Multi-modal apparatus, kits, methods, and systems having multi-energy sensors and multi-energy haptic generators

Abstract

Aspects of a multi-modal apparatus are described. For example, the apparatus may comprise a multi-energy sensor mountable in a distal portion of a digit of a terminal unit and a multi-energy haptic generator mountable in a socket of the terminal unit so that the multi-energy haptic generator is maintained against skin of an affected limb when the socket is worn on the affected limb. The multi-energy sensor may be operable with the multi-energy haptic generator to output one or more different types of haptic energy toward the skin responsive to the multi-energy sensor when the distal portion is placed in contact with an object while the socket is worn on the affected limb. Related kits, methods, and systems also are described.

Description

MULTI-MODAL APPARATUS, KITS, METHODS, AND SYSTEMS HAVING MULTIENERGY SENSORS AND MULTI-ENERGY HAPTIC GENERATORSTECHNICAL FIELD

[0001] Aspects of the present disclosure generally relate to multi-modal apparatus, kits, methods, and systems comprising multi-energy sensors and multi-energy haptic generators. Particular aspects may be mounted in a wearable item to provide data-driven senses, such in a wearable prosthetic to provide a sense “artificial touch” or a wearable case to provide other artificial senses. Some aspects may be used interchangeably with different wearable items and deployable therefrom.BACKGROUND OF THE INVENTION

[0002] There are a multitude of prosthetics that help people restore some of their lost bodily functions. The most common prosthetics for lost upper limbs include body-powered and myoelectric arms, the latter of which are more expensive. Body-powered prosthetics may comprise mechanical structures that are assembled from mass-customizable components, such as 3D printed structures operable to mimic the shape and natural movements of human hands, like the Victoria Hand™. To keep costs down, body-powered prosthetic arms typically do not contain electronic devices, like batteries, processors, sensors, or feedback devices, limiting their capabilities to manage cost. Myoelectric limbs are typically more full-featured devices with enhance electronic capabilities. Further improvements are required to expand the capabilities of body-powered limbs relative to myoelectric limbs without dramatically increased costs.BRIEF SUMMARY

[0003] Numerous aspects are described in this disclosure. One aspect is an apparatus. The apparatus may comprise a multi-energy sensor mountable in a distal portion of a digit of a terminal unit; and a multi-energy haptic generator mountable in a socket of the terminal unit so that the multienergy haptic generator is maintained against skin of an affected limb when the socket is worn on the affected limb, the multi-energy sensor being operable with the multi-energy haptic generator to output one or more different types of haptic energy toward the skin responsive to the multi-energy sensor when the distal portion is placed in contact with an object while the socket is worn on the affected limb.

[0004] The apparatus may comprise a controller mountable in the socket in data communication with the multi-energy sensor and multi-energy haptic generator. The controller may comprise one or more of a processor, a memory element, a transceiver, a touchscreen, a speaker, and a battery. The apparatus may comprise a conduit that extends throughout the terminal unit. The multi-energy sensor may be mountable into a recess in a fingerprint portion of the distal portion of the digit. The apparatus may comprise a plurality of wires that are positionable throughout the conduit such that the plurality of wires are operable to connect the multi-energy sensor to the controller, and the controller to the multi-energy haptic generator. The plurality of wires may be sized relative to the dimensions of the terminal unit. The plurality of wires may comprise ribbon wires.

[0005] The controller may be in data communication with the multi-energy sensor and the multienergy haptic generator such that: the multi-energy sensor transmits sensory data to the controller; the controller processes the sensory data; and the processed sensory data is transmitted to the multi -energy haptic generator by the controller such that the multi-energy haptic generator is operable to output the one or more different energy types toward the skin of the affected limb responsive to the processed sensory data. The controller may comprise a smartphone.

[0006] The one or more different types of haptic energy may be output toward the skin of the affected limb by the multi-energy haptic generator comprises one or more of a vibrational energy, an electrical energy, a thermal energy, a pressure energy, and a light energy. At least one of the socket may be removable from the terminal unit, the digit may be removable from the terminal unit, the multi-energy sensor may be removable from the distal portion of the digit, the multi-energy haptic generator may be removable from the socket, and / or the controller may be removable from the socket.

[0007] The multi-energy sensor may comprise a metal diaphragm. The multi-energy sensor may comprise: a temperature sensor mountable on the metal diaphragm operable to measure the temperature of the object; and a strain gauge mountable on the metal diaphragm operable to measure the strain on the metal diaphragm. The terminal unit may comprise a body-powered 3D printed prosthetic hand. The terminal unit may comprise one or both of a wrist and an elbow. The terminal unit may comprise a prosthetic foot. The terminal unit may comprise one or both of an ankle and a knee.

[0008] Another aspect described herein is a method. The method may comprise: mounting a multi-energy sensor in a distal portion of a digit of a terminal unit; mounting a multi-energy hapticgenerator in a socket of the terminal unit so that the multi-energy haptic generator is maintained against skin of an affected limb when the socket is worn on the affected limb; and causing the multienergy haptic generator to output one or more different types of haptic energy toward the skin responsive to the multi-energy sensor when the distal portion is placed in contact with an object while the socket is worn on the affected limb.

[0009] Causing the multi-energy haptic generator to output one or more different types of haptic energy toward the skin responsive to the multi-energy sensor when the distal portion is placed in contact with the object while the socket is worn on the affected limb may comprise mounting a controller in the socket. The controller may comprise one or more of a processor, a memory element, a transceiver, a touchscreen, a speaker, and a battery; and causing the controller to be in data communication with the multi-energy sensor and multi-energy haptic generator. The terminal unit may comprise a conduit that extends throughout the terminal unit. Mounting the multi-energy sensor in the distal portion of the digit of the terminal unit may comprise mounting the multi-energy sensor in a recess in a fingerprint portion of the distal portion of the digit of the terminal unit.

[0010] Causing the controller to be in data communication with the multi-energy sensor and multi-energy haptic generator may comprise positioning a plurality of wires throughout the conduit to connect the multi-energy sensor to the controller, and the controller to the multi-energy haptic generator. Positioning the plurality of wires throughout the conduit to connect the multi-energy sensor to the controller, and the controller to the multi-energy haptic generator may comprise sizing the plurality of wires relative to the dimensions of the terminal unit.

[0011] The plurality of wires may comprise ribbon wires. Causing the multi-energy haptic generator to output the one or more different types of haptic energy toward the skin of the affected limb may comprise: receiving, with the controller, sensory data from the multi-energy sensor; processing, with the controller, the sensory data; and transmitting, with the controller, the processed sensory data to the multi-energy haptic generator such that the multi-energy haptic generator is operable to output the one or more different types of haptic energy toward the skin of the affected limb responsive to the processed sensory data. The controller may comprise a smartphone.

[0012] The one or more different types of haptic energy output toward the skin of the affected limb by the multi-energy haptic generator may comprise one or more of a vibrational energy, an electrical energy, a thermal energy, a pressure energy, and a light energy. By way of example, themethod may comprise one or more of removing the socket from the terminal unit, removing the digit from the terminal unit, removing the multi-energy sensor from the digit, removing the multi-energy haptic generator from the socket, and / or removing the controller from the socket.

[0013] The multi-energy sensor may comprise a metal diaphragm. In which case, mounting the multi-energy sensor in the distal portion of the digit of the terminal unit may comprise: mounting a temperature sensor on the metal diaphragm operable to measure the temperature of the object; and mounting a strain gauge on the metal diaphragm operable to measure the strain on the metal diaphragm. The terminal unit may comprise a body-powered 3D printed prosthetic hand, which may comprise one or both of a wrist and an elbow. Terminal unit may comprise a prosthetic foot, which may comprise one or both of an ankle and a knee.

[0014] Another aspect described herein is a kit. The kit may comprise instructions for 3D printing a terminal unit. For example, the terminal unit may comprise: a conduit extending throughout the terminal unit; a multi-energy sensor mount in a fingerprint portion of a distal portion of a digit of the terminal unit; a socket wearable on an affected limb of a user and operable to connect to the terminal unit; a multi-energy sensor mountable in the multi-energy sensor mount in the fingerprint portion of the digit of the terminal unit; a multi-energy haptic generator mountable in the socket so that the multi-energy haptic generator is maintained against skin of an affected limb when the socket is worn on the affected limb; and a plurality of wires positionable in the conduit such that the plurality of wires connect the multi-energy sensor to the multi-energy haptic generator, the multi-energy sensor being operable with the multi-energy haptic generator to output one or more different types of haptic energy toward the skin responsive to the multi-energy sensor when the distal portion is placed in contact with an object while the socket is worn on the affected limb.

[0015] The kit may comprise a controller mountable in the socket in data communication with the multi-energy sensor and multi-energy haptic generator. By way of example, the controller may comprise one or more of a processor, a memory element, a transceiver, a touchscreen, a speaker, and a battery. The plurality of wires may connect the multi-energy sensor to the controller and / or the controller to the multi-energy haptic generator. The plurality of wires may be sized relative to the dimensions of the terminal unit. The plurality of wires may comprise ribbon wires.

[0016] The controller may be in data communication with the multi-energy sensor and the multienergy haptic generator such that: the multi-energy sensor transmits sensory data to thecontroller; the controller processes the sensory data; and the processed sensory data is transmitted to the multi -energy haptic generator such that the multi-energy haptic generator is operable to output the one or more different energy types toward the skin of the affected limb responsive to the processed sensory data. The controller may comprise a smartphone. The one or more different types of haptic energy may be output toward the skin of the affected limb by the multi-energy haptic generator comprises one or more of a vibrational energy, an electrical energy, a thermal energy, a pressure energy, and a light energy.

[0017] The multi-energy sensor may comprise a metal diaphragm. For example, the multienergy sensor may comprise a temperature sensor mountable on the metal diaphragm operable to measure the temperate of the object and / or a strain gauge mountable on the metal diaphragm operable to measure the strain on the metal diaphragm.

[0018] The instructions for 3D printing the terminal unit may comprise the terminal unit further comprising one of a prosthetic hand or a prosthetic foot, one or both of which may be body-powered or electronically powered. The instructions for 3D printing the terminal unit also may comprise the terminal unit further comprising one of a wrist and / or an elbow; or an ankle and / or a knee.

[0019] Another aspect of this disclosure is another apparatus. The apparatus may comprise a case; an electrical trace at least partially within the case; and a plurality of pods coupled to the case, each pod in electrical communication with the electrical trace, at least one pod of the plurality of pods is a deployable monitoring device moveable from a first configuration where the at least one pod is electrically connected to the electrical trace to a second configuration where the at least one pod is electrically disconnected from the electrical trace.

[0020] The plurality of pods may comprise a plurality of first pods configured to detect a condition. By way of example, the condition may comprise at least one of blood alcohol content, blood sugar, hydration, heart rhythm, blood pressure, oxygen saturation, position, velocity, acceleration, UV radiation, carbon monoxide levels, and radon levels. The plurality of pods may comprise: a durable exterior casing defining a water-tight interior cavity; a conductive surface operable to communicate electrical signals to and from the interior cavity; and a plurality of electronic components that are mounted in the interior cavity and operable with respect to the electrical signals, the plurality of electronic devices being operable to capture and send data generated responsive to physical phenomena proximate to the internal cavity.

[0021] The plurality of pods may comprise a plurality of first pods, which may comprise a microphone, a camera, or a like sensor operable to capture data comprising one or more of audio, video, and still images and metadata associated therewith. At least one of the first pods may detect or capture when the at least one first pod is in the second configuration. The at least one first pod may be spaced from the case when the at least one first pod is in the second configuration. Each pod may comprise a pod housing, a pod memory unit disposed within the pod housing, and a pod power source disposed within the pod housing. Each first pod may store data related to the detected condition in their respective pod memory unit. The first pods may transmit the data to an electrical device via at least one of the electrical trace and a wireless communication protocol.

[0022] The case may comprise a plurality of pod coupling elements. Each pod coupling element may couple one of the pods to the case. Each pod coupling element may comprise a recess defined by a recess sidewall. At least one of the pod housing and the recess sidewall may comprise a protrusion and the other of the pod housing and the recess sidewall comprise a channel to receive the protrusion such that the pod is at least temporarily locked to the case when the protrusion is within the channel. The pod housing may comprise a waterproof enclosure. The electrical trace may comprise a first electrical interface disposed in the recess. Each pod may comprise a pod electrical interface in electrical communication with the first electrical interface when the protrusion is within the channel. The pod may comprise opposing first and second surfaces. The first surface may comprise at least one of a magnet, a recess, and a protrusion such that the pod is engageable by a corresponding tool to rotate the pod, thereby engaging the pod locking element with the pod coupling element.

[0023] The apparatus may comprise a case power source coupled to the case. The case power source may be electrically coupled to a second electrical interface of the electrical trace. The apparatus may comprise an electrical controller coupled to the electrical trace, in which case, the electrical controller may comprise at least one of a memory unit, a PCB, and a transceiver. Each of the first pods may sense a different condition. The plurality of pods may comprise a second pod configured to provide an indicum of the sensed condition. The second pod may comprise at least one of a light emitter, a speaker, and a vibration element. The second pod may comprise an electrical interface in electrical communication with the electrical trace.

[0024] The case may comprise a device coupling element configured to couple an electrical device with the case. The device coupling element may comprise a recess sized and dimensioned to receive at least one of a cellular phone, tablet, or watch.

[0025] Another aspect of this disclosure is another apparatus. The apparatus may comprise a case comprising a case body, a pod coupling element configured to detachably couple a pod with the case body, and a device coupling element configured to couple an electrical device with the case body; and an electrical trace at least partially within the case body. The case body may comprise an inner surface and an outer surface. The inner surface may define a recess that receives at least a portion of a user’s limb. The limb may comprise an arm. The case may be flexible to conform to the limb. The apparatus may comprise a plurality of protrusions extending from the inner surface such that the inner surface is spaced from the user’s limb when the limb is within the recess. The pod coupling element may comprise a recess extending from the outer surface toward the inner surface. The pod coupling element may comprise a first one of a plurality of pod coupling elements.

[0026] The case body may comprise a first portion and a second portion. The first portion may comprise the device coupling element and / or be movable relative to the second portion. The device coupling element may comprise a recess extending from the outer surface toward the inner surface such that the electrical device is accessible by the user when the device is coupled to the case by the device coupling element. The electrical trace may comprise a first end and a second end. The first end may define an electrical interface such that the electrical device is electrically connected to the electrical trace when the electrical device is coupled to the case. The apparatus may comprise a power source coupled to the electrical trace. The power source may provide power to the electrical device. The second end of the electrical trace may may comprise electrically connect to the pod when the pod is coupled to the pod coupling element. The power source may provide power to the pod. The second end may be one of a plurality of second ends, each second end may electrically connect one of a plurality of pods to the electrical trace. The second end may comprise at least one of a contact pad, pogo pin, and a micro-USB connector.

[0027] The electrical trace may comprise a wire or a plurality of wires. The electrical device may comprise at least one of a cellular phone, a watch, a tablet, a processor, and a memory unit. The electrical device may communicate with a communication network by at least one of Bluetooth, WiFi, ZigBee, near field communication, ZigBee, MQTT, Z-Wave, and cellular communication. The electrical device may be detachably coupled to the case. The apparatus may comprise the electricaldevice. The electrical device may be fixed to the case. The apparatus may comprise the pod. The pod may be detachably coupled to the case. The pod may be disposed in the recess defined by the pod coupling element. The pod may be removably positioned within the recess defined by the pod coupling element. The pod may comprise a pod locking element configured to at least temporarily couple the pod to the case. One of the pod locking element and the pod coupling element may comprise a protrusion and the other of the pod locking element and the pod coupling element may comprise a recess that receives the protrusion. The recess and the protrusion form a bayonet lock.

[0028] The pod may be in electrical communication with the electrical trace when the pod locking element is engaged with the pod coupling element. The pod may comprise opposing first and second surfaces, the first surface including at least one of a magnet, a recess, and a protrusion such that the pod is engageable by a corresponding tool to rotate the pod, thereby engaging the pod locking element with the pod coupling element. The second surface may comprise at least one of a contact pad, pogo pin, and a micro-USB engageable with the second end of the electrical trace. The apparatus may comprise a pod power source. The pod may comprise a pod housing. The pod power source may be disposed within the pod housing. The pod may comprise a pod memory unit. The pod memory unit may be disposed within the pod housing.

[0029] The pod housing may be waterproof to a depth of twenty five feet. The pod housing may be hermetically sealed. The pod may comprise a sensor that senses a condition, the condition comprising at least one of glucose, alcohol, blood sugar, hydration, heart rhythm, blood pressure, oxygen saturation, UV radiation, carbon monoxide levels, and radon levels. The pod may sense the condition when the pod is coupled to the case. The pod may sense the condition when the pod is decoupled from the case. The pod may communicate data related to the sensed condition to the electrical device. The pod may communicate with electrical devices by at least one of wired connection, Bluetooth, Wi-Fi, ZigBee, near field communication, ZigBee, MQTT, Z-Wave, and cellular communication. The pod may be one of a plurality of pods coupled to the case.

[0030] The first pod of the plurality of pods may comprise a deploy able monitoring device. The first pod may record at least one of sound, images, and video. The first pod may comprise a microphone or a camera. The first pod may record the at least one of sound, images, and video when the first pod is decoupled from the case. The first pod may store data in the pod memory unit, the data corresponding to the recorded sound, image, or video. The first pod may communicate the recorded sound, image, or video to the electrical device via the electrical trace when the first pod iscoupled to the case. The first pod may communicate the sound, image, or video to the electrical device via at least one of Bluetooth, Wi-Fi, ZigBee, near field communication, ZigBee, MQTT, Z- Wave, and cellular communication when the first pod is detached from the case.

[0031] A first pod of the plurality of pods is a sensor and a second pod of the plurality of pods may deliver a substance. The substance may comprise at least one of a liquid, a solid, and a gas. The substance may be a medicament. The substance may comprise at least one of caffeine, Bl 2, epinephrine, alcohol, insulin, naloxone, glucagon, glycerol trinitrate, and testosterone. The first pod may be one of a plurality of first pods and the second pod may be one of a plurality of second pods. At least one of the plurality of first pods may sense a first condition and at least a second one of the plurality of first pods may sense a second condition that is different from the first condition. Each of the plurality of first pods may sense a condition that is different from the condition sensed by the other of the plurality of first pods.

[0032] A first one of the of the plurality of second pods delivers a first substance and a second one of the plurality of second pods delivers a second substance that is different from the first substance. Each of the plurality of second pods may deliver a substance that is different from the substance delivered by the other of the plurality of second pods. The second pod may be manually activated to deliver the substance. The electrical device may send a delivery signal to activate at least one of the plurality of second pods in response to the condition sensed by the plurality of first pods. The substance may be injected, sprayed, or poured. At least one of the plurality of second pods may comprise a needle in liquid communication with a reservoir such a substance in the reservoir is deliver through the needle to an injection site.

[0033] The plurality of pods may comprise at least one third pod that may provide an indicum of the condition sensed by the first pod. The third pod may provide at least one of a visual indication, an audible indication, and a haptic indication of the condition sensed by the first pod. The third pod may comprise a light source that selectively emits one of a plurality of wavelengths such that a light wavelength emitted by the third pod is indicative of the condition sensed by the first pod. The third pod may comprise a vibrating piezoelectric actuator that vibrates the third pod so as to provide haptic indication of the condition sensed by the first pod. The third pod may comprise a speaker so as to provide audible indication of the condition sensed by the first pod.

[0034] Another aspect of this disclosure is a system. The system may comprise a plurality of remotely deployable devices, each comprising: a durable exterior casing defining a water-tightinterior cavity; a conductive surface operable to communicate electrical signals to and from the interior cavity; and a plurality of electronic components in the cavity and operable with respect to the electrical signals, the plurality of electronic devices being operable to capture and send data generated responsive to physical phenomena proximate to the internal cavity.BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute part of this disclosure, illustrate exemplary aspects that, together with the written descriptions, serve to explain the principles of this disclosure. Numerous aspects are particularly described, pointed out, and taught in the written descriptions. Some structural and operational aspects may be even better understood by referencing the written portions together with the accompanying drawings, of which:

[0036] FIG. 1 depicts a partial X-ray view of exemplary apparatus embodied as a terminal unit, a socket, and a technology integration kit.

[0037] FIG. 2 depicts a partial cutaway view of the FIG. 1 socket showing an electronic device in contact with skin of a user.

[0038] FIG. 3 depicts an exploded view of the FIG. 1 terminal unit.

[0039] FIG. 4 depicts a perspective view of a digit of the FIG. 1 terminal unit.

[0040] FIG. 5 depicts top, side, and side sections view of FIG. 5 digit.

[0041] FIG. 6 depicts zoomed in view of a fingerprint portion of the FIG. 5 digit.

[0042] FIG. 7 depicts the FIG. 1 the mounting of one electronic device in the FIG. 1 socket adjacent to another electronic device mounted in the socket.

[0043] FIG. 8 depicts a cross-sectional view of the FIG. 7 socket when the socket is worn by a user and one of the electronic devices is pressed against skin of the user.

[0044] FIG. 9 depicts a schematic view of an exemplary system including a terminal unit, socket, technology integration kit, and instructions for manufacture.

[0045] FIG. 10 depicts an exemplary technology integration kit.

[0046] FIG. 11 depicts a side view of an exemplary apparatus embodied as a terminal unit, a socket, and a technology integration kit.

[0047] FIG. 12 depicts a partial X-ray view of an exemplary apparatus embodied as a terminal unit, a socket, and a technology integration kit.

[0048] FIG. 13 depicts a side view of an exemplary apparatus embodied as a socket and a technology integration kit.

[0049] FIG. 14 depicts a top view of the FIG. 13 apparatus.

[0050] FIG. 15 depicts a top view of an exemplary apparatus embodied as a socket and a technology integration kit comprising a plurality of different electronic devices.

[0051] FIG. 16 depicts an exemplary technology integration kit.

[0052] FIG. 17 depicts a perspective view of an exemplary apparatus embodied as a terminal unit, a socket or sleeve, and a technology integration kit.

[0053] FIG. 18 depicts side and top views of the FIG. 17 socket or sleeve.

[0054] FIG. 19 depicts mounting an electronic device in the FIG. 17 socket or sleeve.

[0055] FIG. 20 depicts a rear, partial X-ray view of the FIG. 17 socket or sleeve.

[0056] FIG. 21 depicts a top view of the FIG. 17 socket or sleeve.

[0057] FIG. 22 depicts a side view of the FIG. 17 socket or sleeve.

[0058] FIG. 23 depicts a rear-underside view of the FIG. 17 socket or sleeve.

[0059] FIG. 24 depicts a top view of an electronic device.

[0060] FIG. 25 depicts an underside view of the FIG. 24 device.

[0061] FIG. 26 depicts a structure for mounting the FIG. 25 device into a socket or sleeve.

[0062] FIG. 27 depicts engaging the FIG. 24 device with the FIG. 26 structure.

[0063] FIG. 28 depicts a schematic view of an exemplary system including a terminal unit, socket, technology integration kit comprising a plurality of different electronic devices.

[0064] FIG. 29 depicts an electronic device mountable into a socket or sleeve.

[0065] FIG. 30 depicts an electronic device mountable into a socket or sleeve.

[0066] FIG. 31 depicts an electronic device mountable into a socket or sleeve.

[0067] FIG. 32 depicts an electronic device mountable into a socket or sleeve.

[0068] FIG. 33 depicts an electronic device mountable into a socket or sleeve.

[0069] FIG. 34 depicts an electronic device mountable into a socket or sleeve.

[0070] FIG. 35 depicts an electronic device mountable into a socket or sleeve.

[0071] FIG. 36 depicts an electronic device mountable into a socket or sleeve.

[0072] FIG. 37 depicts an electronic device mountable into a socket or sleeve.

[0073] FIG. 38 depicts a method of assembling an apparatus.

[0074] FIG. 39 depicts a method of assembling an apparatus.

[0075] Some aspects depicted in the drawings may be explained further by way of citations to their drawing and element numbers. The drawings and any citations thereto are provided for illustration purposes, and to further clarify the description of the present disclosure. They are not intended to limit the present disclosure unless claimed.DETAILED DESCRIPTION OF THE INVENTION

[0076] Aspects of the present disclosure are not limited to the exemplary structural details and component arrangements described in this description and shown in the accompanying drawings. Many aspects of this disclosure may be applicable to other aspects and / or capable of being practiced or carried out in various variants of use, including the examples described herein.

[0077] Throughout the written descriptions, specific details are set forth in order to provide a more thorough understanding to persons of ordinary skill in the art. For convenience and ease of description, some well-known elements may be described conceptually to avoid unnecessarily obscuring the focus of this disclosure. In this regard, the written descriptions and accompanying drawings should be interpreted as illustrative rather than restrictive, enabling rather than limiting.

[0078] Exemplary aspects of this disclosure reference various multi-modal apparatus, kits, methods, and systems having multi-energy sensors and multi-energy haptic generators. Some aspects are described with reference to a particular type of wearable item (e.g. a 3D printed body-powered prosthetic hand engageable with a wearable socket) combinable with particular electronic enhancements (e.g. controllers, multi-energy sensors, and multi-energy haptic generators) mountablein portions of the wearable (e.g. a fingerprint portion of a digit of the hand, an underside of the socket, a topside of the socket, etc.) for providing a user with a data-driven sense (e.g., by communicating a sense of “artificial touch” to the affected limb). Some aspects may be used interchangeably with different wearable items and deployable therefrom for remote operation. Unless claimed, these exemplary aspects are provided for convenience and not intended to limit this disclosure. Accordingly, the concepts described in this disclosure may be utilized with any type of apparatus, kits, methods, and systems operable by any person of any ability with any power source to perform any equivalent functions, including the examples described herein and iterations thereof.

[0079] Some aspects and relative arrangements thereof may be described relative to one or more reference axes. One axis may be non-parallel with another axis in some perspectives, meaning the axes extend across and / or intersect. The term “elongated” may describe any aspect having a length along one axis that is longer in relation to a width along another non-parallel axis. Additional axes, movements, and forces may be described with in relation to any reference axis. These axes are provided for convenience and do not limit this disclosure unless claimed.

[0080] Pairings of anatomical terms, such as “proximal” and “distal,” “palmar” and “dorsal,” and “medial” and “lateral” may be described in relation to a corresponding reference axis, such as a proximal-distal axis, a palmar-dorsal axis, and a medial-lateral axis. These pairings may orient some aspects relative to an affected limb of a human body. Proximal generally refers to directions and / or positions closer to the partial limb along the proximal-distal axis and distal generally refers to directions and / or positions away from the partial limb along the proximal-distal axis. Palmar generally refers to directions and / or positions closer to a palm facing side of the partial limb along the palmar- dorsal axis and dorsal generally refers to directions and / or positions away from the palm facing side of the partial limb along the palmar-dorsal axis. Medial generally refers to directions and / or positions closer to a midline plane of the partial limb along a medial-lateral axis and lateral generally refers to directions and / or positions away from the midline plane of the partial limb along the medial-lateral axis. These anatomical terms are provided for convenience and not limiting unless claimed.

[0081] As shown in the drawings, proximal directions may be generally indicated on the proximal- distal axis by a directional arrow “P,” distal directions may be generally indicated on the proximal- distal axis by a directional arrow “D,” palmar directions may be generally indicated on the palmar- dorsal axis by a directional arrow “Pa,” dorsal directions may be generally indicated on palmar-dorsalaxis by a directional arrow “Do,” medial directions may be generally indicated on the medial-lateral axis by a directional arrow “M,” and lateral directions may be generally indicated on the medial-lateral axis by a directional arrow “L.” Similar to above, these directional arrows are provided for convenience and not limiting unless claimed.

[0082] Inclusive terms like “comprises,” “comprising,” “includes,” “including,” and variations thereof, are intended to cover a non-exclusive inclusion, such that any multi-modal apparatus, kits, methods, and systems having multi-energy sensors and multi-energy haptic generators, or component(s) thereof described as comprising a list of elements does not include only those elements but may include other elements not expressly listed and / or inherent thereto. Unless stated otherwise, the term “exemplary” is used in the sense of “example” rather than “ideal.” Various terms of approximation are used, including “approximately” and “generally.” Approximately means “roughly” or within 10% of a stated outcome. Generally means “usually” or more than a 50% probability.

[0083] Terms such as “engageable with,” “engaged with,” and “engaging” are used in this disclosure to describe connections between two or more elements. Some connections may be nonremovable and / or non-rotatable, such as when the two or more elements are formed together and cannot be rotated and / or separated without damage. Other connections may be removable and / or rotatable, such as when the two or more elements are coupled together by engagement elements (e.g., bolts, pins, rods, screws, etc.) and / or structural elements (e.g., joints, hinges, etc.) that may be rotated relative to one another and / or separated. The term “pin” is used as an exemplary engagement element and should be broadly interpreted to include any rotation-enabling structure, including those that are independent of or formed integral with another structure. Accordingly, unless stated otherwise, the term engageable and its equivalents should be broadly interpreted to comprise any such variations.

[0084] Aspects of any exemplary computing device referred to hereinafter as a “controller” are described. Functional terms such as “processing,” “computing,” “calculating,” “determining,” “displaying,” and the like, may refer to actions and processes performable by the controller, which may comprise any type of software and / or hardware interactions. The software of the controller may comprise program objects (e.g., lines of codes) executable to perform various functions. Each program object may comprise a sequence of operations leading to a desired result, such as an algorithm. The operations may require or involve physical manipulations of physical quantities, such as electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwisemanipulated. The signals may be described conceptually as bits, characters, elements, numbers, symbols, terms, values, or the like.

[0085] The hardware of the controller also may comprise any known technologies for storing the program objects and any data associated therewith. For example, the program objects may be stored in any machine (e.g., a computer or processor) readable storage medium in communication with the processing unit, including any mechanism for storing or transmitting data and information in a form readable by a machine (e.g., a computer or processor). Exemplary storage mediums may comprise read only memory (“ROM”); random access memory (“RAM”); erasable programmable ROMs (“EPROMs”); electrically erasable programmable ROMs (“EEPROMs”); magnetic or optical cards or disks; flash memory devices; and / or any electrical, optical, acoustical, or other form of propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.).

[0086] Aspects of an exemplary multi-energy generator are described herein with respect to a plurality of generator elements that are independently operable with the controller to output a plurality of different energy types toward skin responsive to data. Functional terms like “operable,” “output,” and the like, may refer to actions and processes performable by the controller via one or more of the plurality of generator elements. For example, the controller may comprise or be in data communication with an Al operable to receive data from a sensor(s), generate control signals from the data, and / or utilize the control signals to operate the multi-energy generator, such as by causing one or more of its generator elements to output energy toward skin responsive thereto.

[0087] The multi-energy generator may be configured to output different energies at different intensity levels, depending on the intended applications. For example, without departing from this disclosure, the energy generating elements may by scaled down to output lower intensity levels of energies appropriate for communicating with the brain via mechanoreceptors in the skin (e.g., such as “haptic” outputs, making it a “multi-energy haptic generator”); or scaled up to output higher intensity levels of energies appropriate for affecting physiologic tissues under the skin, like muscles or nerves (e.g., such as “therapeutic” outputs, making it a “multi-energy therapy generator”). In this regard, the terms multi-energy generator and multi-energy haptic generator may be used interchangeable throughout this disclosure.

[0088] In keeping with above, the controller may comprise a smartphone, smartwatch, tablet, or similar device, such as an iPhone or other iOS device, an Android phone or other Android device, orany comparable and / or compatible devices operable as the controller described herein. As a further example, the controller also may be packaged together with one or more multi-energy generators, such as by adding computing elements and / or circuitry thereto.

[0089] Some aspects of the present disclosure are described with reference to methods, steps of which may be performable with the controller. To help orient the reader, some methods may be described with reference to a conceptual drawing, such as a flowchart with boxes interconnected by arrows. Each box may represent a particular step or technology. The boxes may be combined, interconnected, and / or interchanged to provide options for additional modifications according to this disclosure. The arrows may define an exemplary sequence of operation for the steps, the order of which may be important. For example, a particular order of the steps may describe a sequence of operation that is performable by the controller to realize specific processing benefits, such as improving a computational performance and / or an operational efficiency.

[0090] Aspects of this disclosure are now described with reference to an exemplary prosthetic apparatus 10. As shown in FIGs. 1-8, prosthetic apparatus 10 may comprise a socket engageable with a 3D printed terminal unit made of light-weight materials. Aspects of prosthetic apparatus 10 may be comprise a combination of sensors and haptic generators operable to provide the wearer with a form of “artificial touch” by mimicking certain capabilities of human skin. For example, if the terminal unit is a hand, then prosthetic apparatus 10 may comprise: (i) multi-energy sensors that are mounted in digits of the hand and operable to output one or more types of sensory data; and (ii) multi-energy haptic generators that are mounted in a socket of the hand and operable to output one or more different types of haptic energy responsive to the one or more types of sensory data. In this example, when an affected limb is placed in the socket, the sensory data may comprise pressure data and / or thermal data generated by the multi-energy sensors when the digits contact an object, and the haptic energies may comprise proportionate outputs of vibratory energy and / or thermal energy that are generated by the multi-energy haptic generators and directed toward skin of the affected limb, causing a touch-like experience to perceived by the user’s brain via mechanoreceptors of the skin.

[0091] Particular aspects of prosthetic apparatus 10 are now described. As shown in FIGs. 1-9, prosthetic apparatus 10 may comprise a terminal unit 100, a plurality of multi-energy sensors 310 and a control system 201.

[0092] Terminal unit 100 may comprise a 3D printed, body-powered prosthetic hand that is printed from light-weight materials. By way of example, aspects of terminal unit 100 may be similar to aspects of prosthetic hand apparatus 100 described in U.S. Patent No. 11,957,606 to Dechev et al. (hereinafter “the ‘606 Patent”), the entirety of which is hereby incorporated by reference into this application. As shown in FIGs. 1, 2, and / or 3, terminal unit 100 may comprise abase 101, a hand body 102, digits 103, a slider frame 104, and force transfer elements 105 as described in the ‘606 Patent, but for the differences described herein.

[0093] Like apparatus 100 of the ‘606 Patent, terminal unit 100 also may be made of two different materials, including first components made of a first material and second components made of a second material that is different from the first material. The first and second materials may be selected from lightweight materials to minimize an overall weight of terminal unit 100 and offset any additional weight added by sensors 310 and socket 200. By way of example, the first material may comprise a 3D-printable, or additive manufacturable, polymeric material such as acrylonitrile butadiene styrene (or “ABS”), polylactic acid (or “PLA”), polycarbonate (or “PC”), or PolyetherEtherKetone (or “PEEK”); and the second material may comprise a lightweight structural material such as aluminum or carbon fiber. Similar to that described in the ‘606 Patent, base 101, hand body 102, exterior portions of digits 103, and slider frame 104 may be 3D printed from the first material; and force transfer elements 105 may be cut from a sheet of the second material using rapid manufacturing methods such as laser cutting or waterjet cutting. Except for the following differences, all other aspects of terminal unit 100 may be like those of apparatus 100 of the ‘606 Patent, including the operational aspects of base 101, hand body 102, digits 103, slider frame 104, and force transfer elements 105 described therein.

[0094] As described in the ‘606 Patent, digits 103 may be movable with force transfer elements 105 between an open position (e.g., similar to as shown FIG. 3) and a closed position (e.g., FIG. 1) when terminal unit 100 is actuated by a proximally directed force to one of force transfer elements 105. As shown in FIGs. 1, 2, and 3, digits 103 may comprise finger digits 111 and a thumb digit 112. Finger digits 111 may comprise digits of different shapes and sizes, including four different digits, one for the respective pointer, middle, index, and pinky fingers. As shown in FIG. 3, each finger digit 111 may comprise a first finger link 116 and a second finger link 117, both of which may comprise a structure with a complex 3D geometry made from a polymeric material utilizing an additivemanufacturing method, making them polymeric components. Alternatively, first and second finger links 116, 117 may comprise a structure of carbon fiber, aluminum, or similar material.

[0095] As shown in FIG. 5, one of digits 103 such as the pointer finger may comprise a sensor cavity 140 and a conduit 142. As shown in FIG. 5, sensor cavity 140 may be located in a mounting bay 120 in a fingerprint portion 115 of a distal link of the pointer finger in this example. As shown in FIGs. 1 and / or 5, conduit 142 may comprise a distal portion extending through a dorsal side of the distal link of the pointer finger and a proximal portion extending through a dorsal side of a proximal link of the pointer finger. Both portions of conduit 142 may have a rectangular cross-sectional shape with a long dimension that is parallel with a medial-lateral width of the pointer finger.

[0096] As shown in FIG. 1, a thumb 112 of digits 103 may comprise a sensor cavity 140 and a conduit 142. As shown in FIG. 5, sensor cavity 140 may be located in a mounting bay 120 in a thumbprint portion of a distal link of thumb 112. As shown in FIG. 1, conduit 142 may comprise a distal portion extending through a dorsal side of the distal link of thumb 112 and a proximal portion extending through a dorsal side of a proximal link of thumb 112. Both portions of conduit 142 may have a rectangular cross-sectional shape with a long dimension that is parallel with a medial-lateral width of thumb 112.

[0097] A conduit network 144 may extend through a dorsal side of hand body 102. As shown in FIG. 3, conduit network 144 may comprise four finger conduits, one located proximate to where each proximal link of digits 103 is operatively attached to hand body 102; a collection point where the four finger conduits meet; and an exit conduit extending proximally out of hand body 102.

[0098] Terminal unit 100 may comprise a socket 200 similar to that described in the ‘606 Patent and base 101 may be operatively attached to socket 200. As shown in FIG. 1, a conduit 144 may extend into an interior of socket 200, such as through an exterior surface of socket 200 (e.g., a proximal end thereof) and / or through base 101.

[0099] As shown in FIGs. 4, 5, and / or 6, plurality of multi-energy sensors 310 may be mounted in sensor cavity 140 of the pointer finger and sensor cavity 142 of thumb 112. As shown in FIG. 6, each multi-energy sensor 310 may comprise a compliant contact 151, a temperature sensor 152, and a pressure sensor 153.

[0100] Aspects of one multi-energy sensor 310 are now described with reference to sensor cavity 140 of the distal link of the pointer finger. As shown in FIG. 6, compliant contact 151 may comprise a resilient strip with a first end embedded into the distal link of the pointer finger, a middle curved portion, and a second end that slidable against a back wall of sensor cavity 140. The first end of the strip may be set in an opening of the distal link with an adhesive. As shown in FIG. 4, the middle curved portion of the strip may extend beyond an exterior surface of the distal link so that the resilient strip is deformed when the fingertip portion of the distal link contacts an object 4, shown as ping pong ball in FIG. 1. As shown in FIG. 6, the second end of the strip may slide along the back wall of sensor cavity 140 to accommodate a minor portion of the deformation before contacting an interior surface of sensor cavity 140, forcing the middle portion to deform more substantially.

[0101] Compliant contact 151 may be made of an elastic material, such as a metal. A shape memory metal such as nitinol may be used to ensure that compliant contact 151 undergoes an elastic distortion upon contacting object 4, responsive to an axial loading or pressure applied by object 4 in response to the contact. As shown in FIGs. 1-2, when compliant contact 151 is pressed against object 4, an outer face of compliant contact 151 will undergo tension while an interior face of surface 151 undergoes tension. Because it is made of an elastic material, compliant contact 151 will automatically return to its original shape once it is no longer pressed against object 4.

[0102] As shown in FIG. 6, temperature sensor 152 may be mounted to the interior face of compliant contact 151 and operable to detect temperature differences between a surface of object 4 and ambient air surrounding sensor 152. By way of example, temperature sensor 152 may comprise a thermistor that experiences measurable change in resistance when responsive to the temperature differences. As a further example, compliant contact 151 may be made of a first metal and temperature sensor 152 may be made of a second metal that is operable with the first metal to generate an electrical voltage or resistance responsive to the temperature differences. In this latter example, when the temperature difference occurs, temperature sensor 152 may measure the voltage across a diode terminal such that, if the voltage measured by temperature sensor 152 increases the output temperature reading will increase, and if the voltage decreases the output temperature reading will decrease.

[0103] As shown in FIG. 6, pressure sensor 153 may be mounted to the interior face of compliant contact 151 and operable to measure the axial loading or pressure applied to surface by object 4 when pressed thereagainst. By way of example, pressure sensor 153 may comprise a digital strain gaugeoperable to detect how much the interior face of compliant contact 151 expands responsive to tensile forces applied thereto upon contact with object 4 and / or contracts responsive to resilient forces generated by compliant contact 151 when removed from object 4.

[0104] As shown in FIGs. 1-2, terminal unit 100 may comprise a wrist portion 110. Wrist portion 110 may comprise a wrist attachment portion 107 and a cable bus 106. A portion of conduit network 144 may be included in wrist portion 110 as described below. Wrist portion 110 may be engageable with a hand connection 210 of socket 200 as described below.

[0105] Conduit network 144 may be routed through portions of terminal unit 100, such as through a dorsal side of hand body 102, wrist 110, and plurality of digits 103. As shown in FIGs. 5 and 6, conduit network 144 may comprise networks of enclosed or partially enclosed pathways. As shown in FIG. 1, the pathways may begin at the recess of fingerprint portions 115, and then flow from the recess of fingerprint portions 115 through proximal portions 114 and 119. As shown in FIG. 1, the pathways of conduit network 144 may then extend from proximal portions 114 and 119 through hand body 102 to cable bus 106 of wrist portion 110. Conduit network 144 may provide a pathway for ribbon wires 350 described below.

[0106] Aspects of socket 200 are now described. As shown in FIGs. 1-3, socket 200 may comprise a hand connection 210, a mounting body 220, mounting bays 230 (e.g., FIG. 7), and a conduit network 240. The entirety, or portions, of socket 200 may be 3D printed using polymeric materials.

[0107] As shown in FIGs. 1-2, hand connection 210 may be operable to engage with wrist portion 110. As shown in FIGs. 1-2, hand connection 210 may have a wrist attachment portion 211. Wrist attachment portion 211 may be engageable with wrist attachment portion 107 such that the terminal unit 100 is movable relative to socket 200.

[0108] As shown in FIG. 2, mounting body 220 may be wearable on an affected limb of user 1. Mounting body 220 may comprise an interior portion 221, and an exterior portion 222. As shown in FIG. 2, interior portion 221 may comprise a biocompatible interface that is compatible with skin 2 of the affected limb and operable to protect electronic components from moisture, such as a layer of medical grade silicone attached to interior portion 221. As shown in FIG. 2, interior portion 221 and / or biocompatible interface may be customizable to obtain a close fit with skin 2 of the affected limb of user 1 . Interior portion 221 may be made of polymeric materials and be entirely smooth everywherebut where electronic components may be positioned, each of which may be surrounded by and protruding from the biocompatible interface.

[0109] As shown in FIGs. 1-2, exterior portion 222 of mounting body 220 may comprise an external sealing layer 224 to protect electronic components from moisture. Exterior portion 222 may be made of polymeric materials. As shown in FIGs. 1, 2, 7, and / or 8, the underside of external sealing layer 224 may comprise an electronics mounting area 226.

[0110] As shown in FIGs. 1, 2, 7, and / or 8, mounting bays 230 may comprise first mounting bay 231, and second mounting bay 232. First mounting bay 231 may be formed (e.g., 3D printed) into electronics mounting area 226 of mounting body 220. First mounting bay 231 may be sized to be engageable with one or more multi -energy haptic generators 320 as described below.

[0111] As shown in FIG. 1, electronics mounting area 226 may comprise a second mounting bay 232 as described below. Second mounting bay 232 also may be formed (e.g., 3D printed) into electronics mounting area 226 of mounting body 220 and sized to be engageable with a controller 340 as described below.

[0112] Socket 200 may include a conduit network 240 that provide an electrical path through at least a portion of socket 200. As shown in FIGs. 1-2, conduit network 240 of socket 200 may be engageable with conduit network 144 of terminal unit 100. As shown in FIGs. 1, 2, and 7 conduit network 240 may comprise cavities formed (e.g., 3D printed) to be adjacent to a dorsal side of socket 200. As shown in FIGs. 1, 2, 7, and / or 8, the cavities may comprise a first plug portion located at a distal portion of mounting bay 232, and a second plug portion located at a proximal portion of mounting bay 232. Conduit network 240 may comprise networks of enclosed or partially enclosed pathways extending between the cavities (e.g., the first and second plug portions), mounting bay 231, and / or mounting bay 232. Conduit network 240 may be engageable with conduit 144 to provide a pathway for ribbon wires 350 described below.

[0113] Aspects of technology integration kit 300 are now described. Technology integration kit 300 may be engageable with terminal unit 100 and socket 200 of apparatus 10. As shown in FIGs. 1- 2 and 4-10, technology integration kit 300 may comprise multi-energy sensors 310, multi-energy haptic generators 320, controller 340, and ribbon wires 350.

[0114] As shown in FIGs. 1, 2, 7, 8, 9, 10, 12, and / or 15, technology integration kit 300 may comprise one or more multi-energy generators 320 described interchangeably herein as multi-energy haptic generator(s) 320. Without departing from this disclosure, multi-energy haptic generators 320 may comprise aspects of the energy generators described in U.S. Patent No. 10,959,674 and its progeny, US Patent App. No. 17 / 797,361 and its progeny, US Patent No. 11,934,583 and its progeny, US Patent App. No. 17 / 922,791 and its progeny, US Patent App. No. 19 / 119,035 and its progeny, US Patent App. No. 18 / 879,809 and its progeny, US Patent App. No. 18 / 945,391 and its progeny, Int’l Patent App. No. PCT / US25 / 11477 and its progeny, and / or U.S. Prov. Patent App. No. 63 / 784,964 and its progeny (all together, the “DF Patent Family”), the entireties of which are hereby incorporated by reference into this application.

[0115] As shown in FIGs. 1, 2, 7, 8, 9, 10, 13, 15, 16, et. al., multi-energy haptic generator 320 may comprise a plurality of generator elements (e g., elements 322, 323 of FIG. 8) operable to output a plurality of different energy types toward skin 2 of user l’s affected limb when apparatus 10 is worn by user 1. Because of its multi-energy capabilities, each multi-energy haptic generator 320 of apparatus 10 may be operable to output the one or more different types of haptic energy toward skin 2 of user l’s affected limb by causing the one or more generator elements of the plurality of generator elements to output the one or more different types of haptic energy responsive to multi -energy sensors 310. Each output of the one or more different types of haptic energy may comprise a different combination of electrical energy, light energy, thermal energy, pressure energy, and / or vibratory energy, depending upon the configuration and capabilities of the plurality of generator elements. Because each generator element is an electro-mechanical device, the multi-energy haptic generators 320 may be operable to output precise amounts of the one or more different types of haptic energy responsive to multi-energy sensors 310, such as by outputting a series of the one or more different types of haptic energy when multi-energy sensors 310 contact object 4.

[0116] As shown in FIG. 8, multi-energy haptic generators 320 may comprise a printed circuit board (or “PCB”) 321, a first generator element 322, at least one second generator element 323, a multi-energy controller 324, a backing plate 325, a heat sink 326, and a body 330. As shown in FIGs. 7-8, multi-energy haptic generators 320 may be mountable in first mounting bay 231 of socket 200, such as with a screw, a snap fit, or the like.

[0117] PCB 321 may electrically and structurally connect first generator element 322, at least one second generator element 323, and multi-energy controller 324 to one another, forming a “PCB Assembly”. PCB 321 also may structurally connect the PCB Assembly to backing plate 325. PCB 321 may comprise any type of non-substrate materials (e.g., aluminum, glass, or resin) and / or conductive layer(s) (e.g., copper circuitry) extending between different mounting pads for first generator element 322, second generator element(s) 323, and multi-energy controller 324. As shown in FIG. 8, like a light-emitting diode (or “LED”), PCB 321 may comprise an aluminum non-substrate material offering superior heat dissipation and transfer to backing plate 325.

[0118] First generator element 322 may output a first energy type of the one or more different types of haptic energy toward skin 2 of user 1’s affected limb. As shown in FIGs. 8 and 34, first generator element 322 may comprise an actuator that is connected to a skin-facing side of PCB 321 and operable to output a vibrational energy toward skin 2. For example, first generator element 322 may comprise one or more linear resonate actuator(s) (or “LRA”) operable to output a wide range of vibrational frequencies and / or a wideband piezoelectric actuator operable to output an even wider range of vibrational frequencies. By way of example, the LRA may have an operating side mounted to a pad of PCB 321 and an energy outputting side adjacent an outward-facing side of skin 2. As a further example, exterior side surfaces of the LRA may be spaced apart from interior surfaces of second generator element 323 to define a thermal break (e.g., an air gap) therebetween; and the thermal break may be filled with an epoxy or other thermally insulating material.

[0119] Second generator element 323 may output a second energy type of the one or more different types of haptic energy toward skin 2. Multi-energy haptic generators 320 may comprise any number of second generator elements 323, including combinations and / or configurations described in one or more members of the DF Patent Portfolio incorporated by reference into this application. For example, in keeping therewith first generator element 322 may be operable to output a first energy type of the one or more different types of haptic energy toward skin 2; and second generator element 323 may be operable to output a second energy type of the one or more different types of haptic energy toward skin 2, in which the first energy type is different from the second energy type.

[0120] As shown in FIG. 34, for example, second generator element 323 may at least partially surround first generator element 322 so that the first haptic energy type and the second haptic energy type are output toward skin 2, allowing for combinations of the one or more different types of hapticenergy to be output by multi-energy haptic generators 320 toward skin 2 responsive to multi-energy sensors 310. By way of example, as shown in FIGs. 8 and 34, second generator element 323 may comprise a thermoelectric module (or “TEC Module”, a / k / a thermoelectric coolers, TECs, or Peltier coolers) with an annular perimeter shape that surrounds first generator element 322 and a I-shaped cross-section like that of a wide-flanged I-beam.

[0121] As shown in FIG. 8, an outward-facing flange of the TEC Module may be attached to a skin-facing side of backing plate 325 and electrically connected to PCB 321 in a manufacturing step after forming the PCB Subassembly as described above, thus forming a “PCB Assembly”. As shown in FIG. 8, when the PCB Assembly is formed, interior surfaces of the TEC Module may define an interior indention and an edge of PCB 321 may be received in the interior indention and spaced apart therefrom to define a thermal break (e.g., an air gap) therebetween; and the thermal break may be filled with an epoxy or other thermally insulating material.

[0122] As further shown in FIG. 8, exterior surfaces of the TEC Module may define an exterior indention and a protrusion of a sidewall 332 may be received in the exterior indention to snap-fit the PCB Assembly into a multi-energy haptic generator bay 331 and deformed to remove the PCB Assembly therefrom. A skin-facing flange of the TEC Module may be pressed against the outwardfacing surface of a skin-facing surface 333 of body 330 when the PCB Assembly is snap-fit into multienergy haptic generator bay 331. As shown in FIG. 8, a force-transmitting nub 334 may be placed between the exemplary LRA and skin-facing surface 333. Nub 334 may comprise a vibrational force amplifying material that is denser than skin-facing surface 333 and has a surface area larger than that of the LRA, allowing it to more efficiently distribute vibrational forces to a discrete area of skin 2.

[0123] Multi-energy controller 324 may be operable to cause one or more generator elements of the plurality of generator elements of multi-energy haptic generators 320 to output the one or more different types of haptic energy toward skin 2 when apparatus 10 is worn responsive to multi-energy sensors 310. As shown in FIG. 8, a skin-facing side of multi-energy controller 324 may be operatively connected to an outward-facing side of PCB 321 so that the controlling elements of multi-energy haptic generators 320 are spaced apart from skin-facing surface 333 and any moisture leaks associated therewith. Multi-energy controller 324 may comprise a microcontroller and related components for distributing power to the plurality of generator elements of multi-energy haptic generators 320, such as to first generator element 322 and second generator element 323. As shown in FIG. 8, an outward-facing side of multi-energy controller 324 may be thermally connected to the skin-facing side of backing plate 325 and operable to discharge excess heat thereto.

[0124] Multi-energy controller 324 may be operable to cause the skin-facing flange of the TEC Module to output either a hot thermal energy or a cold thermal energy toward skin 2 responsive to multi-energy sensors 310. Because they are Peltier coolers, the respective outward-facing and skinfacing flanges of the TEC Modules will operate equally and oppositely. For example, if the skinfacing flange of the TEC is heated by plus 10-50 degrees then the superior, outfacing flange will be cooled by negative 10-50 degrees. Larger temperature swings may create problems with excess heat, such as when cooling the inferior, skin facing surface to minus 50 degrees heats the superior, skin facing to plus 50 degrees or higher when combined with body heat output from user 1 ’s affected limb. Heat sink 326 may be operable to discharge the excess heat when this happens, making it easier to cycle multi-energy haptic generators 320 between different hot cold cycles.

[0125] As shown in FIGs. 7-8, depending upon the quantity of excess heat to be transferred, heat sink 326 may comprise backing plate 325 (e g. as shown in FIG. 8) by itself and / or backing plate 325 with a plurality of fins 327 extending outwardly therefrom (e.g., as shown in FIGs. 7-8). backing plate 325 may be made of any material (e.g., like aluminum) that attracts excess heat from second generator element 323 and dissipates it by convection to the surrounding air via an outward-facing surface area of backing plate 325 and / or an even larger surface provided by plurality of fins 327. Heat sink 326 thereby provides a steady state solution for helping multi-energy haptic generators 320 to dissipate excess heat, meaning one that does not require any moving parts to output thermal energies of plus / minus 50 degrees toward skin 2.

[0126] As shown in FIG. 19, 10, 16, 20, and / or 28, controller 340 may be operable to receive sensory data from multi-energy sensors 310, and output processed data to control the output of the one or more different energies of multi-energy haptic generators 320 toward skin 2 of the affected limb of user 1. As shown in FIG. 9, controller 340 may comprise a battery 341 and data processing components. The data processing components may comprise any type of software or hardware as described above. As shown in FIG. 1, controller 340 and battery 341 may be mountable in second mounting bay 232 such as with a snap fit.

[0127] As shown in FIG. 6, ribbon wires 350 may be operable to place multi-energy sensors 310, multi-energy haptic generators 320, and controller 340 in data communication with one another.Ribbon wires 350 may be sized relative to the size of the apparatus 10 to ensure a correct fit (e.g. ribbon wires 350 may be shorter in length when terminal unit 100 or socket 200 are smaller to accommodate a smaller user, and ribbon wires 350 may be longer in length when terminal unit 100 or socket 200 are larger to accommodate a larger user). As shown in FIGs. 1-2, ribbon wires 350 (e.g., FIG. 6) may comprise a first set of ribbon wire 351, a second ribbon wire 352, and a third set of ribbon wire 353. As shown in FIGs. 1-2, first set of ribbon wire 351 may be routable through conduit 142. First set of ribbon wire 351 may be routable from the recess of fingerprint portions 115 through fingerprint portions 115 to proximal portions 114 and 119. As shown in FIGs. 1-2, first set of ribbon wire 351 may then be routable from proximal portions 114 and 119 through hand body 102 to cable bus 106 such that first set of ribbon wire 351 have little to no slack.

[0128] As shown in FIGs. 1-2, second ribbon wire 352 may be operable to engage conduit network 144 to conduit network 240. As shown in FIGs. 1 -2, second ribbon wire 352 may be operable to plug into a proximal portion of cable bus 106. Second ribbon wire 352 may be routable from cable bus 106, jump over wrist attachment portions 107 and 211 and to the above-described first plug portion conduit network 240, such that ribbon wire 352 has slack.

[0129] As shown in FIG. 1, third set of ribbon wire 353 may be operable to engage controller 340 to multi-energy haptic generators 320. As shown in FIG. 1, third set of ribbon wire 353 may be routable from the above-described second plug portion of conduit network 240 to first mounting bay 231 and connect to multi-energy haptic generators 320.

[0130] Exemplary methods of assembling apparatus 10 are now described with reference to an assembly method 400. As shown in FIG. 38, method 400 may comprise one or more of (i) assembling the polymeric components and the metallic components into the terminal unit 100 (a step 410); (ii) connecting terminal unit 100 with socket 200 (a step 420); (iii) routing ribbon wires 350 through conduit networks 140 and 240 (a step 430); (iv) mounting multi-energy sensors 310 in mounting bays 120 (a step 440); (v) mounting multi-energy haptic generators 320 into mounting bay 231 (a step 450); and (vi) mounting controller 340 into second mounting bay 232 (a step 460).

[0131] An exploded view of terminal unit 100 is shown in FIG. 3 to provide an example as to how it may be manufactured and assembled. As shown in FIG. 3 and described more fully in the ‘606 Patent, step 410 of method 400 may comprise: (i) assembling terminal unit 100 by: (a) assembling digits 110, (b) assembling thumb digit 112, (c) assembling force transfer elements 105, and (d)combining finger digits 111, thumb digit 112, force transfer elements 105, hand body 102, and wrist portion 110 into terminal unit 100. As further described in the ‘606 Patent, each of these steps may comprise intermediate steps in keeping with the structural and functional descriptions of terminal unit 100 set forth in this disclosure.

[0132] An example of socket 200 engaged with terminal unit 100 is shown in FIGs. 1-2. Socket 200 and unit 100 may be manufactured and / or sold separately or together. As shown in FIGs. 1, 2, and / or 3, step 420 may comprise engaging wrist attachment portion 107 with wrist attachment portion 211 by using a pin (e.g., FIGs. 1-2) or ball-and-socket connection (e.g., FIG. 3).

[0133] An example of ribbon wires 350 routed in conduit networks 140 and 240 is shown in FIGs. 1, 2, and 6. As shown, step 430 may comprise: (i) routing first set of ribbon wire 351 through conduit 142 from mounting bay 120 through rest of distal portion 113 then through proximal portion 114 to hand body 102 and through hand body 102 to cable bus 106; (ii) routing first set of ribbon wire 351 through conduit 142 from mounting bay 120 through rest of distal portion 118 then through proximal portion 119 to hand body 102 and through hand body 102 to cable bus 106; (iii) routing second ribbon wire 352 from a proximal portion of cable bus 106 jumping across wrist portion 110 and hand connection 210 and into plug portion 241 such that ribbon wire has slack; and (iv) routing third set of ribbon wire 353 from second plug portion 242 and into multi-energy haptic generators 320. Each of steps i-iv may comprise intermediate steps in keeping with the structural and functional descriptions of apparatus 10 set forth in this disclosure.

[0134] An example of multi-energy sensors 310 engaged in mounting bays 120 is shown in FIGs. 1-2, and 4-6. As shown, step 440 may comprise: (i) engaging multi-energy sensors 310 with first set of ribbon wire 351; and (ii) connecting multi-energy sensors 310 into mounting bays 120 such as with a snap fit.

[0135] An example of multi-energy haptic generators 320 engaged with socket 200 is shown in FIGs. 1-2 and 7. As shown, step 450 may comprise: (i) engaging multi-energy haptic generators 320 with second ribbon wire 352; and (ii) connecting multi-energy haptic generators 320 into first mounting bay 231 such as with a screw, a snap fit, or the like.

[0136] An example of controller 340 engaged with socket 200 is shown in FIGs. 1-2. As shown, step 460 may comprise: (i) engaging controller 340 with third set of ribbon wires 353; and (ii) connecting controller 340 into second mounting bay 232 such as with a snap fit.

[0137] Operational aspects of apparatus 10 are now described. As shown in FIG. 2, apparatus 10 may be wearable on the affected limb of user 1 to provide user 1 an artificial touch. Apparatus 10 may be reconfigurable with any electronics that are operable to provide user 1 with the artificial touch.

[0138] As shown in FIGs. 1-3, components of apparatus 10 may be removable and / or independently replaceable, such as plurality of finger digits 111, socket 200, and all components of technology integration kit 300. Components of apparatus 10 may be removable to allow user 1 the ability to upgrade or repair components of apparatus 10. For example, if user 1 has an apparatus 10 with a damaged digit 111, user 1 may be able to remove the damaged digit and replace it with a new undamaged digit. As a further example, multi-energy sensors 310 may be removable by user 1 and upgradable with another multi-energy sensor to increase the capabilities of apparatus 10.

[0139] As shown in FIGs. 1-2, engaging technology integration kit 300 with terminal unit 100 technology integration kit 300 does not affect the operational functions of terminal unit 100, meaning that it is fully functional as a body powered prosthetic either way. As shown in FIGs. 1-2, the components of technology integration kit 300 are located away from any of the movable components of terminal unit 100. For example, ribbon wires 350 are located in conduit networks 140 and 240 wherein ribbon wires 350 cannot be pinched by movable components of terminal unit 100 such that movable components of terminal unit 100 will not be jammed by ribbon wires 350.

[0140] Operational aspects of outputting the one or more different energy types from multi-energy haptic generators 320 are now described with reference to a method 500. As shown in FIG. 39, method 500 may comprise: (i) operating terminal unit 100 to contact or grip object 4 with plurality of digits 103; (ii) generating, with multi-energy sensors 310, sensory data from plurality of digits 103 contacting or gripping object 4; (iii) receiving, with controller 340, the sensory data from multi -energy sensors 310 when multi-energy sensors 310 are contacting object 4; (iv) processing, with controller 340, the sensory data; and (v) transmitting, with controller 340, the processed sensory data to multienergy haptic generators 320 such that multi-energy haptic generators 320 are operable to output the one or more different haptic energy types toward skin 2 of the affected limb responsive to the processed sensory data.

[0141] Aspects of an exemplary kit are now described with continued reference to aspects of FIG. 3 et al. depicting parts that may be operable for user 1 to manufacture components of apparatus 10 and assemble apparatus 10 on their own. For example, the kit may comprise: (i) any one or more of (a) any combination of the polymeric and metallic components of terminal unit 10, as parts or in a completed form; (b) an amount of polymeric material (e.g. a material suitable for 3D printing) with instructions (e.g. data for 3D printing) for manufacturing any remaining (or all) polymeric components of terminal unit 100 with the polymeric material (e.g. with a 3D printer); and / or (c) a metallic plate with instructions (e.g. CNC cutting data or wateijet cutting data) for manufacturing any remaining (or all) metallic components with the metallic plate; (ii) socket 200 in either: (a) a completed form, or an amount of polymeric material (e.g. a material suitable for 3D printing) with instructions (e.g. data for 3D printing) for manufacturing socket 200 with the polymeric material (e.g. with a 3D printer); (iii) the technology integration kit 300; and (iv) instructions for assembling the apparatus 10.

[0142] In keeping with FIGs. 1-3, instructions for 3D printing the polymeric components of terminal unit 100 may comprise a series of steps operable to 3D print all of the polymeric components of terminal unit 100. For example, the 3D printing instructions for the polymeric components of terminal unit 100 may comprise: (i) steps for creating 3D geometric data for the polymeric components of terminal unit 100 for: (a) replicating the look and size of user 1’s hand based on a computergenerated image such as digital photo, and (b) incorporating conduit network 144, the recess with mounting bay 120 into the 3D geometric data for the polymeric components; (ii) steps for printing the polymeric components 3D geometric data; and (iii) steps for preparing the 3D printed polymeric components for integration into terminal unit 100 after they are 3D printed.

[0143] In keeping with FIGs. 1-3, instructions for manufacturing the metallic components of terminal unit 100 may comprise a series of steps operable to manufacture all of the metallic components of the terminal unit 100. For example, the instructions for manufacturing the metallic components may comprise: (i) steps for creating 2D cutting data sized according to user l’s hand; (ii) steps for manufacturing the 2D cutting data using laser cutting, waterjet cutting, or the like; and (iii) steps for preparing the cut metallic components for integration into terminal unit 100 (e.g. removing the metallic components from the metal sheet if they are still attached to the metal sheet via a frangible portion and filing down any remainder of the frangible portion).

[0144] In keeping with FIGs. 1-2 and 11-12, instructions for 3D printing socket 200 may comprise a series of steps operable to 3D print the entirety or portions of socket 200. For example, the 3D printing instructions for socket 200 may comprise: (i) steps for creating 3D geometric data for socket 200 for: (a) sizing socket 200 to accommodate the affected limb of user 1 based on manual measurement or a computer-generated image such as digital photo, and (b) incorporating mounting body 220, mounting bays 230, and conduit network 240 as described above into the 3D geometric data for socket 200; (ii) steps for printing the socket 3D geometric data; and (iii) steps for preparing socket 200 for integration into apparatus 10 after socket 200 is 3D printed.

[0145] In keeping with FIGs. 1-16, instructions for assembling apparatus 10 may comprise a series of steps operable to allow user 1 to assemble apparatus 10 on their own based on above-described method 400 and the local manufacturing capabilities of a particular area. For example, the instructions for assembling apparatus 10 may comprise: (i) assembling terminal unit 100 by: (a) assembling finger digits 111, (b) assembling thumb digit 112, (c) assembling force transfer elements 105, and (d) combining finger digits 111, thumb digit 112, force transfer elements 105, hand body 102, and wrist portion 110 into terminal unit 100; (ii) engaging socket 200 with terminal unit 100; (iii) routing ribbon wires 350 through conduit networks 140 and 240 and connecting conduit networks 140 and 240 to one another via the connections of ribbon wires 350; (iv) engaging multi-energy sensors 310 with first set of ribbon wire 351 and mounting multi-energy sensors 310 into mounting bays 120; (v) engaging multi-energy haptic generators 320 with third set of ribbon wire 353 and mounting multi-energy haptic generators 320 into mounting bay 231; and (vi) engaging controller 340 with second ribbon wire 352 and mounting controller 340 into mounting bay 232.

[0146] Components of apparatus 10 may be manufactured and / or sold together or separately. For example, terminal unit 100, socket 200, and technology integration kit 300 may be manufactured and / or sold separately or together. As a further example, technology integration kit 300 may be sold alone with access to downloadable instructions for: (i) 3D printing the polymeric components of terminal unit 100; (ii) 3D printing socket 200; and (iii) laser cutting or waterjet cutting the metallic components of terminal unit 100, each of which may be purchasable and / or downloadable separately or together. In keeping with this disclosure, technology integration kit 300 may incorporate any types of electronic bundles, wires sized relative to the size of apparatus 10, housings with mounting areasfor electronic components, prosthetic apparatuses, data transceivers, gesture control devices, controllers, and any other type of integrated physiological sensors.

[0147] Aspects of a system 600 are now described. As shown in FIG. 9, system 600 may comprise: (i) terminal unit 100 fully assembled; (ii) socket 200; (iii) technology integration kit 300; and (iv) instructions for assembling fully assembled terminal unit 100, socket 200, and technology integration kit 300 into apparatus 10.

[0148] Instructions for assembling apparatus 10 may comprise a series of steps operable to allow user 1 to assemble apparatus 10 on their own based on above-described method 400. For example, the instructions for assembling apparatus 10 may comprise: (i) engaging socket 200 with terminal unit 100; (ii) routing ribbon wires 350 through conduit networks 140 and 240 and connecting conduit networks 140 and 240 to one another via the connections of ribbon wires 350; (iii) engaging multienergy sensors 310 with first set of ribbon wire 351 and mounting multi-energy sensors 310 into mounting bays 120; (iv) engaging multi-energy haptic generators 320 with third set of ribbon wire 353 and mounting multi -energy haptic generators 320 into mounting bay 231; and (v) engaging controller 340 with second ribbon wire 352 and mounting controller 340 into mounting bay 232.

[0149] Although apparatus 10 is described as comprising 3D printed body-powered prosthetic hand, apparatus 10 may comprise any terminal unit (e.g. a prosthetic arm, leg, or the like) with components such as a hand, a wrist, an elbow, a foot, an ankle, and a knee. Further, although technology integration kit 300 is described as being integrated into apparatus 10 and comprising electronic components as described above, technology integration kit 300 may include any electronic components and be used with any prosthetic and / or wearable apparatus. As shown in FIGs. 9 and 10, multi-energy sensors 310 may be mountable anywhere on hand body 102 and / or digits 103 where they can be utilized to gather data; multi-energy generators 320 may be mountable anywhere on socket 200 where contact with skin 2 may be made; and / or ribbon wires 350 may comprise any type of wire with any type of conductive material operable to transmit data and power between sensors 310, generators 320, controller 340, and / or power source 341.

[0150] Additional aspects of this disclosure are now described with respect to additional examples of apparatus 10. For example, some additional aspects are described with reference to additional examples of apparatus 10 comprising an exemplary terminal unit 800 shown conceptually in FIGs. 11 and 12 as a prosthetic hand, an exemplary socket 900 shown conceptually in FIGs. 13-15 as beingwearable on an affected limb, and / or an exemplary technology integration kit 1000 shown conceptually in FIG. 16 as being engageable with all of the different examples of apparatus 10 described herein. Each variation of apparatus 10 described with references to these additional examples may be incorporated into any variation of apparatus 10 described herein and vice versa, each combination and iteration being part of this disclosure. For example, aspects of apparatus 10 such as terminal unit 100, socket 200, and / or technology integration kit 300 may be used interchangeably with aspects of terminal unit 800, socket 900, and / or technology integration kit 1000, each of which may include elements similar to those of terminal unit 100, socket 200, and technology integration kit 300, but with their respective 800, 900, and 1000, series of numbers, whether or not those elements are depicted in FIGs. 10-16 or expressly referenced herein.

[0151] Any aspects described with references to terminal unit 800, socket 900, and technology integration kit 1000 may be included with any variation of terminal unit 100, socket 200, and technology integration kit 300 described herein, each possible combination or iteration being part of this disclosure. For example, any variation of: (i) terminal unit 100 may comprise any combination of terminal unit 800; (i) socket 200 may comprise any combination of socket 900; and (iii) technology integration kit 300 may comprise any combination of technology integration kit 1000.

[0152] Additional aspects of apparatus 10 are now described with reference to FIGs. 11-37. As shown in FIG. 17, another example of apparatus 10 may comprise terminal unit 800, socket 200, 900, and technology integration kits 300, 1000.

[0153] Terminal unit 800 may comprise a plurality of digits 810. As shown in FIGs. 11-12, plurality of digits 810 may comprise an index finger 811, a middle finger 812, a ring finger 813, a pinky 814, and a thumb 815. In keeping with above, aspects of plurality of digits 810 may be optimized for increased strength and durability. As shown in FIGs. 11-12, like terminal unit 100 described above, terminal unit 800 also may be made of two different materials, such as a first material comprising a 3D-printable polymeric material and a second material comprising a lightweight structural material such as aluminum or carbon fiber. Similar to that described in the ‘606 Patent, first portions of terminal unit 800 may be 3D printed from the first material, second portions of unit 800 may be cut from a sheet of the second material, and said portions may be assembled together. As shown in FIGs. 11-12, for added a strength, a body 850 of terminal unit 800 may comprise a carbon fiber plate operable to protect and add additional strength to the polymeric components of terminal unit 800.

[0154] Terminal unit 800 may comprise mounting bays 820 that are sized and configured to function similarly to mounting bay 120 described above with reference to FIGs. 5-6. As shown in FIGs. 1 1-12, fingerprint portions of index finger 811 and thumb 815 may comprise mounting bays that are mountable with multi-energy sensors 310 from technology integration kit 1000 as described below. Other portions of digits 810 and / or body 850 may comprise additional mounting bays 820 for additional sensors or electronic components from technology integration kit 1000.

[0155] As shown in FIG. 11, top of body 850 may comprise a top of hand mounting bay 820 that is operable to mount sensor 1061 and establish power and data connections thereto. Top of hand mounting bay 820 may comprise conduit network 144 and be configured to establish an electrical power and / or data connection between controller 340 and sensor 1061 when mounted in bay 820. As shown in FIG. 11, the top of hand mounting bay 820 may be mountable with any of the sensors or electronic components described in this disclosure. As shown in FIG. 12, a distal portion of one or more digits 810 may comprise a fingertip mounting bay 820 (e.g., like bay 120 of FIG. 5). Each of middle finger 812, ring finger 813, pinky 814, and / or thumb 815 may thus be mountable with one or more sensors 1061 as described below. As shown in FIG. 12, the fingertip mounting bay 820 also may be mountable with any of the sensors or electronic components described in this disclosure

[0156] As shown in FIGs. 11-12, at least one digit 810 may have a sensor 1061 mounted in a respective mounting bay that is different from another sensor 1061 mounted in a respective mounting bay of another digit 810, so that different digits 810 may be operable with their respective sensors 1061 to perform different functions. Advantageously, this allows user 1 to customize aspects of terminal unit 800 to fit a particular job or work function, making their affected limb equally or more valuable than their other limb in certain work settings.

[0157] As shown in FIGs. 13-15, 17-23, and 28, socket 900 may comprise a plurality of mounting bays 950 comprising mounting bays 951, 952, and 955. Mounting bay 950 may be formed (e.g., 3D printed) into an exterior portion of socket 900. Mounting bay 955 may be mountable with an electronic device 1070 as described below. As shown in FIGs. 13-23 and 28, electronic device 1070 may be engageable with controller 340, multi-energy haptic generators 320, and battery 341 via ribbon wires 350 when mounted into mounting bay 955. Different types of electronic devices 1070 may be mountable with mounting bay 955 without departing from this disclosure. As shown in FIG. 28 from left to right, electronic device 1070 may be a smartphone (e.g., an Apple iPhone) or any other type ofelectronic communication device may be similarly engageable with mounting bay 955, such as smartwatch (e.g., an Apple Watch), a tablet (e.g., an Apple iPad Mini), or simply a data receiving device (e.g., like an antenna, cellular chip, router, or the like). For simplicity and ease of description, electronic device 1070 is shown in FIGs. 13-23, as a smartphone and interchangeably described as a smartphone 1070 throughout this disclosure, although any communication device may be used.

[0158] As shown in FIGs. 11-15, 17-19, and 21-23, mounting bays 951 and 952 may be formed (e.g., 3D printed) integral with socket 900, such as into sides 953 and 954 of socket 900. As shown in FIGs. 16, 20, 26-28, and 37, mounting bays 951 and 952 also may formed (e.g., 3D printed) as standalone engagement features that are removably attachable to opposing sides 953 and 954 (e.g., as shown in FIG. 16, where they can be snap fit therein). Either way, however formed, mounting bays 951, 952 may comprise interlocking structures that are removably engageable with corresponding interlocking structures of any type of electronic device. Numerous examples of such devices are described herein to further highlight the mass-customizability of apparatus 10.

[0159] As shown in FIGs. 11-14, mounting bays 951, 952 may be mountable with the same type of electronic devices, such as to form an array of multi-energy generators 320 on sides of 953, 954 for the purpose of communicating with and / or affecting one or both sides of the limb. As shown in FIG. 15, mounting bays 951 and 952 also may be mountable with different electronic devices such as: (i) a multi-energy haptic generator 320; (ii) a continuous glucose monitoring device (or “CGM”) 1080; (iii) an insulin pump 1081; (iv) a heart rate monitor 1082; (v) a pulse oximeter 1083; (vi) a blood pressure monitor 1084; (vii) any of sensors 310 described above; and (vii) any other known sensing technology that is operable when positioned against skin 2, powered by battery 341, and / or placed in data communication with controller 340. As also shown in FIGs. 11-15, mounting bay 951 may be located opposite of mounting bay 952 so that an output or measurement from one of bay 951, 952 (e.g., a thermal energy or temperature) may be positioned to interact with an output or measurement from the other of bay 951, 952 (e g., a corresponding thermal energy or temperature).

[0160] As shown in FIG. 16, technology integration kit 1000 may be stand-alone technology bundle comprising any combination of one or more sensors 1061, electronic device 1070, CGM 1080, insulin pump 1081, heart rate monitor 1082, pulse oximeter 1083, blood pressure monitor 1084, and / or skin thermometer 1085 and firmware operable therewith via controller 340. As shown in FIGs. 11-15, the standalone bundle may be engaged with terminal unit 800 and socket 200, 900.

[0161] Different types of sensors 1061 may be used individually and / or in combination to enhance a performance of user l’s affected limb when terminal unit 800 is worn. As shown in FIG. 11, sensor 1061 may comprise an electronic image sensor, such as a CMOS image sensor like those typical found in digital cameras. Sensor 1061 may be operable to capture images and / or video. For example, sensor 1061 may be operable to convert light that strikes photodiodes into electrical signals and further convert the electrical signals from analog to digital thereby producing a viewable photo and / or video. As shown in FIG. 11-12, sensor 1061 may comprise a camera located in the top of hand mounting bay 820 and / or the fingertip mounting bay 820.

[0162] As shown in FIGs. 11-12, sensor 1061 may comprise a barcode scanner operable to read a barcode. Sensor 1061 may comprise a camera and the barcode scanner may comprise a barcode codec operable therewith. Alternatively, the barcode scanner of sensor 1061 may comprise a laser generator operable to: (i) direct a beam of light across the barcode and measure how much of the light is reflected off of the barcode; (ii) convert the reflected light energy into an analog signal; and (iii) transfer the analog signal to controller 340 and / or electronic device 1070. The analog signal sent by the barcode scanner may then be decoded and processed by controller 340 and / or device 1070 such that user 1 would then be provided with the data (e.g. on a display of smartphone 1070) that is contained in and / or associated with the barcode. As shown in FIGs. 11-12, sensor 1061 may comprise a camera located in one mounting bay 820 and a barcode scanner in another bay 820 so that different portions of terminal unit 800 may be operable to gather different types of data.

[0163] As shown in FIGs. 11-12, sensor 1061 may comprise an ultrasound transducer operable to generate an ultrasound image from a perspective within one of mounting bays 820. The ultrasound transducer of sensor 1061 may be operable to generate a high-frequency sound wave toward skin 2 of user 1, such that the high-frequency sound wave bounces off different parts of user l’s body. For example, when the high-frequency sound wave bounces off the different parts of user l’s body, the ultrasound transducer of sensor 1061 may be operable to: (i) record the way the high-frequency sound wave bounces around user l’s body; and (ii) transmit the recorded data to controller 340 and / or electronic device 1070 for processing, such that user 1 will be able to view (e.g. on a display of smartphone 1070) a moving image. As shown in FIG. 12, sensor 1061 may comprise an ultrasound transducer that is located in a fingertip mounting bay 820 of index finger 811 so that the transducer is easily positionable and moveable relative to a target.

[0164] As shown in FIGs. 13-16, electronic device or smartphone 1070 may be operable to work in conjunction with controller 340 (e.g., FIG. 16) and / or another processor in data communication therewith (e.g., an Al agent) to perform any functions described herein.

[0165] Controller 340 and electronic device 1070 may be operable with sensors 310, 1061 to establish and maintain data feedback loops by acting as a “local controller” when engaged with electronic device 1070. As shown in FIG. 16, controller 340 may actively manage: (i) the charging of battery 341; (ii) the charging of smartphone 1070; (iii) providing power to multi-energy haptic generators 320; and (iv) maintaining data communications between multi-energy generators 320 and smartphone 1070. In complement, as shown in FIGs. 13-16, because of its enhanced capabilities, smartphone 1070 may act as a “local processor” operable to: (i) receive the sensory data from sensors 310 and / or 1061 via controller 340; (ii) generate, based on the sensory data, control signals indicating the type, intensity, and timing of one or more energies to be output toward skin 2 with multi -energy generator 320, preferably without the support of an external processor; and (iii) transmit the control signals to generator 320. In this example, controller 340 may then (iv) be operable with the control signals to cause one or more generator elements of each generator 320 to output the one or more energies responsive to the sensory data in real time with minimal lag, particularly if all of the processing may be done locally with smartphone 1070.

[0166] Controller 340 and electronic device 1070 may be similarly operable with other electronic devices to maintain different types of data feedback loops. As shown in FIG. 15, CGM 1080 may be operable to monitor glucose levels of user 1. For example, CGM 1080 may comprise an electronic glucose sensor that is positionable against skin 2 when socket 900 is worn and comprises a microneedle probe that is insertable into skin 2 of user 1 with controller 340 and subsequently operable to measure an amount of glucose located in fluid between user l’s cells. CGM 1080 may transmit the glucose levels of user 1 to controller 340 and / or 1070, such that user 1 may view (e.g. on a display) the glucose level measure by CGM 1080. As shown in FIG. 14, insulin pump 1081 may be operable with controller 340 to give user 1 a dose of insulin. For example, insulin pump 1081 may comprise a reserve of insulation operable to administer a dose of insulin to user 1 from the reserve when controller 340 and / or 1070 determines that user l’s glucose level (e.g. measured by CGM 1080) is over a certain predetermined threshold. As a further example, heart rate monitor 1082 and / or pulse oximeter 1083may be removed and replaced with additional insulin reserves operable with insulin pump 1081 to administer additional does of insulin to user 1.

[0167] As shown in FIG. 15, heart rate monitor 1082, may be operable to measure the heart rate of user 1. Heart rate monitor 1082, may comprise: (i) an LED; and (ii) a photodiode. The LED may be operable to transmit green light toward skin 2 of user 1. The photodiode may be operable to measure the intensity of light reflected back from skin 2 and transmit that data to controller 340 and / or 1070 for processing. For example, if more of the green light is reflected (e.g. less green light is absorbed because there is less blood) by the photodiode then controller 340 and / or 1070 will output a lower heart rate, and if less light is reflected than controller 340 and / or 1070 will output a higher heart rate. Heart rate monitor 1082 may comprise any heart rate monitoring technology, such as those used for Apple Watch™, Samsung Galaxy Watch™, or the like

[0168] As shown in FIG. 15, pulse oximeter 1083, may be operable to measure blood oxygenation of user 1. Pulse oximeter 1083, may comprise: (i) an LED; and (ii) a photodiode. The LED may be operable to transmit red and / or infrared light toward skin 2 of user 1. The photodiode may be operable to measure the intensity of light reflected back from skin 2 and transmit that data to controller 340 and / or 1070 for processing. For example, oxygenated blood absorbs more infrared light (e.g. more red light will be reflected back to the photodiode) whereas deoxygenated blood absorbs more red light (e.g. more infrared light is reflected back to the photodiode). In keeping with this example, if the photodiode receives back more red light the controller will process the data and determine user 1’s blood oxygenation is higher, and if the photodiode receives back more infrared light than the controller will process the data and determine that user l’s blood oxygenation is lower. Similar to heart rate monitor 1082, pulse oximeter 1083 also may comprise any blood oxygen monitoring technology, such as those used for the Apple Watch™, the Samsung Galaxy Watch™, or the like.

[0169] As shown in FIG. 15, blood pressure monitor 1084 may be operable to measure the blood pressure of user 1. Blood pressure monitor 1084 may comprise a Photoplethysmogram sensor (or “PPG”). The PPG may comprise: (i) an LED; and (ii) a photodiode. The PPG may use the LED and photodiode to measure the variations of volume of user l’s blood circulation. The LED may output light toward skin 2 of user 1. The photodiode may be operable to measure the intensity of light reflected back from skin 2 and transmit that data to controller 340 and / or 1070 for processing. For example, controller 340 and / or 1070 will process the data from the photodiode (e.g. the intensity oflight reflected back to the photodiode) and output a calculated value of user l’s blood pressure. As above, pulse oximeter 1084 also may comprise any blood pressure monitoring technology, such as those used for the Apple Watch™, the Samsung Galaxy Watch™, or the like.

[0170] In keeping with this disclosure, heart rate monitor 1082, pulse oximeter 1083, and blood pressure monitor 1084 may be separate and / or standalone devices. For example, heart rate monitor 1082, pulse oximeter 1083, and blood pressure monitor 1084 may be standalone devices mounted in separate mounting bays of mounting bays 951 or 952. In keeping with this example, heart rate monitor 1082, pulse oximeter 1083, and blood pressure monitor 1084 may be combined into one optical device and mounted in one of bays 951 or 952.

[0171] Similar to as shown in FIG. 19, smartphone 1070 may be removably coupled to mounting bay 955. The first plug portion of mounting bay 955 may form a detachable connection to smartphone 1070. For example, first plug portion may be a USB-A, USB-B, or USB-C connector. Smartphone 1070 receives power from battery 341 when smartphone 1070 is connected to first plug portion. In other examples, smartphone 1070 charges battery 341 when smartphone 1070 is connected to first plug portion. Smartphone 1070 may send and receive signals from CGM 1080, insulin pump 1081, heart rate monitor 1082, pulse oximeter 1083, blood pressure monitor 1084, temperature sensor 152, and / or multi-energy haptic generators 320 when smartphone 1070 is coupled to the first plug portion of mounting bay 955. Smartphone 1070 may transmit the signals to a remote database via wireless communication. User 1 may couple different smartphones 1070 to mounting bay 955.

[0172] As shown in FIGs. 17-23, any aspects of socket 900 described may be interchangeable described with reference to a sleeve 1900 that similar attachable to user l’s forearm. The similarities are numerous. For example, sleeve 1900 may be similarly customized to fit user l’s forearm and assembled according to methods 400, 500 to realize similar benefits. As a further example, sleeve 1900 also may be similarly operable with technology integration kits 300, 1000, making it possible for user 1 to obtain additional senses and / or capabilities.

[0173] As shown in FIGs. 17-18, the top of sleeve 1900 may be similar or identical to the top of socket 900 in that both may comprise a mounting bay 955 for electronic device 1070. As shown in FIG. 18, the sides of sleeve 1900 also may be similar or identical to the sides of socket 900 in that both may similarly comprise mounting bays 951, 952 on sides 953, 954. As shown in FIGs. 19-20, technology integration kit 1000 (or 300) may be similarly mounted in sleeve 1900 with little or nomodification without departing from this disclosure. As shown in FIGs. 17-20, mounting bays 951, 952 may again be mountable with the same type of electronic devices, such as to form an array of multi-energy generators 320 on sides of 953, 954 for the purpose of communicating with and / or affecting one or both sides of the limb. In keeping with FIG. 15, mounting bays 951 and 952 also may again be mountable with different electronic devices such as: (i) multi-energy haptic generator 320; (ii) CGM 1080; (iii) insulin pump 1081; (iv) heart rate monitor 1082; (v) pulse oximeter 1083; (vi) blood pressure monitor 1084; (vii) any of sensors 310 described above; and (vii) any other known sensing technology that is operable when positioned against skin 2, powered by battery 341, and / or placed in data communication with controller 340.

[0174] In contrast to socket 900, as shown in FIGs. 18, 19, and 22-23, a bottom portion 1990 of sleeve 1990 may be mountable user 1’s forearm. As shown in FIGs. 22-23, bottom portion 1990 may comprise first attachment straps 1091 , second attachment straps 1092, and third attachment straps 1093, each of which may be operable (e.g., via Velcro) to mount sleeve 1990 onto user l’s arm.

[0175] Additional mass-customizable aspects of this disclosure are now described with ongoing reference to FIGs. 1-39. In keeping with above, elements such as multi-energy generator 320, sensors 1061, electronic device 1070, CGM 1080, insulin pump 1081, heart rate monitor 1082, pulse oximeter 1083, blood pressure monitor 1084, and / or skin thermometer 1085 may be described as an exemplary “pod 1800” that is removably engageable with a mounting bay of socket 200, socket 900, and / or sleeve 1900 in an interchangeable manner so that each wearable may be uniquely configured for user 1. Several additional examples are now described.

[0176] In keeping with above, each pod 1800 may be detachably couplable to mounting bay 951. As shown in FIGs. 24-25, each pod 1800 may comprise a housing 1802, a pod conductors 1803, protrusions 1804, and a slot 1807. As shown in FIG. 26, each mounting bay 951 may comprise a groove 1805 and bay conductors 1806. Protrusions 1804 may be operable with groove 1805 to define a bayonet lock. Pod 1800 may be moveable from a first configuration where pod 1800 is coupled to socket 200, 9090 or sleeve 1900, to a second configuration where pod 1800 is decoupled therefrom.

[0177] A shown in FIG. 27, a relative movement (e.g., rotation) of between housing 1802 with protrusions 1804 and mounting bay 951 with groove 1805 may be utilized to mount pod 1800 into bay 951. As shown in FIG. 24, slot 1807 may be operable with a tool (e.g., a flat head screwdriver) to perform the relative movement by rotating pod 1800 relative to mounting bay 951. Different types oftool engagement features may be similarly used, like different keyed shape (e.g., for a Phillips head screwdriver) and a magnetic connection. As shown in FIG. 31, a slot 2207 may be similarly operable with a different pod 2200 for mounting in the same mounting bay 951. As shown in FIGs. 25-27, engaging protrusions 1804 with groove 1805 may align pod conductors 1803 with bay conductors 1806 of mounting bay 951 for the purpose of placing pod 1800 in data communication with controller 340 and / or powering pod 1800 with battery 341.

[0178] Each pod 1800 may have different technological capabilities. As shown in FIGs. 24-27, for example, pod 1800 may be remotely operable to capture and send data generated in response to physical phenomena. For example, pod 1800 may comprise a camera, microphone, accelerometer, thermometer, humidity sensor, motion detector, and / or heat sensor. In this example, pod 1800 may communicate the data to controller 340 or smartphone 1070 when mounted in bay 951 and capture the date when removed from bay 951 .

[0179] As shown in FIGs. 24-27, each pod 1800 may communicate the data to controller 340 or smartphone 1070 when mounted in bay 951 in the first configuration and capture the date when removed from bay 951 in the second configuration. For example, pod 1800 may communicate with controller 340 or smartphone 1070 by at least one of Bluetooth, Wi-Fi, ZigBee, near field communication, ZigBee, MQTT, Z-Wave, and cellular protocols. Pod 1800 may be electrically coupled to battery 341 when pod 1800 is in the first configuration. Pod 1800 may include its own power source (e.g., a battery) such that pod 1800 may sense physical phenomena when pod 1800 is in the second configuration. 1802 may define a durable exterior casing defining a water-tight interior cavity. A plurality of electronic components may be positioned within the interior cavity. The electronic components may be operable so as to generate and send electrical signals indicative of the physical phenomena proximate the internal cavity. One or more conductive surfaces 1803 may be coupled to housing 1802 so as to communicate the electrical signals from the internal cavity.

[0180] As shown in FIGs. 24-27, sleeve 1900 may include a plurality of pods 1800. Each of the plurality of pods 1800 may be detached and arranged in an area so as to establish a mesh observation network. Deployable pods 1800 may allow user 1 to quickly establish a monitored perimeter. The network may include one or more sensor types. Pods 1800 may observe their positions relative to each other such that the captured data may be combined to provide a complete representation of an observed area. Pods 1800 do not need to be in the vicinity of socket 900 to capture data. For example, a usermay deploy pods 1800 in a desired area, then return to the area later and couple pods 1800 to respective mounting bays 951 such that the captured data is transmitted to controller 340 or smartphone 1070. Each pod 1800 may include an encryption system to transmit generated data securely.

[0181] As shown in FIG. 29, a pod 2000 may comprise a housing 2002 and outward-facing environmental sensors 2007, such as light, sound, and / or air sensors operable to capture data associated with user l’s environment. For example, sensors 2007 may be operable with controller 340 and / or smartphone 1070 to continuously monitor user l’s environment and provide alerts based on the data via multi-energy generator 320.

[0182] As shown in FIG. 30, a pod 2100 may comprise a housing 2102 and skin-facing physiological sensors 2107. For example, sensors 2007 (e.g., like sensors 1061) may be operable with controller 340 and / or smartphone 1070 to continuously monitor user l’s health and provide alerts based on the data via multi-energy generator 320.

[0183] As shown in FIG. 31, a pod 2200 may comprise a housing 2202, skin-facing physiological sensors 2207 (e.g., like sensors 2107), and a raised logo 2207 that can be utilized like slot 1807 to mount pod 220 inside of bay 951 and also a heat sink for pod 2200.

[0184] As shown in FIG. 32, a pod 2300 may comprise a housing 2302 and a skin-facing surface comprising an array of microneedles operable with controller 340 to inject fluids into skin 2. For example, each microneedle may be 0.35mm tall and 0.18mm wide and organized into an array with 1443 microneedles. In this example, controller 340 may operable a bladder that expands inside of housing 2302 to inject the fluid.

[0185] As shown in FIG. 33, a pod 2200 may comprise a housing 2202 and a PPG sensors 2407.

[0186] As shown in FIGs. 34-35, different pods 2400, 2500 may comprise different housings 2402, 2502 containing elements of multi-energy generator 320.

[0187] As shown in FIGs. 36-37, a plurality of pods 1800 may be loaded into a backing plate 2600, connected with conductors or fluid delivery devices 2601 extending through conduits 2601 of plate 2600 and charged up with electricity or fluids before being mounted.

[0188] While principles of the present disclosure are described herein with reference to illustrative aspects for particular applications, the disclosure is not limited thereto. Those having ordinary skill in the art and access to the teachings provided herein will recognize additional modifications,applications, aspects, and substitution of equivalents all fall in the scope of the aspects described herein. Accordingly, the present disclosure is not to be considered as limited by the foregoing description.

Claims

EMBODIMENTS IN WHICH AN EXCLUSIVE PROPERTY OR PRIVILEGE IS CLAIMEDARE DEFINED AS FOLLOWS:

1. An apparatus comprising: a multi-energy sensor mountable in a distal portion of a digit of a terminal unit; and a multi-energy haptic generator mountable in a socket of the terminal unit so that the multienergy haptic generator is maintained against skin of an affected limb when the socket is worn on the affected limb, the multi-energy sensor being operable with the multi-energy haptic generator to output one or more different types of haptic energy toward the skin responsive to the multi-energy sensor when the distal portion is placed in contact with an object while the socket is worn on the affected limb.

2. The apparatus of claim 1, wherein the apparatus further comprises a controller mountable in the socket in data communication with the multi-energy sensor and multi-energy haptic generator, the controller comprising one or more of: a processor; a memory element; a transceiver; a touchscreen; a speaker; and a battery.

3. The apparatus of claim 1, wherein the apparatus further comprises a conduit that extends throughout the terminal unit.

4. The apparatus of claim 1, wherein the multi-energy sensor is mountable into a recess in a fingerprint portion of the distal portion of the digit.

5. The apparatus of claim 3, wherein the apparatus further comprises a plurality of wires that are positionable throughout the conduit such that the plurality of wires are operable to connect the multi-energy sensor to the controller, and the controller to the multi-energy haptic generator.

6. The apparatus of claim 5, wherein the plurality of wires are sized relative to the dimensions of the terminal unit.

7. The apparatus of claim 6, wherein the plurality of wires comprise ribbon wires.

8. The apparatus of claim 2, wherein the controller is in data communication with the multienergy sensor and the multi-energy haptic generator such that: the multi-energy sensor transmits sensory data to the controller; the controller processes the sensory data; and the processed sensory data is transmitted to the multi-energy haptic generator by the controller such that the multi-energy haptic generator is operable to output the one or more different energy types toward the skin of the affected limb responsive to the processed sensory data.

9. The apparatus of claim 2, wherein the controller comprises a smartphone.

10. The apparatus of claim 1 or 2, wherein the one or more different types of haptic energy output toward the skin of the affected limb by the multi-energy haptic generator comprises one or more of: a vibrational energy;an electrical energy; a thermal energy; a pressure energy; and a light energy.

11. The apparatus of claim 1 or 2, wherein at least one of: the socket is removable from the terminal unit; the digit is removable from the terminal unit; the multi-energy sensor is removable from the distal portion of the digit; and the multi-energy haptic generator is removable from the socket.

12. The apparatus of claim 2, wherein the controller is removable from the socket.

13. The apparatus of claim 1 or 2, wherein the multi-energy sensor comprises a metal diaphragm.

14. The apparatus of claim 13, wherein the multi-energy sensor comprises: a temperature sensor mountable on the metal diaphragm operable to measure the temperature of the object; and a strain gauge mountable on the metal diaphragm operable to measure the strain on the metal diaphragm.

15. The apparatus of claim 1 or 2, wherein the terminal unit further comprises a body-powered 3D printed prosthetic hand.

16. The apparatus of claim 15, wherein the terminal unit further comprises one or both of a wrist and an elbow.

17. The apparatus of claim 1 or 2, wherein the terminal unit further comprises a foot.

18. The apparatus of claim 17, wherein the terminal unit further comprises one or both of an ankle and a knee.

19. A method comprising: mounting a multi-energy sensor in a distal portion of a digit of a terminal unit; mounting a multi-energy haptic generator in a socket of the terminal unit so that the multienergy haptic generator is maintained against skin of an affected limb when the socket is worn on the affected limb; and causing the multi-energy haptic generator to output one or more different types of haptic energy toward the skin responsive to the multi-energy sensor when the distal portion is placed in contact with an object while the socket is worn on the affected limb.

20. The method of claim 19, wherein causing the multi-energy haptic generator to output one or more different types of haptic energy toward the skin responsive to the multi-energy sensor when the distal portion is placed in contact with the object while the socket is worn on the affected limb comprises: mounting a controller in the socket, the controller comprising one or more of: a processor; a memory element; a transceiver; a touchscreen; a speaker; anda battery; and causing the controller to be in data communication with the multi-energy sensor and multienergy haptic generator.

21. The method of claim 19, wherein the terminal unit comprises a conduit that extends throughout the terminal unit.

22. The method of claim 19, wherein mounting the multi-energy sensor in the distal portion of the digit of the terminal unit comprises: mounting the multi-energy sensor in a recess in a fingerprint portion of the distal portion of the digit of the terminal unit.

23. The method of claim 21, wherein causing the controller to be in data communication with the multi-energy sensor and multi-energy haptic generator comprises: positioning a plurality of wires throughout the conduit to connect the multi -energy sensor to the controller, and the controller to the multi-energy haptic generator.

24. The method of claim 23, wherein positioning the plurality of wires throughout the conduit to connect the multi-energy sensor to the controller, and the controller to the multi-energy haptic generator comprises: sizing the plurality of wires relative to the dimensions of the terminal unit.

25. The method of claim 24, wherein the plurality of wires comprise ribbon wires.

26. The method of claim 20, wherein causing the multi-energy haptic generator to output the one or more different types of haptic energy toward the skin of the affected limb comprises: receiving, with the controller, sensory data from the multi-energy sensor;processing, with the controller, the sensory data; and transmitting, with the controller, the processed sensory data to the multi-energy haptic generator such that the multi-energy haptic generator is operable to output the one or more different types of haptic energy toward the skin of the affected limb responsive to the processed sensory data.

27. The method of claim 20, wherein the controller comprises a smartphone.

28. The method of claim 19 or 20, wherein the one or more different types of haptic energy output toward the skin of the affected limb by the multi-energy haptic generator comprises one or more of a vibrational energy; an electrical energy; a thermal energy; a pressure energy; and a light energy.

29. The method of claim 19 or 20, comprising one or more of: removing the socket from the terminal unit; removing the digit from the terminal unit; removing the multi-energy sensor from the digit; and removing the multi-energy haptic generator from the socket.

30. The method of claim 20, comprising removing the controller from the socket.

31. The method of claim 19 or 20, wherein the multi-energy sensor comprises a metal diaphragm.

32. The method of claim 31, whereinmounting the multi-energy sensor in the distal portion of the digit of the terminal unit further comprises: mounting a temperature sensor on the metal diaphragm operable to measure the temperature of the object; and mounting a strain gauge on the metal diaphragm operable to measure the strain on the metal diaphragm.

33. The method of claim 19 or 20, wherein the terminal unit further comprises a body-powered 3D printed hand.

34. The method of claim 33, wherein the terminal unit further comprises one or both of a wrist and an elbow.

35. The method of claim 19 or 20, wherein the terminal unit is a foot.

36. The method of claim 35, wherein the terminal unit comprises one or both of an ankle and a knee.

37. A kit comprising: instructions for 3D printing a terminal unit, the terminal unit comprising: a conduit extending throughout the terminal unit; and a multi-energy sensor mount in a fingerprint portion of a distal portion of a digit of the terminal unit; a socket wearable on an affected limb of a user and operable to connect to the terminal unit; a multi-energy sensor mountable in the multi-energy sensor mount in the fingerprint portion of the digit of the terminal unit;a multi-energy haptic generator mountable in the socket so that the multi-energy haptic generator is maintained against skin of an affected limb when the socket is worn on the affected limb; and a plurality of wires positionable in the conduit such that the plurality of wires connect the multi-energy sensor to the multi-energy haptic generator, the multi-energy sensor being operable with the multi-energy haptic generator to output one or more different types of haptic energy toward the skin responsive to the multi-energy sensor when the distal portion is placed in contact with an object while the socket is worn on the affected limb.

38. The kit of claim 37, wherein the kit further comprises a controller mountable in the socket in data communication with the multi-energy sensor and multi-energy haptic generator, the controller comprising one or more of: a processor; a memory element; a transceiver; a touchscreen; a speaker; and a battery.

39. The kit of claim 37, wherein the plurality of wires connect the multi-energy sensor to the controller, and the plurality of wires connect the controller to the multi-energy haptic generator.

40. The kit of claim 39, wherein the plurality of wires are sized relative to the dimensions of the terminal unit.

41. The kit of claim 40, wherein the plurality of wires comprise ribbon wires.

42. The kit of claim 37, wherein the controller is in data communication with the multi-energy sensor and the multi-energy haptic generator such that: the multi-energy sensor transmits sensory data to the controller; the controller processes the sensory data; and the processed sensory data is transmitted to the multi-energy haptic generator such that the multi-energy haptic generator is operable to output the one or more different energy types toward the skin of the affected limb responsive to the processed sensory data.

43. The kit of claim 38, wherein the controller comprises a smartphone.

44. The kit of claim 37 or 38, wherein the one or more different types of haptic energy output toward the skin of the affected limb by the multi-energy haptic generator comprises one or more of: a vibrational energy; an electrical energy; a thermal energy; a pressure energy; and a light energy.

45. The kit of claim 37 or 38, wherein the multi-energy sensor comprises a metal diaphragm.

46. The kit of claim 45, wherein the multi-energy sensor comprises: a temperature sensor mountable on the metal diaphragm operable to measure the temperate of the object; and a strain gauge mountable on the metal diaphragm operable to measure the strain on the metal diaphragm.

47. The kit of claim 37 or 38, wherein the instructions for 3D printing the terminal unit further comprises the terminal unit further comprising one of: a body-powered hand; or a foot.

48. The kit of claim 47, wherein the instructions for 3D printing the terminal unit further comprises the terminal unit further comprising one of: a wrist and / or an elbow; or an ankle and / or a knee.

49. An apparatus comprising: a case; an electrical trace at least partially within the case; and a plurality of pods coupled to the case, each pod in electrical communication with the electrical trace, at least one pod of the plurality of pods is a deployable monitoring device moveable from a first configuration where the at least one pod is electrically connected to the electrical trace to a second configuration where the at least one pod is electrically disconnected from the electrical trace.

50. The apparatus of claim 49, wherein the plurality of pods includes a plurality of first pods configured to detect a condition, the condition being at least one of blood alcohol content, blood sugar, hydration, heart rhythm, blood pressure, oxygen saturation, position, velocity, acceleration, UV radiation, carbon monoxide levels, and radon levels.

51. The apparatus of claim 50, wherein the plurality of pods include: a durable exterior casing defining a water-tight interior cavity;a conductive surface operable to communicate electrical signals to and from the interior cavity; and a plurality of electronic components in the cavity and operable with respect to the electrical signals, the plurality of electronic devices being operable to capture and send data generated responsive to physical phenomena proximate to the internal cavity.

52. The apparatus of claim 51, wherein the plurality of pods includes a plurality of first pods comprising a microphone or camera to capture one or more of audio, video, and still images.

53. The apparatus of claim 50 or 52, wherein at least one of the first pods detects or captures when the at least one first pod is in the second configuration.

54. The apparatus of claim 53, wherein the at least one first pod is spaced from the case when the at least one first pod is in the second configuration.

55. The apparatus of claim 53, wherein each pod includes a pod housing, a pod memory unit disposed within the pod housing, and a pod power source disposed within the pod housing.

56. The apparatus of claim 55, wherein the first pods each store data related to the detected condition in their respective pod memory unit.

57. The apparatus of claim 55 or 56, wherein the first pods transmit the data to an electrical device via at least one of the electrical trace and a wireless communication protocol.

58. The apparatus of claim 57, wherein the case includes a plurality of pod coupling elements, each pod coupling element coupling one of the pods to the case.

59. The apparatus of claim 58, wherein each pod coupling element includes a recess defined by a recess sidewall, wherein at least one of the pod housing and the recess sidewall include a protrusion and the other of the pod housing and the recess sidewall include a channel to receive the protrusion such that the pod is at least temporarily locked to the case when the protrusion is within the channel.

60. The apparatus of claim 59, wherein the pod housing comprises a waterproof enclosure.

61. The apparatus of claim 59, wherein the electrical trace includes a first electrical interface disposed in the recess, and wherein each pod includes a pod electrical interface in electrical communication with the first electrical interface when the protrusion is within the channel.

62. The apparatus of claim 61, wherein the pod includes opposing first and second surfaces, the first surface including at least one of a magnet, a recess, and a protrusion such that the pod is engageable by a corresponding tool to rotate the pod, thereby engaging the pod locking element with the pod coupling element.

63. The apparatus of claim 61, further comprising a case power source coupled to the case, the case power source electrically coupled to a second electrical interface of the electrical trace.

64. The apparatus of claim 63, further comprising an electrical controller coupled to the electrical trace, the electrical controller comprising at least one of a memory unit, a PCB, and a transceiver.

65. The apparatus of claim 50 or 52, wherein each of the first pods senses a different condition.

66. The apparatus of any one of claims 50 to 65, wherein the plurality of pods includes a second pod configured to provide an indicum of the sensed condition.

67. The apparatus of claim 66, wherein the second pod includes at least one of a light emitter, a speaker, and a vibration element.

68. The apparatus of claim 67, wherein the second pod includes an electrical interface in electrical communication with the electrical trace.

69. The apparatus of claim 57, wherein the case includes a device coupling element configured to couple an electrical device with the case.

70. The apparatus of claim 69, wherein the device coupling element includes a recess sized and dimensioned to receive at least one of a cellular phone, tablet, or watch.

71. An apparatus comprising: a case including: a case body; a pod coupling element configured to detachably couple a pod with the case body; and a device coupling element configured to couple an electrical device with the case body; and an electrical trace at least partially within the case body.

72. The apparatus of claim 71, wherein the case body includes an inner surface and an outer surface, the inner surface defining a recess that receives at least a portion of a user’s limb.

73. The apparatus of claim 72, wherein the limb is an arm.

74. The apparatus of claim 72, wherein the case is flexible to conform to the limb.

75. The apparatus of claim 72, further comprising a plurality of protrusions extending from the inner surface such that the inner surface is spaced from the user’s limb when the limb is within the recess.

76. The apparatus of claim 72, wherein the pod coupling element comprises a recess extending from the outer surface toward the inner surface.

77. The apparatus of claim 76, wherein the pod coupling element is a first one of a plurality of pod coupling elements.

78. The apparatus of claim 71, wherein the case body includes a first portion and a second portion, the first portion including the device coupling element, wherein the first portion is movable relative to the second portion.

79. The apparatus of claim 72, wherein the device coupling element includes a recess extending from the outer surface toward the inner surface such that the electrical device is accessible by the user when the device is coupled to the case by the device coupling element.

80. The apparatus of claim 79, wherein the electrical trace includes a first end and a second end, the first end defining an electrical interface such that the electrical device is electrically connected to the electrical trace when the electrical device is coupled to the case.

81. The apparatus of claim 80, further comprising a power source coupled to the electrical trace.

82. The apparatus of claim 81, wherein the power source provides power to the electrical device.

83. The apparatus of claim 81, wherein the second end of the electrical trace is configured to electrically connect to the pod when the pod is coupled to the pod coupling element.

84. The apparatus of claim 83, wherein the power source provides power to the pod.

85. The apparatus of claim 84, wherein the second end is one of a plurality of second ends, each second end configured to electrically connect one of a plurality of pods to the electrical trace.

86. The apparatus of claim 84, wherein the second end comprises at least one of a contact pad, pogo pin, and a micro-USB connector.

87. The apparatus of claim 79, wherein the electrical trace comprises a wire.

88. The apparatus of claim 79, wherein the electrical trace comprises a plurality of wires.

89. The apparatus of any one of claims 80 to 88, wherein the electrical device is at least one of a cellular phone, a watch, a tablet, a processor, and a memory unit.

90. The apparatus of claim 89, wherein the electrical device is configured to communicate with a communication network by at least one of Bluetooth, Wi-Fi, ZigBee, near field communication, ZigBee, MQTT, Z-Wave, and cellular communication.

91. The apparatus of claim 89, wherein the electrical device is detachably coupled to the case.

92. The apparatus of claim 89, further comprising the electrical device.

93. The apparatus of claim 92, wherein the electrical device is fixed to the case.

94. The apparatus of any of claims 71 to 93, further comprising the pod.

95. The apparatus of claim 94, wherein the pod is detachably coupled to the case.

96. The apparatus of claim 94, wherein the pod is disposed in the recess defined by the pod coupling element.

97. The apparatus of claim 95, wherein the pod is removably positioned within the recess defined by the pod coupling element.

98. The apparatus of claim 97, wherein the pod includes a pod locking element configured to at least temporarily couple the pod to the case.

99. The apparatus of claim 98, wherein one of the pod locking element and the pod coupling element include a protrusion and the other of the pod locking element and the pod coupling element include a recess that receives the protrusion.

100. The apparatus of claim 99, wherein the recess and the protrusion form a bayonet lock.

101. The apparatus of claim 98, wherein the pod is in electrical communication with the electrical trace when the pod locking element is engaged with the pod coupling element.

102. The apparatus of claim 98, wherein the pod includes opposing first and second surfaces, the first surface including at least one of a magnet, a recess, and a protrusion such that the pod is engageable by a corresponding tool to rotate the pod, thereby engaging the pod locking element with the pod coupling element.

103. The apparatus of claim 102, wherein the second surface includes at least one of a contact pad, pogo pin, and a micro-USB engageable with the second end of the electrical trace.

104. The apparatus of claim 95, further comprising a pod power source.

105. The apparatus of claim 104, wherein: the pod includes a pod housing; and the pod power source is disposed within the pod housing.

106. The apparatus of claim 105, wherein the pod include a pod memory unit, the pod memory unit disposed within the pod housing.

107. The apparatus of claim 106, wherein the pod housing is waterproof to a depth of twenty five feet.

108. The apparatus of claim 106, wherein the pod housing is hermetically sealed.

109. The apparatus of claim 106, wherein the pod comprises a sensor that senses a condition, the condition comprising at least one of glucose, alcohol, blood sugar, hydration, heart rhythm, blood pressure, oxygen saturation, UV radiation, carbon monoxide levels, and radon levels.

110. The apparatus of claim 0, wherein the pod senses the condition when the pod is coupled to the case.

111. The apparatus of claim 0, wherein the pod senses the condition when the pod is decoupled from the case.

112. The apparatus of claim 110 or 111, wherein the pod communicates data related to the sensed condition to the electrical device.

113. The apparatus of claim 112, wherein the pod communicates with electrical devices by at least one of wired connection, Bluetooth, Wi-Fi, ZigBee, near field communication, ZigBee, MQTT, Z- Wave, and cellular communication.

114. The apparatus of claim 106, wherein the pod is one of a plurality of pods coupled to the case.

115. The apparatus of claim 114, wherein a first pod of the plurality of pods comprises a deployable monitoring device.

116. The apparatus of claim 115, wherein the first pod records at least one of sound, images, and video.

117. The apparatus of claim 116, wherein the first pod comprises a microphone or a camera.

118. The apparatus of claim 115, wherein the first pod records the at least one of sound, images, and video when the first pod is decoupled from the case.

119. The apparatus of claim 118, wherein the first pod stores data in the pod memory unit, the data corresponding to the recorded sound, image, or video.

120. The apparatus of claim 116 or 118, wherein the first pod communicates the recorded sound, image, or video to the electrical device via the electrical trace when the first pod is coupled to the case.

121. The apparatus of claim 116 or 118, wherein the first pod communicates the sound, image, or video to the electrical device via at least one of Bluetooth, Wi-Fi, ZigBee, near field communication, ZigBee, MQTT, Z-Wave, and cellular communication when the first pod is detached from the case.

122. The apparatus of claim 112, wherein a first pod of the plurality of pods is a sensor and a second pod of the plurality of pods is configured to deliver a substance.

123. The apparatus of claim 122, wherein the substance is at least one of a liquid, a solid, and a gas.

124. The apparatus of claim 122, wherein the substance is a medicament.

125. The apparatus of claim 122, wherein the substance is at least one of caffeine, B12, epinephrine, alcohol, insulin, naloxone, glucagon, glycerol trinitrate, and testosterone.

126. The apparatus of claim 122, wherein the first pod is one of a plurality of first pods and the second pod is one of a plurality of second pods.

127. The apparatus of claim 126, wherein at least one of the plurality of first pods senses a first condition and at least a second one of the plurality of first pods senses a second condition that is different from the first condition.

128. The apparatus of claim 126, wherein each of the plurality of first pods senses a condition that is different from the condition sensed by the other of the plurality of first pods.

129. The apparatus of claim 126 or 127, wherein a first one of the of the plurality of second pods delivers a first substance and a second one of the plurality of second pods delivers a second substance that is different from the first substance.

130. The apparatus of claim 126 or 127, wherein each of the plurality of second pods delivers a substance that is different from the substance delivered by the other of the plurality of second pods.

131. The apparatus of claim 129, wherein the second pod is manually activated to deliver the substance.

132. The apparatus of claim 129, wherein the electrical device is configured to send a delivery signal to activate at least one of the plurality of second pods in response to the condition sensed by the plurality of first pods.

133. The apparatus of claim 131 or 132, wherein the substance is injected, sprayed, or poured.

134. The apparatus of claim 133, wherein at least one of the plurality of second pods includes a needle in liquid communication with a reservoir such a substance in the reservoir is deliver through the needle to an injection site.

135. The apparatus of claim 122, wherein the plurality of pods includes at least one third pod that provides an indicum of the condition sensed by the first pod.

136. The apparatus of claim 135, wherein the third pod provides at least one of a visual indication, an audible indication, and a haptic indication of the condition sensed by the first pod.

137. The apparatus of claim 135, wherein the third pod includes a light source that selectively emits one of a plurality of wavelengths such that a light wavelength emitted by the third pod is indicative of the condition sensed by the first pod.

138. The apparatus of claim 135, wherein the third pod includes a vibrating piezoelectric actuator that vibrates the third pod so as to provide haptic indication of the condition sensed by the first pod.

139. The apparatus of claim 135, wherein the third pod includes a speaker so as to provide audible indication of the condition sensed by the first pod.

140. A system comprising: a plurality of remotely deployable devices, each comprising: a durable exterior casing defining a water-tight interior cavity; a conductive surface operable to communicate electrical signals to and from the interior cavity; and a plurality of electronic components in the cavity and operable with respect to the electrical signals, the plurality of electronic devices being operable to capture and send data generated responsive to physical phenomena proximate to the internal cavity.

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