, voltage level, and tilt angle at various times during the transition from maximum to minimum tilt. [Figure 12A] FIG. 10 is a rear outer top perspective view of a tilt adjuster according to a further embodiment. [Figure 12B] FIG. 12B is a rear, inside, top perspective view of the tilt adjuster of FIG. 12A. [Figure 12C] FIG. 12B is a top view of the tilt adjuster of FIG. 12A. [Figure 13] FIG. 12D is an enlarged cross-sectional view of the plane shown in FIG. 12C. [Figure 14] 12A-12C from separately formed first and second components. DETAILED DESCRIPTION OF THE INVENTION

[0010] In various types of activities, it can be advantageous for a shoe wearer to change the shape of a shoe or a portion of a shoe while running or participating in other activities. In many running competitions, for example, athletes run around tracks with curved sections, also known as "corners." In some cases, in sprint events such as 200-meter or 400-meter races, athletes may run around corners of the track at a sprint pace. However, running around flat curves at a fast pace can be biomechanically inefficient and require awkward body movements. To counteract this effect, some running tracks have sloped corners. This slope allows for more efficient body movement, typically resulting in faster running times. Tests have shown that similar benefits can be achieved by modifying the shape of a shoe. In particular, running around corners on a flat track wearing shoes with insoles that slope relative to the ground can mimic the benefits of running around sloped corners wearing shoes with non-sloped insoles. However, sloped insoles are disadvantageous on straight sections of the running track. Footwear that could provide a midsole that was tilted when running around corners and reduced or eliminated tilt when running on straight track sections could provide significant advantages.

[0011] In footwear according to some embodiments, electrorheological (ER) fluids are used to change the shape of one or more portions of a shoe. ER fluids typically comprise non-conductive oils or other fluids in which very small particles are suspended. In some types of ER fluids, the particles may have diameters of perhaps 5 microns or less and may be formed from polystyrene or another polymer with dipolar molecules. When an electric field is imposed across the ER fluid, the viscosity of the fluid increases as the strength of the field increases. As described in more detail below, this effect can be used to control fluid transport and modify the shape of footwear components. While track shoe embodiments are described first, other embodiments include footwear intended for other sports or activities.

[0012] The terms "shoe" and "article of footwear" are used interchangeably herein to refer to an article intended to be worn on a human foot. A shoe may or may not encase the wearer's entire foot. For example, a shoe may include a sandal-like upper that exposes a large portion of the wearer's foot. The elements of a shoe can be described based on the region and / or anatomy of the foot of the person wearing the shoe, and by assuming that the interior of the shoe generally conforms to and is otherwise appropriately sized for the wearer's foot. The forefoot region of the foot includes the anterior ends and body portions of the metatarsals and the phalanges. A forefoot element of a shoe is an element having one or more portions that are positioned below, above, laterally and / or medially, and / or in front of the wearer's forefoot (or portion thereof) when the shoe is worn. The midfoot region of the foot includes the cuboid, navicular, and cuneiform bones, and the bases of the metatarsals. A midfoot element of a shoe is an element having one or more portions that are positioned below, above, and / or on the lateral and / or medial side of a wearer's midfoot (or portion thereof) when the shoe is worn. The heel region of the foot includes the talus and calcaneus. A heel element of a shoe is an element having one or more portions that are positioned below, above, and / or on the lateral and / or medial side of a wearer's heel (or portion thereof) when the shoe is worn. The forefoot region may overlap with the midfoot region, as may the midfoot region and heel region.

[0013] 1 is a medial side view of a track shoe 10, according to some embodiments. The lateral side of shoe 10 has a similar configuration and appearance but is configured to correspond to the lateral side of a wearer's foot. Shoe 10 is configured for wear on the right foot and is one of a pair that includes a shoe (not shown) that is a mirror image of shoe 10 and is configured for wear on the left foot. However, as described in more detail below, shoe 10 and its corresponding left shoe can be configured in various ways to change their shape under a given set of conditions.

[0014] Shoe 10 includes upper 11 attached to sole structure 12. Upper 11 can be formed from any of a variety of types or materials and have any of a variety of different constructions. In some embodiments, for example, upper 11 may be knitted as a single unit and may not include any type of lining bootie. In some embodiments, upper 11 may be slip-lasted by sewing the bottom edge of upper 11 to enclose the interior space of the foot well. In other embodiments, upper 11 may be Strobel-lasted or in some other manner. Battery assembly 13 is located in the rear heel region of upper 11 and includes a battery that provides power to a controller. The controller is not visible in FIG. 1 but is described below in connection with other figures.

[0015] Sole structure 12 includes a midsole 14, an outsole 15, and a tilt adjuster 16. The tilt adjuster 16 is located between the outsole 15 and the midsole 14 in the forefoot region. As described in more detail below, the tilt adjuster 16 includes an inner fluid chamber that supports a medial forefoot portion of the midsole 14, as well as an outer fluid chamber that supports a lateral forefoot portion of the midsole 14. ER fluid can be transferred between these chambers through connecting transfer channels that are in fluid communication with the interiors of both chambers. Such fluid transfer can increase the height of one chamber relative to the other, resulting in a tilt in the portion of the midsole 14 that is disposed above the chamber. If further flow of ER fluid through the channels is interrupted, the tilt is maintained until ER fluid flow is allowed to resume.

[0016] Outsole 15 forms the ground-contacting portion of sole structure 12. In the embodiment of shoe 10, outsole 15 includes a forward outsole section 17 and a rear outsole section 18. The relationship between forward outsole section 17 and rear outsole section 18 can be seen by comparing the bottom view of sole structure 12 in FIG. 2A with the bottom view of sole structure 12 with forefoot outsole section 17 removed in FIG. 2B. FIG. 2C is a bottom view of forefoot outsole section 17 removed from sole structure 12. As can be seen in FIG. 2A, forward outsole section 17 extends through the forefoot and central midfoot regions of sole structure 12 and tapers to a narrow end 19. End 19 is attached to rear outsole section 18 at joint 20 located in the heel region. Rear outsole section 18 extends over the lateral midfoot regions and over the heel region and is attached to midsole 14. Forefoot outsole section 17 is also coupled to midsole 14 by a fulcrum element and by the above-mentioned fluid chamber of tilt adjuster 16. Forefoot outsole section 17 pivots about a longitudinal axis L1 that passes through joint 20 and the forefoot fulcrum element. In particular, forefoot outsole section 17 rotates about axis L1 when the forefoot portion of midsole 14 is tilted relative to forefoot outsole section 17, as described below.

[0017] Outsole 15 may be formed of a polymer or polymer composite and may include rubber and / or other wear-resistant materials on the ground-contacting surface. Traction elements 21 may be molded into or otherwise formed within the bottom of outsole 15. Forefoot outsole section 17 may also include receptacles that hold one or more removable spike elements 22. In other embodiments, outsole 15 may have different configurations.

[0018] The midsole 14 includes a midsole 25. In embodiments of the shoe 10, the midsole 25 has a size and shape that generally corresponds to the contours of a human foot, is a single piece extending the entire length and width of the midsole 14, and includes a contoured upper surface 26 (shown in FIG. 3). The contour of the upper surface 26 is configured to generally correspond to the shape of the plantar region of the human foot and to provide arch support. The midsole 25 may be formed from ethylene vinyl acetate (EVA) and / or one or more other closed-cell polymer foam materials. As described below, the midsole 25 may also have pockets 27 and 28 formed therein to accommodate controllers and other electronic elements. Extending the medial and lateral sides of the rear outsole section 18 upwardly may also provide additional medial and lateral support for the wearer's foot. In other embodiments, the midsole may have a different configuration. For example, the midsole may not cover the entire midsole or may be absent altogether, and / or the midsole may include other components.

[0019] 3 is a partially exploded, medial perspective view of sole structure 12. A bottom support plate 29 is positioned in the plantar region of shoe 10. In the embodiment of shoe 10, bottom support plate 29 is attached to an upper surface 30 of forward outsole section 17. Bottom support plate 29, which may be formed from a relatively stiff polymer or polymer composite, helps to stiffen the forefoot region of forward outsole section 17 and provide a stable base for tilt adjuster 16. A medial force sensing resistor (FSR) 32 and a lateral FSR 31 are attached to an upper surface 33 of bottom support plate 29. As described below, FSRs 31 and 32 provide outputs that help determine the pressure within the chamber of tilt adjuster 16.

[0020] Fulcrum element 34 is attached to upper surface 33 of lower support plate 29. Fulcrum element 34 is positioned at the forward portion of bottom support plate 29 between FSRs 31 and 32. Fulcrum element 34 may be formed from hard rubber or one or more other materials that are generally incompressible under the loads generated when a wearer of shoe 10 runs.

[0021] The tilt adjuster 16 is mounted to the upper surface 33 of the lower support plate 29. The outer chamber 35 of the tilt adjuster 16 is positioned on the outer FSR 31. The inner chamber 36 of the tilt adjuster 16 is positioned on the inner FSR 32. The tilt adjuster 16 includes an aperture 37 through which the fulcrum element 34 extends. At least a portion of the fulcrum element 34 is positioned between the chambers 35 and 36. As described in further detail below, the through-hole 51 in the tilt adjuster 16 may be used during fabrication of the tilt adjuster 51. The through-hole 51 may be used to position and secure the tilt adjuster 16 relative to the lower support plate 29. A corresponding protrusion, not shown in FIG. 3 , may be formed on the upper surface 33 and extend into the through-hole 51 from the bottom side of the tilt adjuster 16.

[0022] An upper support plate 41 is disposed in the plantar region of shoe 10 and is positioned over tilt adjuster 16. In the embodiment of shoe 10, upper support plate 41 is generally aligned with bottom support plate 29. Upper support plate 41, which may also be formed from a relatively stiff polymer or polymer composite, provides a stable, relatively non-deformable area against which tilt adjuster 16 can press and which supports the forefoot region of midsole 14.

[0023] A lower forefoot region portion of midsole 25 is attached to an upper surface 42 of upper support plate 41. A lower portion of midsole 25 in the heel and lateral midfoot regions is attached to an upper surface 43 of rear outsole section 18. An end 19 of forward outsole section 17 is attached to rear outsole section 18 behind a rearmost location 44 of the leading edge of section 18 to form joint 20. In some embodiments, end 19 may be a tab that slides into a slot formed in section 18 at or near location 14 and / or may be sandwiched between upper surface 43 and the underside of midsole 25.

[0024] 3 also shows a DC-to-high voltage-to-DC converter 45 and a printed circuit board (PCB) 46 of controller 47. Converter 45 converts a low-voltage DC electrical signal into a high-voltage (e.g., 5000 V) DC signal that is applied to electrodes in tilt adjuster 16. PCB 46 includes one or more processors, memory, and other components and is configured to control tilt adjuster 16 through converter 45. PCB 46 also receives inputs from FSRs 31 and 32 and receives power from battery unit 13. PCB 46 and converter 45 may be attached to the top surface of forward outsole section 17 in midfoot region 48 and may also be located in pockets 28 and 27, respectively, on the underside of midsole 25.

[0025] FIG. 4A is an enlarged rear, exterior, top perspective view of the tilt adjuster 16. FIG. 4B is an enlarged top view of the tilt adjuster 16. FIG. 4C is a cross-sectional view of the plan view shown in FIG. 4B. The tilt adjuster 16 includes a body 65 (FIG. 4B). A portion of the outer chamber 35 is bounded by a flexible contoured wall 67 extending upward from the outside of a top side 66 of the body 65. Another portion of the outer chamber 35 is bounded by a corresponding region 69 within the body 65 (FIG. 4C). A portion of the inner chamber 36 is bounded by a flexible contoured wall 68 extending upward from the inside of the top side 66, and another portion of the inner chamber 36 is bounded by a corresponding region 70 within the body 65.

[0026] The outer chamber 35 is in fluid communication with the inner chamber 36 through a fluid transmission channel 60, which is defined in a central portion of the body 65 and extends between the chambers 35 and 36. Because the tilt adjuster 16 in the embodiment of FIGS. 4A-4C is opaque, the location of the transmission channel 60 is indicated by a small dashed line in FIG. 4B. ER fluid 59 fills the chambers 35 and 36 and the transmission channel 60. An example of an ER fluid that may be used in some embodiments is sold by ERF Produktion Wurzberg GmbH under the name "RheOil 4.0." The internal volume of the outer chamber 35 may change as the ER fluid 59 flows into or out of the outer chamber 35. The portion of the chamber 35 defined by the wall 67 is configured to expand when the ER fluid 59 flows into the outer chamber 35, causing a central section 71 of the wall 67 to displace upward from the body 65. The interior volume of the inner chamber 36 may similarly change with the flow of ER fluid 59 into or out of the inner chamber 36. The portion of the chamber 36 formed by the wall 68 is configured to expand when the ER fluid 59 flows into the inner chamber 36, causing a central section 72 of the wall 68 to be displaced upwardly from the body 65.

[0027] A pair of opposing electrodes is positioned within transfer channel 60 on the bottom and top sides and extends along a flow-regulating portion 61 of transfer channel 60, shown by the large dashed line in FIG. 4B. Leads 53 and 54 are in electrical contact with the bottom and top electrodes, respectively, and are connected to converter 45. Transfer channel 60 has a serpentine shape to increase the surface area for the electrodes within channel 60 and generate an electric field in ER fluid 59 within channel 60. For example, as can be seen in FIG. 4B, channel 60 includes three 180° bend sections connecting other sections of channel 60 that cover the space between chambers 35 and 36. In some embodiments, transfer channel 60 can have a maximum height h between the electrodes of 1 millimeter (mm), an average width (w) of 2 mm, and a length of at least 200 mm along the flow direction between chambers 35 and 36. In some embodiments, the transfer channel 60 may have a maximum height h between the electrodes of 1 millimeter (mm), an average width (w) of 4 mm, and a length of at least 200 mm along the flow direction between chambers 35 and 36.

[0028] In some embodiments, the height of the transmission channel may be practically limited to a range of at least 0.250 mm to 3.3 mm or less. The tilt adjuster, constructed of a flexible material, may flex while the shoe is in use. Flexing across the transmission channel results in a localized reduction in height at the bending point. If not sufficiently tolerated, the corresponding increase in field strength may exceed the maximum dielectric strength of the ER fluid, resulting in field collapse. In the extreme, the electrodes may be so close together that they actually touch, resulting in the same result: field collapse.

[0029] The viscosity of ER fluids increases with the applied electric field strength. The effect is nonlinear, with the optimal electric field strength ranging from 3 to 6 kilovolts per millimeter (kV / mm). High-voltage DC-DC converters used to boost 3-5 V batteries may be limited to less than 2 W or a maximum output voltage of 10 kV or less due to physical size and safety considerations. To maintain the electric field strength within the desired range, the height of the transmission channel may be limited to a maximum of approximately 3.3 mm (10 kV / 3 kV / mm) in some embodiments.

[0030] The width of the transfer channel may be practically limited to a range of at least 0.5 mm to 4 mm or less. The maximum width of the channel may be limited by the physical space between the two chambers of the tilt adjuster. If the channel is wide, the material in the middle layer may become thin and unsupported in the configuration, and the channel walls may easily break off. Also, the equivalent series resistance of the ER fluid decreases as the channel width increases, thereby increasing power consumption. For a range of shoe sizes down to M7 (US), the practical width may be limited to less than 4 mm.

[0031] The opposing electrode in the flow regulation portion 61 of the transfer channel 60 can be energized to increase the viscosity of the ER fluid 59 in the flow regulation portion 61, thereby slowing or stopping the flow of the ER fluid 59 through the channel 60. When flow through the transfer channel 60 is enabled, a downward force on section 72 pushes the ER fluid 59 from the inner chamber 36, through the transfer channel 60, and into the outer chamber 35. As the ER fluid 59 is transferred from the inner chamber 36 into the outer chamber 35, section 72 moves downward toward the body 65, and section 71 moves upward, away from the body 65. Conversely, the downward force on section 71 (when flow through the transfer channel 60 is enabled) pushes the ER fluid 59 from the outer chamber 35, through the transfer channel 60, and into the inner chamber 36. As the ER fluid 59 is transferred from the outer chamber 35 to the inner chamber 36, section 71 moves downward toward the body 65, and section 72 moves upward, away from the body 65. As will be described in more detail below in connection with Figures 10A-10D, varying the relative heights of sections 71 and 72 varies the angle of inclination of top support plate 41 relative to bottom support plate 29.

[0032] The desired length of the transfer channel may be a function of the maximum pressure differential between the chambers of the tilt adjuster during use. The longer the channel, the greater the pressure differential that can be tolerated. The optimal channel length may depend on the application and configuration and, therefore, may vary among various embodiments. A disadvantage of a long channel is that it places a greater restriction on fluid flow when the electric field is removed. In some embodiments, a practical limit on the length of the channel is between 25 mm and 350 mm. In at least some embodiments, the flow regulation portion 61 may have an L / w ratio of at least 50, where L is the length of the flow regulation portion 61 and w is the average width of the flow regulation portion 61. Exemplary minimum values ​​for the L / W ratio of the transfer channel flow regulation portion in other embodiments include 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, and 170. In some embodiments, the minimum area of ​​each counter electrode in contact with the ER fluid in the flow-regulated delivery channel portion can be 800 square millimeters for a delivery channel with an average channel width of 4 mm. As described in more detail below, the electrode's mounting features can be encapsulated within the channel walls and therefore cannot contact the ER fluid. Therefore, the total area of ​​the electrodes can exceed the exposed functional area.

[0033] As can be seen in FIG. 4C, the wall 67 of the outer chamber 35 has an outer section 73 that extends upward from the top side 66 and connects to an inner section 75, which is connected to section 71. Sections 75 and 71 form a recess in the exterior shape of the outer chamber 35. This recess can reduce the total volume of ER fluid 59 required in the system. In the embodiment of FIGS. 4A-4C, only the outer chamber 35 includes an exterior recess. In other embodiments, both the outer chamber and the inner chamber can include an exterior recess. In yet other embodiments, only the inner chamber can include a recess. In yet other embodiments, neither the inner chamber nor the outer chamber includes a recess.

[0034] In some embodiments, the tilt adjuster chamber can have a bellows shape. For example, as can be seen in FIG. 4C , the outer section 73 has folds that define the bellows shape of the outer chamber 35. The side sections 74 of the wall 68 also have folds that define the bellows shape of the inner chamber 36. In the embodiment of FIGS. 4A-4C , the sides of the outer chamber have more folds than the sides of the inner chamber. In some embodiments, both chambers can have the same number of folds, while in still other embodiments, the inner chamber can have more folds than the outer chamber. The bellows shape of the chamber facilitates increased flexure during expansion and contraction of the chamber. This helps minimize wear in addition to reducing the total amount of ER fluid required in the system. In some embodiments, one or both chambers can be free of a bellows shape.

[0035] In some embodiments, tilt adjuster 16 can be fabricated by separately forming a bottom component and a top component. The bottom component can include regions 69 and 70 of each of chambers 35 and 36, the bottom portion of transfer channel 60, and the bottom electrode. The top component can include walls 67 and 68 of each of chambers 35 and 36, the top portion of transfer channel 60, and the top electrode. Once formed, the top side of the bottom component can be bonded to the bottom side of the top component. Thereafter, the interior volumes, including the interior volumes of chambers 35, 36, and transfer channel 60, can be filled with ER fluid 59, and the interior volumes can be sealed.

[0036] 5A-5C illustrate the steps for forming the bottom component of the tilt adjuster 16. First, as shown in FIG. 5A, a first layer 101 is injection molded. Layer 101 will form the bottom layer of the bottom component. The boundary of layer 101 has the same shape as the boundary of body 65, except for rearward extensions 103 and 104. Layer 101 is continuous except for opening 51.1, which forms the bottom portion of through-hole 51, and opening 37.1, which forms the bottom portion of aperture 37. An upper surface 105 of layer 101 includes a raised portion 106. Raised portion 106 is provided with a shape that corresponds to and defines a seat for bottom electrode 107.

[0037] The bottom electrode 107, also shown in FIG. 5A, is a solid metal sheet. In some embodiments, the bottom electrode 107 may be formed from 0.05 mm thick, 1010 nickel-plated cold-rolled steel. The electrode 107 includes pads 108 for attaching the leads 53. The edges of the electrode 107 include a series of slots 109 formed along both edges. Exemplary dimensions of the slots 109 are 0.5 mm by 1 mm. As described in further detail below, material may flow into the slots 109 during molding of the bottom component to secure the electrode 107 in place.

[0038] The extensions 103 and 104 will form part of a neck having a sprue through which the tilt adjuster 16 can be filled with ER fluid 59. After filling, the sprues can be sealed and the neck can be removed. The channel 129 in the extension 103 will form part of the outer sprue. The channel 110 in the extension 104 will form part of the inner sprue.

[0039] 5B, electrode 107 is attached to raised portion 106. In some embodiments, a pressure sensitive adhesive (PSA) may be applied to the bottom surface of electrode 107 and / or the top surface of raised portion 106 to hold electrode 107 in place during subsequent molding operations (described below). Lead 53 may be put in place and attached to pad 108 by soldering, using conductive epoxy, or other techniques.

[0040] After attachment of the electrode 107 and lead 53, a second layer 112 is overmolded onto layer 101. The resulting bottom component 115 of the tilt adjuster 16 is shown in FIG. 5C. Regions 69 and 70 of each of the chambers 35 and 36 are defined in the top surface 116 of the bottom component 115. The bottom portion 60.1 of the transmission channel 60 is similarly formed in the top surface 116. A portion of the electrode 107 is exposed within the bottom component 60.1. Openings 51.2 and 37.2 in layer 112, which align with openings 51.1 and 37.1 in layer 101, will form additional portions of the through-hole 51 and aperture 37 of the completed tilt adjuster 16. Layer 112 also includes extensions 113 and 114 that overlie extensions 103 and 104 of layer 101. A raised area 119 extending from the top surface 116 above the leads 53 will fit into a recess in the bottom surface of the upper component of the tilt adjuster 16. A recess 120 is formed in the top surface 116 to receive a corresponding raised area corresponding to the leads 54 on the bottom surface of the upper component.

[0041] In some embodiments, layer 101 may be injection molded from thermoplastic polyurethane (TPU). Layer 112 may be overmolded onto layer 101 (with electrodes 107 and leads 53 attached) by injection molding additional TPU. Layer 112 may be formed from the same type of TPU used to form layer 101.

[0042] FIGS. 6A-6C illustrate steps for forming the upper component of the tilt adjuster 16. First, as shown in FIG. 6A, a first layer 151 is injection molded. Layer 151 will form the top layer of the upper component. The boundary of layer 151 has the same shape as the boundary of body 65, except for rearward extensions 153 and 154. Layer 151 is continuous except for opening 51.3, which forms the top portion of through-hole 51, and opening 37.3, which forms the top portion of aperture 37. An upper surface 155 of layer 151 includes a raised portion 156. Raised portion 156 is shaped to accommodate and define a seat for upper electrode 157. As can be seen in FIG. 6A, layer 151 includes opposing walls 67 and 68, which are joined around their edges to the remainder of layer 151. In Figure 6A, layer 151 has been inverted from the orientation of the tilt adjuster 16 in Figure 4A. In particular, the bottom side of layer 151 is visible in Figure 6A. The portion of the top side of layer 151 surrounding walls 67 and 68, not visible in Figure 6A, will form the upper portion 66 of body 65 in the completed tilt adjuster 16. Extensions 153 and 154 will form the neck portion having a sprue through which the tilt adjuster 16 can be filled with ER fluid 59. Channel 179 in extension 153 will form a portion of the outer sprue. Channel 160 in extension 154 will form a portion of the inner sprue.

[0043] 6A. Electrode 157 is also a solid metal sheet and may be formed from the same material used to form electrode 107. Electrode 157 includes pads 158 for attaching leads 54. The edges of electrode 157 include a series of slots 159 formed along both edges. Exemplary dimensions of slots 159 may be the same as the dimensions of slots 109 in electrode 107.

[0044] Electrode 157 is attached to raised portion 156 in FIG. 6B. In some embodiments, a PSA may be applied to the top surface of electrode 157 and / or the bottom surface of raised portion 156 to hold electrode 157 in place during subsequent molding operations (described below). Lead 54 may be put in place and attached to pad 158 by soldering, using conductive epoxy, or other techniques.

[0045] After attachment of the electrode 157 and lead 54, a second layer 162 is overmolded onto layer 151. The resulting top component 165 of the tilt adjuster 16 is shown in FIG. 6C. Openings to the interior regions of each chamber 35 and 36 within walls 67 and 68 are defined in a bottom surface 166 of the top component 165. An upper portion 60.2 of the transfer channel 60 is similarly formed in the bottom surface 166. A portion of the electrode 157 is exposed within the top component 60.2. Openings 51.4 and 37.4 in layer 162, aligned with openings 51.3 and 37.3 in layer 151, will form additional portions of the through-hole 51 and aperture 37 of the completed tilt adjuster 16. Layer 162 also includes extensions 163 and 164 that overlie extensions 153 and 154 of layer 151. A raised area 169 extending from the bottom surface 166 above the leads 54 will fit within the recess 120 in the top surface 116 of the bottom component 115. The bottom surface 166 is formed with a recess 170 that receives the raised area 119 on the top surface 116 of the bottom component 115.

[0046] In some embodiments, layer 151 may be injection molded from TPU. Layer 162 may be overmolded onto layer 151 (with electrodes 157 and leads 54 attached) by injection molding additional TPU. Layers 151 and 162 may be formed from the same type of TPU used to form layers 101 and 112, or may be formed from a different type of TPU.

[0047] 7A shows the assembly of the tilt adjuster 16 after the bottom component 115 and the top component 116 have been fabricated. The bottom surface 166 of the top component 165 is positioned to contact the top surface 116 of the bottom component 115. The components 115 and 165 are assembled such that the bottom portion 60.1 and the top portion 60.2 are aligned to form the transfer channel 60, the region 69 is aligned with an opening to the interior of the cavity bounded by the wall 67 to form the outer chamber 35, the region 70 is aligned with an opening to the interior of the cavity bounded by the wall 68 to form the inner chamber 36, the raised region 119 is positioned within the recess 170, and the raised region 169 is positioned within the recess 120.

[0048] 7B illustrates the alignment of components 115 and 165 during assembly, according to some embodiments. Dowel 91 is inserted through the rear outer hole of component 115, formed by hole 50.1 in layer 101 and hole 50.2 in layer 112. Dowel 91 is then inserted through the rear outer hole of component 165, formed by hole 50.3 in layer 151 and hole 50.4 in layer 162. In a similar manner, dowel 92 is inserted through the rear inner hole of component 115 and the rear inner hole of component 165, dowel 93 is inserted through the front outer hole of component 115 and the front outer hole of component 165, and dowel 94 is inserted through the front inner hole of component 115 and the front inner hole of component 165. Components 115 and 165 can then be slid along dowels 91-94 until surfaces 116 and 166 contact each other. Surfaces 116 and 166 may then be bonded together using RF welding or chemical adhesives.

[0049] 7C is an enlarged perspective view of tilt adjuster 16 after bonding components 115 and 165, but before filling tilt adjuster 16 with ER fluid 59. For illustrative purposes, layers 101, 112, 151, and 152 are shown in FIG. 7C. However, in at least some embodiments (e.g., when the same material with the same color is used for all layers), the individual layers may be indistinguishable within tilt adjuster 16.

[0050] Neck 193 is formed by rearward extensions 103 and 113 of layers 101 and 112, respectively, as well as rearward extensions 153 and 163 of layers 151 and 162, respectively. Gate 191, formed by channels 129 and 179, provides a passageway into outer chamber 35. Neck 194 is formed by rearward extensions 104 and 114 of layers 101 and 112, respectively, as well as rearward extensions 154 and 164 of layers 151 and 162, respectively. Gate 192, formed by channels 110 and 160, provides a passageway into inner chamber 36. ER fluid 59 can then be poured through one of gates 191 or 192 until it flows out the other of gates 191 or 192. In some embodiments, a degassing procedure such as that described in U.S. Patent Application Publication No. 2017 / 0150785, incorporated herein by reference, can be used. In some embodiments, a degassing procedure such as that described in U.S. Provisional Patent Application entitled "Degassing Electrorheological Fluid" (filed on the same day as the present application and having attorney docket number 215127.02298 / 170259US04), which is incorporated herein by reference, may be used. After filling and degassing, gates 191 and 192 may be sealed (e.g., by RF welding across gates 191 and 192), thereby sealing the interior volumes of chambers 35 and 36 and the interior volume formed by transfer channel 60. Portions of necks 193 and 194 behind the seals may then be trimmed off.

[0051] FIG. 8 is an enlarged portion of the cross-sectional view of FIG. 4B , showing further detail of the delivery channel with embedded electrodes 107 and 157. Bottom electrode 107 straddles the bottom of delivery channel 60 within flow regulation portion 61. Top electrode 157 straddles the top of delivery channel 60 within flow regulation portion 61. The side edges of electrodes 107 and 157 extend beyond the sides of delivery channel 60 and into the material of body 65. As can be seen in FIG. 8 , the material of body 65 flows into slots 109 and 159 and solidifies within slots 109 and 159, securing electrodes 107 and 157 in place. As mentioned above, in some embodiments, delivery channel 60 can have a maximum height h between electrodes of 1 millimeter (mm) and an average width (w) of 2 mm.

[0052] FIG. 9 is a block diagram illustrating the components of the electrical system of shoe 10. Individual lines to and from the blocks in FIG. 9 represent signal (e.g., data and / or power) flow paths and are not necessarily intended to represent individual electrical conductors. Battery pack 13 includes a rechargeable lithium-ion battery 201, a battery connector 202, and a lithium-ion battery protection IC (integrated circuit) 203. Protection IC 203 detects abnormal charging and discharging conditions, controls charging of battery 201, and performs other conventional battery protection circuit operations. Battery pack 13 also includes a USB (universal serial bus) port 208 for communicating with controller 47 and for charging battery 201. Power path control unit 209 controls whether power is supplied to controller 47 from USB port 208 or battery 201. On / off (O / O) button 206 activates or deactivates controller 47 and battery pack 13. LED (light-emitting diode) 207 indicates whether the electrical system is on or off. The above-described individual elements of battery pack 13 may be conventional or may be commercially available components that are combined and used in the novel and inventive manner described herein.

[0053] The controller 47 includes the converter 45 as well as the components housed on the PCB 46. In other embodiments, the components of the PCB 46 and the converter 45 may be included on a single PCB or packaged in some other manner. The controller 47 includes a processor 210, a memory 211, an inertial measurement unit (IMU) 213, and a low-energy wireless communication module 212 (e.g., a BLUETOOTH® communication module). The memory 211 stores instructions that can be executed by the processor 210 and may store other data. The processor 210 executes instructions stored by and / or in the memory 211, which cause the controller 47 to operate as described herein. As used herein, instructions may include hard-coded instructions and / or programmable instructions.

[0054] IMU 213 may include a gyroscope and an accelerometer and / or magnetometer. Data output by IMU 213 may be used by processor 210 to detect changes in orientation and motion of shoe 10, and therefore of a foot wearing shoe 10. As explained in more detail below, processor 10 may use such information to determine when the tilt of a portion of shoe 10 should change. Wireless communication module 212 may include an ASIC (application-specific integrated circuit) and may be used to communicate programming and other instructions to processor 210, as well as download data that may be stored by memory 211 or processor 210.

[0055] The controller 47 includes a low dropout voltage regulator (LDO) 214 and a boost regulator / converter 215. The LDO 214 receives power from the battery pack 13 and outputs a constant voltage to the processor 210, memory 211, wireless communication module 212, and IMU 213. The boost regulator / converter 215 boosts the voltage from the battery pack 13 to a level (e.g., 5 volts) that provides an acceptable input voltage for the converter 45. The converter 45 then increases that voltage to a much higher level (e.g., 5000 volts) and supplies that high voltage across the electrodes 107 and 157 of the tilt adjuster 16. The boost regulator / converter 215 and the converter 45 are enabled / disabled by signals from the processor 210. The controller 47 also receives signals from the outer FSR 31 and from the inner FSR 32. Based on these signals from FSRs 31 and 32, processor 210 determines whether forces from the wearer's foot onto outer fluid chamber 35 and inner fluid chamber 36 are creating a pressure in chamber 35 that is higher than the pressure in chamber 36.

[0056] The above-described individual elements of controller 47 may be conventional or may be commercially available components that are combined and used in the novel and inventive manners described herein. Moreover, controller 47 is physically configured, via instructions stored in memory 211 and / or processor 210, to perform the novel and inventive operations described herein related to controlling the communication of fluid between chambers 35 and 36 to adjust the cant of the forefoot portion of midsole 14 of shoe 10.

[0057] 10A-10D are partial schematic cross-sectional views illustrating the operation of tilt adjuster 16 as it goes from a minimum tilt state to a maximum tilt state, according to some embodiments. In the minimum tilt state, the tilt angle α of the top plate relative to the bottom plate is equal to a value α , which represents the minimum amount of tilt sole structure 12 is configured to provide in the forefoot region. min In some embodiments, α min= 0°. In the maximum tilt state, the tilt angle α has a value α ≈ 0°, which represents the maximum amount of tilt that the sole structure 12 is configured to provide. max In some embodiments, α max is at least 5°. In some embodiments, α max = 10°. In some embodiments, α max may be greater than 10°.

[0058] 10A-10D show bottom plate 29, tilt adjuster 16, top plate 41, FSR 31, FSR 32, and fulcrum element 34, while other elements are omitted for clarity. Top plate 41 and other elements of sole structure 12 are configured such that a downward force on plate 41, in a direction toward tilt adjuster 16, is transmitted to inner and outer chambers 36, 35, and / or fulcrum 34 and / or other elements, but not to the central portion of body 65 between chambers 35 and 36, and such downward force on plate 41 does not compress the area of ​​the central portion containing electrodes 107 and 157. FIG. 10E is a top view of tilt adjuster 16 and bottom plate 29 (in a minimum tilt state) showing the approximate locations of the division lines corresponding to the views of FIGS. 10A-10D. Top plate 41 is omitted from Figure 10E, but if top plate 41 were included in Figure 10E, the peripheral edge of top plate 41 would generally coincide with the peripheral edge of bottom plate 29. Fulcrum element 34 is not shown in the section line of Figure 10E, but the general location of fulcrum element 34 relative to the inside and outside of the other elements in Figures 10A-10D is shown in dashed lines.

[0059] Outer stop 83 and inner stop 82 are also shown in FIGS. 10A-10D. Inner stop 83 supports the inner side of top plate 41 when tilt adjuster 16 and top plate 41 are in the maximum tilt position. Outer stop 82 supports the outer side of top plate 41 when tilt adjuster 16 and top plate 41 are in the minimum tilt position. Outer stop 82 prevents top plate 41 from tilting outward. Because runners run counterclockwise around the track during a race, the wearer of shoe 10 will likely be turning to their left when running around the curved portion of the track. In such a use scenario, it is not necessary for the midsole of the right shoe's sole structure to be tilted outward. However, in other embodiments, the sole structure may be tilted either inward or outward.

[0060] In some embodiments, the left shoe of a pair of shoes that includes shoe 10 may be configured slightly differently than shown in Figures 10A-10D. For example, the medial stop may be at a similar height to the lateral stop 82 of shoe 10, and the lateral stop may be at a similar height to the medial stop 83 of shoe 10. In such embodiments, the top plate of the left shoe moves between a minimum tilt state, in which the top plate tilts outward, and a maximum tilt state.

[0061] The locations of inner stop 83 and outer stop 82 are represented schematically in Figures 10A-10D but are not shown in the previous figures. In some embodiments, outer stop 82 may be formed as a rim on the outside or edge of bottom plate 29. Similarly, inner stop 83 may be formed as a rim on the inside or edge of bottom plate 29.

[0062] FIG. 10A shows the tilt adjuster 16 when the top plate 41 is in a minimum tilt state. The shoe 10 can be configured to place the top plate 41 in a minimum tilt state when the wearer of the shoe 10 is standing or in the starting blocks just before the start of a race, or when the wearer is running on a straight portion of a track. In FIG. 10A, the controller 47 controls the voltage across the electrodes 107 and 157 to one or more blocking voltage levels (V=Vfi ) The voltage across electrodes 107 and 157 is high enough to generate an electric field with sufficient strength to increase the viscosity of ER fluid 59 in transfer channel 60 to a viscosity level that prevents flow from or to chambers 35 and 36. In some embodiments, the flow-blocking voltage level V fi is a voltage sufficient to generate an electric field strength between electrodes 107 and 157 of 3 kV / mm to 6 kV / mm. In FIGS. 10A-10D, ER fluid 59 having a normal viscosity level, i.e., a level of viscosity that is not affected by the electric field, is shown using light stippling. ER fluid 59 having an increased viscosity to the point where flow through channel 60 is blocked is shown using dark stippling. Because ER fluid 59 cannot flow through channel 60 under the conditions shown in FIG. 10A, the tilt angle α of top plate 41 does not change as the wearer of shoe 10 shifts their weight between the medial and lateral sides of shoe 10.

[0063] FIG. 10B shows that the controller 47 determines whether the upper plate 41 should be placed in the maximum tilt state, i.e., α=α max 1 shows the tilt adjuster 16 immediately after determining that it should tilt to α. In some embodiments, as described below, the controller 47 makes such a determination based on a significant number of steps taken by the wearer of the shoe 10. max If the controller 47 determines that the foot wearing the shoe 10 is in a portion of the wearer's gait cycle where the shoe 10 is in contact with the ground, the controller 47 determines whether the pressure P of the ER fluid 59 in the inner chamber 36 is M and the pressure P of the ER fluid 59 in the outer chamber 35 L Difference △P M-L is positive, i.e., P M -P L It is also determined whether or not is greater than zero. M-L is positive, the controller 47 adjusts the voltage across the electrodes 107 and 157 to a flow-enabling voltage level V feIn particular, the voltage across electrodes 107 and 157 is reduced to a level low enough to reduce the electric field strength within delivery channel 60 such that the viscosity of ER fluid 59 within delivery channel 60 returns to its normal viscosity level.

[0064] The voltage across electrodes 107 and 157 is V fe As the viscosity of the ER fluid 59 in the channel 60 decreases to a level below α, the ER fluid 59 begins to flow from chamber 35 into chamber 36. This causes the inner side of the top plate 41 to begin to move toward the bottom plate 29 and the outer side of the top plate 41 to begin to move away from the bottom plate 29. As a result, the tilt angle α decreases to α min starts to increase from

[0065] In some embodiments, controller 47 determines whether shoe 10 is in the stride portion of a gait cycle or in contact with the ground based on data from IMU 213. In particular, IMU 213 may include a three-axis accelerometer and a three-axis gyroscope. Using data from the accelerometer and gyroscope, and based on known biomechanics of a runner's foot, such as rotations and accelerations in various directions during various portions of a gait cycle, controller 47 can determine whether the right foot of a wearer of shoe 10 is striking the ground. Controller 47 calculates ΔP based on signals from FSR 31 and FSR 32. M-L Each of these signals corresponds to the magnitude of the force exerted by the wearer's foot pressing down on the FSR. Based on the magnitude of these forces and the known dimensions of chambers 35 and 36, controller 47 can calculate the values ​​of the signals from FSR 31 and FSR 32 as ΔP M-L can be correlated to the magnitude and sign of

[0066] Figure 10C shows the tilt adjuster 16 shortly after the time associated with Figure 10B. In Figure 10C, the top plate 41 has reached its maximum tilt state. In particular, the tilt angle α of the top plate 41 is α max The inner stopper 83 prevents the inclination angle α from reaching αmax 10D shows the tilt adjuster 16 just after the time associated with FIG. 10C. In FIG. 10D, the controller 47 adjusts the voltage across the electrodes 107 and 157 to a blocking voltage level V fi 4. This prevents further flow through the transmission channel 60, and holds the top plate 41 in its maximum tilt state. During a normal gait cycle, the downward force on the right foot on the shoe is initially higher on the lateral side as the forefoot rolls inward. If flow through the channel 60 were not prevented, the initial downward force on the lateral side of the wearer's right foot would decrease the tilt angle α.

[0067] In some embodiments, the wearer of shoe 10 may need to take several steps for top plate 41 to reach maximum inclination. Thus, once controller 47 determines (based on data from IMU 213 and FSRs 31 and 32) that the wearer's foot has left the ground, controller 47 may be configured to increase the voltage across electrodes 107 and 157. Controller 47 then determines when shoe 10 strikes the ground and ΔP M-L If it is again determined to be positive, the voltage may be decreased. This may be repeated for a predetermined number of steps. This is done to determine the medial-lateral pressure differential ΔP at various times during the transition from the minimum to maximum incline condition. M-L , shown in FIG. 11A as a graph of the voltage across electrodes 107 and 157, and the tilt angle α.

[0068] At time T1, the controller 47 determines that the upper plate 41 of the shoe 10 should transition to the maximum tilt state. At time T2, the controller 47 determines that the shoe 10 is on the ground but ΔP M-L At time T3, the controller 47 determines that the shoe 10 is on the ground and ΔP M-L is determined to be positive, the controller sets the voltage between electrodes 107 and 157 to V fe As a result, the inclination angle α of the upper plate 41 is reduced to α minAt time T4, the controller 47 determines that the shoe 10 is no longer on the ground, and the controller increases the voltage across the electrodes 107 and 157 to V fi As a result, the tilt angle α is maintained at its current value. At time T5, the controller 47 again detects that the shoe 10 is on the ground, but ΔP M-L At time T6, the controller 47 determines that the shoe 10 is on the ground and ΔP M-L is determined to be positive, and controller 47 again adjusts the voltage across electrodes 107 and 157 to V fe At time T7, the tilt angle α is reduced to α max The increase in tilt angle α stops because further tilting of top plate 41 is prevented by inner stop 83. At time T8, controller 47 determines that shoe 10 is no longer on the ground, and controller 47 again reduces the voltage between electrode 107 and electrode 157 to V fi The controller 47 increases the voltage to V for another step cycle until the controller 47 determines that the top plate 41 should transition to the minimum tilt state. fi Maintain it.

[0069] FIG. 11B shows the medial-lateral pressure difference ΔP at various times during the transition from the maximum tilt condition to the minimum tilt condition. M-L , the voltage across electrodes 107 and 157, and the tilt angle α. At time T11, the controller 47 determines that the top plate 47 of the shoe 10 should transition to a minimum tilt state. At time T12, the controller 47 determines that the shoe 10 is striking the ground and ΔP M-L is determined to be negative, and the controller 47 reduces the voltage across the electrodes 107 and 157 to V fe As a result, negative △P M-L is the pressure P in the inner chamber 36 med The pressure P in the outer chamber 35 compared to lat Since the angle α is higher than the angle α, the ER fluid 59 begins to flow out of the outer chamber 35 and into the inner chamber 36.max At time T13, the controller 47 detects that the shoe 10 is on the ground, but ΔP M-L is determined to be positive, and the controller 47 adjusts the voltage across the electrodes 107 and 157 to V fi As a result, the inclination angle α of the upper plate 41 is maintained. At time T14, the controller 47 detects that the shoe 10 has stepped on the ground again and ΔP M-L is determined to be negative, and the controller 47 reduces the voltage across the electrodes 107 and 157 to V fe As a result, the tilt angle α continues to decrease. At time T15, the tilt angle α decreases to α min The decrease in tilt angle α stops because further tilting of top plate 41 is prevented by outer stop 82. At time T16, controller 47 calculates ΔP M-L is determined to be positive, and controller 47 again adjusts the voltage across electrodes 107 and 157 to V fi The controller 47 increases the voltage to V for further step cycles until the controller 47 determines that the top plate 41 should transition to the maximum tilt state. fi Maintain it.

[0070] In the above example, controller 47 reduced the voltage across electrodes 107 and 157 for two step cycles to transition between tilt states. However, in other embodiments, controller 47 may reduce the voltage for fewer or more step cycles. The number of step cycles to transition from minimum tilt to maximum tilt need not be the same as the number of step cycles to transition from maximum tilt to minimum tilt.

[0071] In some embodiments, controller 47 counts the number of steps taken since initialization and determines when to transition to the maximum incline position by determining whether the number of steps is sufficient to position the wearer of shoe 10 at a portion of a track corner. Typically, the stride length of a track athlete is very consistent. The dimensions of the track and the distance from the starting line to the corner of each track lane are known quantities that can be stored by controller 47. Based on input from the wearer of shoe 10 to controller 47 indicating the wearer's stride length as well as the track lane assigned to the wearer of shoe 10, controller 47 can determine the wearer's position on the track by storing the number of steps taken during running. As described above, controller 47 can determine when shoe 10 may be in a gait cycle based on data from IMU 213. These gait cycle determinations can indicate when a step has been taken.

[0072] In some embodiments, the left shoe of a pair of shoes that includes shoe 10 may operate in a similar manner as described above for shoe 10, with the maximum tilt state representing the top plate of the left shoe being tilted outward to the maximum. The operations performed by the controller of the left shoe are similar to those described above in connection with FIGS. 11A and 11B, and the determination is made as to ΔP L-M =P L -P M Instead of being based on the sign of △P M-L was based on the sign of P L is the pressure in the outer fluid chamber of the left shoe, and P M is the pressure in the inner fluid chamber of the left shoe.

[0073] In some embodiments, the shoe controller may determine when to transition from minimum to maximum tilt and vice versa based on other types of input. In some such embodiments, for example, the shoe wearer may wear clothing including one or more IMUs positioned at some other location away from the shoe and / or on the wearer's torso. The outputs of those sensors may be communicated to the shoe controller via a wireless interface similar to wireless module 212 (FIG. 9). Upon receiving an output from those sensors indicating that the wearer has assumed a body position consistent with the need to tilt the shoe's upper plate (e.g., as the wearer's body leans to the side while running around a corner on a track), the controller can take action to tilt the shoe's upper plate. In still other embodiments, the shoe controller may determine position in some other manner (e.g., based on a GPS signal).

[0074] The controller does not have to be located within the sole structure. For example, in some embodiments, some or all components of the controller may be located with the housing of a battery assembly, such as battery assembly 13, and / or may be located in a separate housing positioned on the upper of the footwear.

[0075] FIG. 12A is an enlarged, rearward, outer, top perspective view of a tilt adjuster 316 according to a further embodiment. The tilt adjuster 316 operates in a similar manner as described above in connection with the tilt adjuster 16 and may take the place of the tilt adjuster 16 in the sole structure 12 of the shoe 10. Except as described in more detail below, the tilt adjuster 316 may have the same or similar structure as the tilt adjuster 16. FIG. 12B is an enlarged, rearward, inner, top perspective view of the tilt adjuster 316. FIG. 12C is an enlarged top view of the tilt adjuster 316. FIG. 13 is an enlarged cross-sectional view of the plane shown in FIG. 12C.

[0076] The tilt adjuster 316 includes a body 365. A portion of the outer chamber 335 is bounded by a flexible contoured wall 367 extending upward from the exterior of the top side 366 of the body 365. Another portion of the outer chamber 335 is bounded by a corresponding region 369 within the body 365 (FIG. 13). A portion of the inner chamber 336 is bounded by a flexible contoured wall 368 extending upward from the interior of the top side 366, and another portion of the inner chamber 336 is bounded by a corresponding region 370 within the body 365. Region 370 is not visible in FIGS. 12A-13 but is shown in FIG. 14 (discussed below).

[0077] Outer chamber 335 is in fluid communication with inner chamber 336 through fluid transfer channel 360 (FIG. 12C), which is defined in a central portion of body 365 and extends between chambers 335 and 336. ER fluid 59 fills chambers 335 and 336 and transfer channel 360. A pair of opposing electrodes is positioned within transfer channel 360 and extends along a flow-regulating portion of transfer channel 360. In the example of FIGS. 12A-13, the flow-regulating portion is coextensive with the entire transfer channel 360. Leads 353 and 354 are in electrical contact with the bottom and top electrodes, respectively, which can be connected to converter 45.

[0078] Chamber 335 has a shape in the plane of body 365 similar to the shape of chamber 35 in the plane of body 65, but has a different vertical profile than chamber 35. In particular, the outer section of wall 367 does not include a fold. However, like chamber 35, chamber 335 includes a recess in its contour. Similarly, chamber 336 has a shape in the plane of body 365 similar to the shape of chamber 36 in the plane of body 65, but has a different vertical profile than chamber 36. Like wall 367 of chamber 335, the outer section of wall 368 does not include a fold. The top of chamber 336 is generally flat, but includes a valley 599 formed in certain areas.

[0079] Unlike tilt adjuster 16, which includes electrodes 107 and 157 formed from sheet metal, tilt adjuster 316 includes electrodes formed from conductive rubber. Furthermore, the electrodes of tilt adjuster 316 have a different cross-sectional profile and relative positions than electrodes 107 and 157. As can be seen in FIG. 13 , the cross-section of top electrode 457 generally has the shape of a “C” rotated 90 degrees clockwise. The concave interior of the top electrode faces downward and forms the top and side walls of delivery channel 360 along the flow regulation portion. The exterior of electrode 457, as well as a small portion of the interior of electrode 457 near the edge, are embedded in the material of body 365 at grooves 594, 595, and 597. Bottom electrode 407 generally has a square cross-section joined to a semicircle. The bottom portion of electrode 407 is embedded in the material of body 365 at groove 596. The portion of electrode 407 having a semicircular cross-sectional shape projects upward into transmission channel 360 and into the recessed inner recess of electrode 457 .

[0080] In some embodiments, the radius of the inner concave side of electrode 457 exposed to ER fluid 59 and the radius of the portion of electrode 407 protruding into the recess are both circular and concentric, such that the cross-sectional shape of transmission channel 60 is a semicircular ring. In some such embodiments, the values ​​of the radius of the inner concave side of electrode 457 exposed to ER fluid 59 and the radius of the portion of electrode 407 protruding into the recess are 1.5 mm and 0.5 mm, respectively. An example of a material from which electrodes 407 and 457 can be formed is a thermoplastic polyolefin elastomer (TEO) with embedded stainless steel fibers sold by RTP under the product name EMI 2862-60A, which has a Shore A hardness of 60 and typical electrical properties of less than 1 ohm-cm volume resistivity (measured in accordance with ASTM D 257), less than 10,000 ohms / square (measured in accordance with ASTM D 257 and ESD STM11.11), less than 1000 ohms (measured in accordance with ESD STM11.11), and a static decay (5 kV to 50 V, 12% RH per MIL-PRF-81705D) of less than 2 seconds (measured in accordance with FTMS101C 4046.1).

[0081] In other embodiments, the tilt adjuster may be similar to tilt adjuster 316 (and include electrodes similar to electrodes 407 and 457) and may further include a bellows-shaped chamber (e.g., similar to chambers 35 and 36 of tilt adjuster 16). Alternatively, only one of the chambers in such an embodiment may include a bellows shape.

[0082] Tilt adjuster 316 may be fabricated by separately forming bottom component 315 and top component 365, as shown in Figure 14. The bottom component may include regions 369 and 370 of each of chambers 335 and 336, the bottom portion of transfer channel 360, and bottom electrode 407. The top component may include walls 367 and 368 of each of chambers 335 and 336, the top portion of transfer channel 360, and top electrode 457.

[0083] The bottom component 315 may be formed in a two-step injection molding procedure. In the first step, a layer corresponding to the bottom component 315 without the electrode 407 is molded. In that layer, a groove 596 (see FIG. 13) is formed in the bottom portion of the transmission channel 360, into which a portion of the electrode 407 is embedded. Grooves 594 and 595 are formed at the edges of the bottom portion of the transmission channel 360, into which the edges of the upper electrode 457 will be placed during assembly. The lead 353 may also be molded in that layer, and once formed, a portion of the lead extends into the groove 596 to contact the lower electrode 407. In the second step of the injection molding procedure, the electrode 407 may be molded in place.

[0084] The top component 365 may also be formed in a two-step injection molding procedure. In the first step, a layer corresponding to the top component 365 without the electrodes 457 is molded. In that layer, grooves 597 (see FIG. 13) are formed in the upper portions of the transmission channels 360, into which portions of the electrodes 457 are embedded. The leads 354 may also be molded in that layer, and once formed, a portion of the leads extends into the grooves 597 to contact the upper electrodes 457. In the second step of the injection molding procedure, the electrodes 457 may be molded in place.

[0085] After components 315 and 365 are formed, the top side of bottom component 315 can be bonded to the bottom side of top component 365. Components 315 and 365 are assembled such that the bottom and top portions of delivery channel 360 are aligned to form delivery channel 360 and the edges of electrode 457 extend into grooves 594 and 595. Region 369 aligns with an opening to the interior of the cavity bounded by wall 367 to form outer chamber 335. Region 370 aligns with an opening to the interior of the cavity bounded by wall 368 to form inner chamber 336. The alignment of components 315 and 365 during assembly can be performed in a manner similar to that described in connection with FIG. 7B . After assembly, the contact surfaces of the top side of component 315 and the bottom side of component 365 can be joined using RF welding or a chemical adhesive. Thereafter, in a manner similar to that described in connection with tilt adjuster 316, the internal volume, including the internal volumes of chamber 335, chamber 336, and transfer channel 360, may be filled with ER fluid 59 and the internal volume may be sealed.

[0086] For the avoidance of doubt, this application includes subject matter set forth in the following numbered paragraphs ("Para."): 1. An article comprising a tilt adjuster comprising a body, a variable volume outer chamber extending outward on the exterior of the body, and a variable volume inner chamber extending outward on the interior of the body, the tilt adjuster further comprising: a transmission channel defined in a central portion of the body and extending between the outer and inner chambers; an electrorheological fluid filling the outer chamber, the transmission channel, and the inner chamber; a first electrode made of a metal sheet embedded in the central portion and exposed to the electrorheological fluid along the transmission channel; and a second electrode made of a metal sheet embedded in the central portion at a position opposite the first electrode and exposed to the electrorheological fluid along the transmission channel. 2. The article of paragraph 1, wherein an outer portion of the tilt adjuster corresponding to the outer chamber is configured to expand outward in response to a flow of electrorheological fluid from the transmission channel into the outer chamber, and an outer portion of the tilt adjuster corresponding to the inner chamber is configured to expand outward in response to a flow of electrorheological fluid from the transmission channel into the inner chamber. 3. The article of paragraph 1 or 2, wherein the transmission channel path extends along a nonlinear transmission channel path between the outer chamber and the inner chamber, and the first electrode and the second electrode each have a shape corresponding to the shape of the transmission channel path. 4. The article of paragraph 3, wherein the portion of the transmission channel path through which both the first electrode and the second electrode extend has a length L and an average width W, and the ratio L / W is at least 50. 5. The article of paragraphs 1-4, wherein the first electrode and the second electrode each have side edges, the side edges being embedded in the central portion and not exposed to the electrorheological fluid. 6. The article of paragraph 5, wherein each of the side edges includes an aperture extending completely through the electrode corresponding to the side edge, and each aperture is filled with a solid material forming a central portion. 7. The article of paragraphs 1-6, wherein the outer chamber comprises a flexible outer chamber wall extending upward from the upper exterior of the body, and the inner chamber comprises a flexible inner chamber wall extending upward from the upper interior of the body. 8. The article of paragraph 7, wherein the outer chamber wall comprises an outer chamber wall central section and outer chamber wall side sections surrounding the outer chamber wall central section, the outer chamber wall side sections comprising at least one fold that defines a bellows shape of the outer chamber. 9. The article of paragraph 7, wherein the inner chamber wall comprises an inner chamber wall central section and inner chamber wall side sections surrounding the inner chamber wall central section, the inner chamber wall side sections comprising at least one fold that defines a bellows shape of the inner chamber. 10. The article of paragraph 9, wherein the outer chamber wall comprises an outer chamber wall central section and outer chamber wall side sections surrounding the outer chamber wall central section, the outer chamber wall side sections comprising at least one fold that defines a bellows shape of the outer chamber. 11. The article of paragraphs 1-10, wherein at least one of the outer chamber and the inner chamber has a contour that includes a recess. 12. The article of paragraphs 1-11, wherein the article is a footwear article comprising a sole structure, and the tilt adjuster forms part of a forefoot portion of the sole structure. 13. The article of paragraph 12, wherein a plate is disposed above the tilt adjuster and rests on the inner and outer chambers, the plate being positioned such that a downward force on the plate, in a direction toward the tilt adjuster, is transmitted to the inner and outer chambers without being transmitted to the central portion. 14. The article of paragraph 12 or 13, wherein the plate is positioned above the tilt adjuster and extends over the inner chamber, the central portion, and the outer chamber, and the plate and tilt adjuster are positioned such that a downward force on the plate, toward the tilt adjuster, does not compress the area of ​​the central portion that includes the first and second electrodes. 15. An article comprising a tilt adjuster comprising a body, a variable volume outer chamber extending outwardly on the exterior of the body, and a variable volume inner chamber extending outwardly on the interior of the body, the tilt adjuster further comprising: a transmission channel defined in a central portion of the body and extending between the outer and inner chambers; an electrorheological fluid filling the outer chamber, the transmission channel, and the inner chamber; a first electrode made of conductive rubber embedded in the central portion and exposed to the electrorheological fluid along the transmission channel; and a second electrode made of conductive rubber embedded in the central portion at a position opposite the first electrode and exposed to the electrorheological fluid along the transmission channel. 16. The article of paragraph 15, wherein an outer portion of the tilt adjuster corresponding to the outer chamber is configured to expand outward in response to a flow of electrorheological fluid from the transmission channel into the outer chamber, and an outer portion of the tilt adjuster corresponding to the inner chamber is configured to expand outward in response to a flow of electrorheological fluid from the transmission channel into the inner chamber. 17. The article of paragraph 15 or 16, wherein the transmission channel path extends along a nonlinear transmission channel path between the outer chamber and the inner chamber, and the first electrode and the second electrode each have a shape corresponding to the shape of the transmission channel path. 18. The article of paragraph 17, wherein the portion of the transmission channel path through which both the first electrode and the second electrode extend has a length L and an average width W, and the ratio L / W is at least 50. 19. The article of paragraphs 15-18, wherein a concave side of the first electrode is exposed to the electrorheological fluid, and a portion of the second electrode that protrudes into the recess in the concave side is exposed to the electrorheological fluid. 20. The article of paragraphs 15-19, wherein the outer chamber comprises a flexible outer chamber wall extending upward from the upper outer side of the body, and the inner chamber comprises a flexible inner chamber wall extending upward from the upper inner side of the body. 21. The article of paragraph 20, wherein the outer chamber wall comprises an outer chamber wall central section and outer chamber wall side sections surrounding the outer chamber wall central section, the outer chamber wall side sections comprising at least one fold that defines a bellows shape of the outer chamber. 22. The article of paragraph 20, wherein the inner chamber wall comprises an inner chamber wall central section and inner chamber wall side sections surrounding the inner chamber wall central section, the inner chamber wall side sections comprising at least one fold that defines a bellows shape of the inner chamber. 23. The article of paragraph 22, wherein the outer chamber wall comprises an outer chamber wall central section and outer chamber wall side sections surrounding the outer chamber wall central section, the outer chamber wall side sections comprising at least one fold that defines a bellows shape of the outer chamber. 24. The article of paragraphs 15-23, wherein at least one of the outer chamber and the inner chamber has a contour that includes a recess. 25. The article of paragraphs 15-24, wherein the article is a footwear article comprising a sole structure, and the tilt adjuster forms part of a forefoot portion of the sole structure. 26. The article of paragraph 25, wherein a plate is disposed above the tilt adjuster and rests on the inner and outer chambers, the plate being positioned such that a downward force on the plate, in a direction toward the tilt adjuster, is transmitted to the inner and outer chambers without being transmitted to the central portion. 27. The article of paragraph 25, wherein the plate is positioned above the tilt adjuster and extends over the inner chamber, the central portion, and the outer chamber, and the plate and tilt adjuster are positioned such that a downward force on the plate, toward the tilt adjuster, does not compress the area of ​​the central portion that includes the first and second electrodes. 28. A tilt adjuster comprising: a body; a variable volume first chamber extending upward from an upper first side of the body; and a variable volume second chamber extending upward from an upper second side of the body, wherein the upper first side of the body is one of an upper inner side and an upper outer side of the body, and the upper second side is the other of the upper inner side and the upper outer side of the body; the tilt adjuster comprising: a transmission channel defined in a central portion of the body and extending between the first chamber and the second chamber; an electrorheological fluid filling the first chamber, the transmission channel, and the second chamber; and an electrorheological fluid embedded in the central portion and configured to transmit the transmission channel. the first chamber further comprises a first electrode exposed to the electrorheological fluid along a transmission channel, and a second electrode embedded in the central portion at a location opposite the first electrode and exposed to the electrorheological fluid along a transmission channel, the first chamber comprising a flexible first chamber wall extending upward from an upper first side of the body, the first chamber wall comprising a first chamber wall central section and first chamber wall side sections surrounding the first chamber wall central section, the first chamber wall side section comprising at least one fold defining a bellows shape of the first chamber. 29. The article of paragraph 28, wherein the second chamber comprises a flexible second chamber wall extending upwardly from the upper second side of the body, the second chamber wall comprising a second chamber wall central section and second chamber wall side sections surrounding the second chamber wall central section, the second chamber wall side sections comprising at least one fold that defines a bellows shape of the second chamber. 30. The article of paragraph 28 or 29, wherein at least one of the first chamber and the second chamber has a contour that includes a recess. 31. The article of footwear comprising a sole structure, the article of paragraphs 28-30, wherein the tilt adjuster forms part of a forefoot portion of the sole structure. 32. The article of paragraph 31, wherein the plate is disposed above the tilt adjuster and rests on the first chamber and the second chamber, and the plate is positioned such that a downward force on the plate in the direction of the tilt adjuster is transmitted to the first chamber and the second chamber without being transmitted to the central portion. 33. The article of paragraph 31, wherein the plate is positioned above the tilt adjuster and extends over the first chamber, the central portion, and the second chamber, and the plate and tilt adjuster are positioned such that a downward force on the plate, toward the tilt adjuster, does not compress the area of ​​the central portion that includes the first and second electrodes. 34. Molding a first component having an inner portion, a central portion, and an outer portion and a top side, wherein the central portion is between the inner portion and the outer portion, first portions of the inner and outer chambers being defined on the top side in the inner and outer portions, respectively, a first portion of a transmission channel being defined in the central portion on the top side, and a portion of a first electrode being exposed along the first portion of the transmission channel; and molding a second component having the inner portion, the central portion, and outer portion and a bottom side, wherein the central portion of the second component is between the inner and outer portions of the second component, second portions of the inner and outer chambers being defined in the inner and outer portions of the second component, respectively, and a second portion of the transmission channel being exposed along the second portion of the transmission channel on the bottom side. a first electrode defined in a central portion of the first component, the first electrode being exposed along a second portion of the transmission channel; joining a top side of the first component to a bottom side of the second component to create a tilt adjuster, the first and second portions of the inner chamber combining to form the inner chamber, the first and second portions of the outer chamber combining to form the outer chamber, and the first and second portions of the transmission channel combining to form a transmission channel, the transmission channel connecting the inner chamber and the outer chamber; filling the internal volume with an electrorheological fluid, the internal volume including the internal volumes of the inner chamber, the transmission channel, and the outer chamber; and sealing the internal volume. 35. The method of paragraph 34, wherein molding the first component includes molding a first layer of the first component, attaching a first electrode to the first layer of the first component, and molding a second layer of the first component over the first layer of the first component and the first electrode; molding the second component includes molding a first layer of the second component, attaching a second electrode to the first layer of the second component, and molding the second layer of the second component over the first layer of the second component and the second electrode; and the first layer of the second component includes a flexible inner chamber wall that forms a second portion of the inner chamber and a flexible outer chamber wall that forms a second portion of the outer chamber. 36. The method of paragraph 34, wherein molding the first component includes molding a first layer of the first component followed by molding a first electrode within the first layer of the first component, and wherein molding the second component includes molding a first layer of the second component followed by molding a second electrode within the first layer of the second component. 37. The method of paragraph 34 or 35, wherein each of the first and second electrodes is a solid metal sheet. 38. The method of paragraph 34 or 36, wherein each of the first and second electrodes is a single, continuous piece of conductive rubber.

[0087] The foregoing description of the embodiments has been presented for purposes of illustration and description. The foregoing description is not intended to be exhaustive or to limit the embodiments of the invention to the precise form disclosed, as modifications and variations are possible in light of the above teachings or may be acquired from practice of various embodiments. The embodiments discussed herein were chosen and described to explain the principles and properties of various embodiments and their practical applications, and to enable those skilled in the art to utilize the invention in various embodiments and with various modifications as suited to the particular use contemplated. All combinations, subcombinations, and permutations of features of the embodiments described herein are within the scope of the invention. In the claims, reference to a potential or intended wearer or user of a component does not require the actual wearing or use of the component, or the presence of a wearer or user, to be part of the claimed invention.

Claims

1. 1. An article comprising a tilt adjuster, The tilt adjuster is The main body and a variable volume first chamber extending to a first side of the body; a second variable volume chamber extending to a second side of the body; the first side surface of the body is one of an inner side surface and an outer side surface of the body, and the second side surface of the body is the other of the inner side surface and the outer side surface of the body; The tilt adjuster is a communication channel extending between the first chamber and the second chamber; an electrorheological fluid filling the first chamber, the transfer channel, and the second chamber; a first electrode exposed to the electrorheological fluid along the transmission channel; a second electrode exposed to the electrorheological fluid along the transmission channel at a location opposite the first electrode; the first chamber includes a first chamber wall central section and first chamber wall side sections surrounding the first chamber wall central section, the first chamber wall central section including a contour including a recess; a concave side of the first electrode exposed to the electrorheological fluid, and a portion of the second electrode protruding into the recess of the concave side exposed to the electrorheological fluid; Goods.

2. The article of claim 1 , wherein the first chamber wall side section includes at least one fold that defines a bellows shape.

3. the second chamber includes a second chamber wall central section and second chamber wall side sections surrounding the second chamber wall central section; the second chamber has an outer shape including a recess; The article of claim 1.

4. The article of claim 3 , wherein the second chamber wall side section includes at least one fold that defines a bellows shape of the second chamber.

5. the article is a footwear article including a sole structure; the tilt adjuster forms a portion of the forefoot portion of the sole structure; The article of claim 1.

6. 2. The article of claim 1, wherein a plate is disposed above the tilt adjuster and overlies the first chamber and the second chamber, the plate being positioned such that a downward force on the plate in the direction of the tilt adjuster is transmitted to the first chamber and the second chamber without being transmitted to a central portion of the body extending between the first chamber and the second chamber.

7. 10. The article of claim 1, wherein the first electrode and the second electrode each include a series of slots formed in their side edges, each slot being filled with a solid material that forms a central portion of the body.

8. The method further includes a controller including a processor and a memory, the memory including instructions stored therein, the instructions including: (a) maintaining a voltage across the first electrode and the second electrode at one or more flow blocking levels at which flow of the electrorheological fluid through the delivery channel is blocked; (b) maintaining a voltage across the first electrode and the second electrode at one or more flow-enabling levels that permit flow of the electrorheological fluid through the delivery channel; Executable by the processor to cause the processor to execute The article of claim 1.

9. The article is a portion of an article of footwear, and the stored instructions cause the processor to: determining that the article of footwear has not traveled a first predetermined distance; performing step (a) in response to determining that the article of footwear has not traveled the first predetermined distance; determining that the article of footwear has traveled the first predetermined distance; performing step (b) in response to determining that the article of footwear has traveled the first predetermined distance; performing, after step (b), step (c) including resuming maintaining the voltage across the first electrode and the second electrode at one or more flow blocking levels; performing a step (d) including determining that the article of footwear has moved a second predetermined distance after resuming maintaining the voltage across the first electrode and the second electrode at one or more flow blocking levels; and causing the device to perform step (e) including, in response to determining that the article of footwear has moved the second predetermined distance, resuming maintaining the voltage across the first electrode and the second electrode at one or more flow-enabling levels. executable by the processor, 9. The article of claim 8.

10. 9. The article of claim 8, further comprising a voltage converter having an output to the first electrode and the second electrode, the voltage converter configured to increase an input voltage to a higher voltage at the output and to be enabled and disabled by signals from the processor.

11. a lower support plate positioned below the first and second chambers; an upper support plate positioned above the first and second chambers; a fulcrum element positioned between the first chamber and the second chamber and between the lower support plate and the upper support plate; the fulcrum element being less compressible than the first and second chambers when electrorheological fluid is permitted to flow through the transmission channel; the fulcrum element is positioned to provide a fulcrum for tilting the upper support plate relative to the lower support plate when the heights of the first and second chambers are different. The article of claim 1.

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