Methods for construction and implementation of haptic system

Abstract

Systems and methods for a haptic device are described. For example, the haptic device includes a wearable medium, a processor, a software module executable by the processor, and a plurality of tactile stimulation mechanisms. The processor receives input reference values of a first data type in real time. The plurality of tactile stimulation mechanisms are spaced around the wearable medium and communicatively coupled to the processor. Each tactile stimulation mechanism has a unique mechanism reference value of a second data type and for variable strength tactile stimulation. In real-time, the device repeatedly receives an input reference value, determines a respective actuation strength for each tactile stimulation mechanism, and actuates each tactile stimulation mechanism with the respective actuation strength for each tactile stimulation mechanism. The said actuation produces a moving sensation across a defined area of skin of a user wearing the wearable medium.

Description

Attorney Docket No. 21893-161868-USMETHODS FOR CONSTRUCTION AND IMPLEMENTATION OF HAPTICSYSTEMCROSS-REFERENCE TO RELATED APPLICATION(S)

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 691,329, filed September 6, 2024, which is incorporated herein by reference in its entirety.TECHN ICAL FI ELD

[0002] The present disclosure relates generally to haptic systems, and more specifically to tactile haptic interface. Even more specifically, the present disclosure relates to tactile haptic interface integrated with ballistic helmet padding.BACKGROU N D

[0003] Contextual awareness generally refers to the ability to perceive, comprehend, and anticipate elements in one's immediate environment (e.g., for decision-making and / or personal safety). For instance, localization broadly refers to the process of determining the position of one or more objects within an environment. In some aspects, localization is a critical capability for a wide range of emerging technologies, including autonomous vehicles, robotics, augmented reality (AR), virtual reality (VR), and smart infrastructure systems. From navigating busy urban environments to operating vehicles or working in hazardous conditions, a person's ability to detect (and locate) objects quickly and accurately can be the difference between safety and harm.

[0004] For example, during military operations, misidentification of friendly forces (e.g., friendly fire) may be considered a persistent problem. For example, during a war, significant proportion of casualties may result from friendly fire incidents. In some examples, factors contributing to friendly fire incidents include environmental conditions such as smoke, haze, or dust that limit visibility, thereby making navigation of ground troops and target identification difficult. In such cases, differentiation between friendly forces and hostile forces by ground troops may be unreliable. As such, there is a need for systems and technologies that improve situational awareness, particularly for individuals in potentially dangerous, real-time environments.SU M MARY

[0005] Several embodiments of the disclosure advantageously address the needs above as well as other needs by providing a tactile haptic interface integrated with ballistic helmet padding ofAttorney Docket No. 21893-161868-US the soldier. According to an embodiment of the present disclosure, an actuator mechanism is configured to impart a tactile sensation to the head of the soldier with minimal bone conduction of sound. In some cases, a rotation of the helmet of the soldier may be used to modulate the power to each actuator resulting in a directional tactile sensation. An embodiment of the present disclosure describes use of haptic actuators in a modular helmet padding assembly.

[0006] In one embodiment, the disclosure can be characterized as an apparatus and system for tactile haptic interface integrated with ballistic helmet padding are described. One or more aspects of the apparatus and system include a wearable medium; a processor configured to receive input reference values of a first data type in real time; a plurality of tactile stimulation mechanisms spaced around the wearable medium and communicatively coupled to the processor, each tactile stimulation mechanism having a unique mechanism reference value of a second data type and configured for variable strength tactile stimulation; and a software module executable by the processor, wherein the device, in real time, repeatedly: receives an input reference value; determines a respective actuation strength for each tactile stimulation mechanism as a function of the input reference value and the unique mechanism reference value of the tactile stimulation mechanism; and actuates each tactile stimulation mechanism with the respective actuation strength for each tactile stimulation mechanism having been determined, whereby the actuation of the tactile stimulation mechanisms in real time produces a moving sensation across a skin of a user in a defined area of skin for the user wearing the wearable medium.

[0007] In another embodiment, the disclosure can be characterized as a method, apparatus, and system for tactile haptic interface integrated with ballistic helmet padding are described. One or more aspects of the method, apparatus, and system include receiving, by a processor of a wearable haptic device, input reference values of a first data type in real time, wherein the processor includes a software module; determining, by the processor, a respective actuation strength for each of a plurality of tactile stimulation mechanisms spaced around a wearable medium of the wearable haptic device, wherein each tactile stimulation mechanism is communicatively coupled to the processor, has a unique mechanism reference value of a second data type, wherein the respective actuation strength as a function of the input reference value and the unique mechanism reference value of the tactile stimulation mechanism; actuating, by the processor, each tactile stimulation mechanism with the respective actuation strength determined for that tactile stimulation mechanism; and repeating, in real time, the steps ofAttorney Docket No. 21893-161868-US receiving, determining, and actuating, thereby producing a moving sensation across a skin of a user in a defined area of skin for the user wearing the wearable medium.

[0008] Additional combinations and / or permutations of the above examples are envisioned as being within the scope of the present disclosure. It should be appreciated that all combinations of the foregoing concepts and additional concepts discussed in greater detail below (provided such concepts are not mutually inconsistent) are contemplated as being part of the inventive subject matter disclosed herein. In particular, all combinations of claimed subject matter appearing at the end of this disclosure are contemplated as being part of the inventive subject matter disclosed herein.BRIEF DESCRIPTION OF DRAWINGS

[0009] The above and other aspects, features and advantages of several embodiments of the present disclosure will be more apparent from the following more particular description thereof, presented in conjunction with the following drawings.

[0010] FIGs. 1 through 4 show examples of a tactile augmentation (TAG) system according to aspects of the present disclosure.

[0011] FIG. 5 shows an example of actuator helmet liner mechanism according to aspects of the present disclosure.

[0012] FIG. 6 shows an example of tactile simulation mechanism according to aspects of the present disclosure.

[0013] FIG. 7 shows an example of a TAG system diagram according to aspects of the present disclosure.

[0014] FIG. 8 shows an example of a method for tactile haptic interface according to aspects of the present disclosure.

[0015] Corresponding reference characters indicate corresponding components throughout the several views of the drawings. Skilled artisans will appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of various embodiments of the present disclosure. Also, common but well-understood elements that are useful or necessary in a commercially feasible embodiment are often not depicted in order to facilitate a less obstructed view of these various embodiments of the present disclosure.Attorney Docket No. 21893-161868-USDETAI LED DESCRIPTION

[0016] During military operations, misidentification of friendly forces, also referred to as friendly fire, has been a persistent problem. For example, in the Gulf War, a significant proportion of casualties resulted from friendly fire incidents. Contributing factors included environmental conditions such as smoke, haze, or dust that limited visibility, thereby making navigation and target identification difficult. In such conditions, differentiation between friendly forces and hostile forces by ground troops became unreliable.

[0017] Communication systems among soldiers, such as a radio and a digital map, may include notable limitations. For example, a radio communication may have to deal with overloaded channels, overlapping transmissions, and difficulty in confirming precise location information of an allied unit. Moreover, providing a radio to each soldier may further complicate the chain of command and increase the likelihood of missed or incomplete transmissions. For example, a verbal description of target locations over radio may require soldiers to translate spoken instructions into the corresponding immediate surroundings, which may be time-consuming and error-prone, particularly in war zones that lack clear landmarks. Additionally, digital maps may depend on accurate and timely updates, which may not be available in a rapidly evolving war situation.

[0018] Existing communication systems relied on by soldiers, such as radios and digital maps, may have notable limitations. Radio communications, while being long established, often suffer from overloaded channels, overlapping transmissions, and difficulty in confirming precise locations of allied units. Moreover, providing a radio to individual soldiers further complicates the chain of command and increases the likelihood of missed or incomplete transmissions. Moreover, verbal descriptions of target locations over radio require soldiers to translate spoken instructions into their immediate surroundings, which is both time-consuming and error-prone, particularly in environments lacking clear landmarks.

[0019] Digital maps, while helpful, may also depend on accurate and timely updates, which are not always available in rapidly evolving combat conditions. Moreover, digital maps emit light that may be seen from hundreds of feet away at night. As a result, when a soldier looks down at a tablet, the situational awareness of the soldier is compromised which may be fatal in case of nearby hostile forces. Therefore, there is a need in the art for systems and methods by which a soldier may receive location information on the battlefield.Attorney Docket No. 21893-161868-US

[0020] Embodiments of the present disclosure describe a tactile augmentation (TAG) system (also referred to herein as a haptic device or a haptic system). In some cases, the TAG system refers to a communication platform that seamlessly integrates into a helmet of a soldier by replacing a standard helmet padding of the soldier. In some cases, the TAG system may include one or more actuators configured to generate tactile sensations perceivable at a user's skin, in response to detected interactions, signals, or control inputs. For example, the TAG system may enhance user interaction with digital content, virtual environments, or physical devices by providing artificial touch feedback such as vibration, pressure modulation, or texture simulation.

[0021] The present disclosure describes systems and methods for a TAG system that seamlessly integrates into a helmet of a soldier. By providing the TAG system that seamlessly integrates into the helmet of the soldier, embodiments of the present disclosure are able to provide an easy to use helmet that reduces communication gap for the soldier while preventing an interference with perception capabilities of the soldier in a war zone (e.g., battlefield).

[0022] Additionally, by placing actuators on the head of the soldier, and performing an alignment of the actuator to a sight of the soldier, embodiments of the present disclosure are able to significantly reduce the time of the soldier to learn and interpret the tactile sensations. Accordingly, by reducing the time to learn and interpret the tactile sensations, embodiments enable fast and easy learning for the soldiers.

[0023] In some cases, the helmet, via the TAG system, creates a vibration sensation on the head of the soldier, where the sensation is configured to communicate, to the soldier, a distance, a direction, and location type of a target in the field. By providing the sensation on the head of the soldier, embodiments of the present disclosure provide for a soldier to passively receive accurate location information while keeping their eyes and ears engaged with the current surroundings.

[0024] An embodiment of the present disclosure is configured to leverage an ability of the human brain to adapt to incoming information. For example, such an adaption is similar to a blind person being able to learn interpreting bumps on a page as text with braille. According to an embodiment of the present disclosure, the helmet creates vibrations that represent the location of friendly forces or waypoints in the field that may be digitally marked from a tablet or drone.

[0025] The above and other aspects, features and advantages of several embodiments of the present disclosure will be more apparent from the following more particular description thereof, presented in conjunction with the following drawings.Attorney Docket No. 21893-161868-US

[0026] The following description is not to be taken in a limiting sense, but is made merely for the purpose of describing the general principles of exemplary embodiments. The scope of the invention should be determined with reference to the claims.

[0027] Reference throughout this specification to "one embodiment," "an embodiment," or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present description. Thus, appearances of the phrases "in one embodiment," "in an embodiment," and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.

[0028] Furthermore, the described features, structures, or characteristics of the description may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided, such as examples of programming, software modules, user selections, network transactions, database queries, database structures, hardware modules, hardware circuits, hardware chips, etc., to provide a thorough understanding of embodiments of the description. One skilled in the relevant art will recognize, however, that the teachings of the present description can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the description.Tactile Haptic Interface

[0029] FIG. 1 shows an example of a TAG system 100 according to aspects of the present disclosure. TAG system 100 is an example of, or includes aspects of, the corresponding element described with reference to FIGs. 2-4. In one aspect, TAG system 100 includes wearable medium 105 and reference value data 145.

[0030] According to some aspects, wearable medium 105 comprise pads including a compressible comfort padding layer, where the comfort padding layer includes spaced cavities on a skin-side surface of the comfort padding layer, where at least a portion of one of the set of tactile stimulation mechanism 125 is located each cavity. In some aspects, the wearable medium 105 further includes an impact padding layer, where the impact layer is configured to allow the tactile stimulation mechanism 125 to conform to a shape of the user's body.

[0031] In some examples, wearable medium 105 further includes a wearable, where the wearable medium 105 is interposed between the wearable and the skin of the user when theAttorney Docket No. 21893-161868-US wearable medium 105 is worn. In some aspects, the wearable medium 105 further includes a wearable, where the wearable is a helmet, headband, glasses, goggles, virtual reality headset, augmented reality headset, a glove, a belt, or a handheld device (for example. Rifle grips, game controlles, or joy sticks). In some aspects, the wearable medium 105 further includes a wearable, where the wearable is worn on a head of the user, and where the processor 115 is further configured to use head orientation or position as one element in determining said respective actuation strength for each tactile stimulation mechanism 125.

[0032] In some examples, wearable medium 105 comprise pads, where the padding includes at least one of ventilation channels, moisture-wicking properties, and integrated electronics. In some examples, wearable medium 105 is worn by the user and maintain a substantially constant thickness when worn by the user. In some examples, wearable medium 105 is worn by the user. In some examples, the wearable medium is configured to contact the skin of the user, In some aspects, the wearable medium 105 includes a removable helmet padding insert configured to be positioned inside a helmet. In some aspects, the wearable medium 105 includes at least one material selected from the group consisting of foam, gel, air cells, and textile-based structures.

[0033] In one aspect, wearable medium 105 includes receiver 110, processor 115, software module 120, tactile stimulation mechanism 125, power source 130, and storage device 135. Wearable medium 105 is an example of, or includes aspects of, the corresponding element described with reference to FIGs. 2 and 4.

[0034] In some aspects, reference value data 145 may include or refer to the reference values used by TAG system 100 to perform one or more operations described herein. For instance, according to some aspects, receiver 110 receives the first reference values (e.g., reference value data 145), wherein the processor 115 is further configured to receive the first reference values from the receiver 110. In some aspects, the receiver 110 is configured to receive input reference values from a mobile device or external sensor (e.g., in some aspects, reference value data 145 may be identified / received from an external device such as a mobile device or external sensor).

[0035] According to some aspects, processor 115 is configured to receive input reference values of a first data type in real time (e.g., reference value data 145 may include input reference values of a first data type). In some examples, the device, in real time, repeatedly: receives an input reference value; determines a respective actuation strength for each tactile stimulation mechanism 125 as a function of the input reference value and the unique mechanism reference value of the tactile stimulation mechanism 125; and actuates each tactile stimulation mechanismAttorney Docket No. 21893-161868-US125 with the respective actuation strength for each tactile stimulation mechanism 125 having been determined, whereby the actuation of the tactile stimulation mechanisms 125 in real time produces a moving sensation across a skin of a user in a defined area of skin for the user wearing the wearable medium 105.

[0036] In some aspects, a data type comprises a set of all possible reference values of a certain structure, For example, a GPS data type may refer to the set of all GPS coordinates in latitude, longitude pairs that can describe a position on the globe, with the reference value being a single coordinate and being translated heading where each actuator has a reference value of the angular heading data type that describes rotation about the direction of gravity.

[0037] In another example, a for a firearm handguard wearable being used to convey team position, a reference value of the data type (lat, Ion, elevation) where each actuator may have value of data type heading. In this configuration a 3 dimensional data type is being processed into a 1 dimensional data type.

[0038] In a further example, a video game power up data type may contain a single input integer value that describes the power up level of a character where the data type is any integer value. The actuator reference values would also be in the data type, for example 0 and 100. This scenario would be an example of two like data type values where the actuator reference values are the same data type as the input reference value.

[0039] In yet a further example, for a device that communicates orientation of a remotely operated vehicle like a submarine, the reference value may be an individual X,Y,Z rotation set about a point on the vehicle, the data type would be a 3 dimensional rotation vector. The actuators may have their own 2d reference values. The processor is responsible for translating between the data types. An example of this is that the processor may control the actuators not based on rotation about the submarine sensor, but rotation about the center of the earth. In some aspests, this data type may encompass all dimensions of data from single linear value interpolation to any complex data type range. In some aspects, this data type may encompass any data of arbitrary size and shape like a photograph (720x640x4) or numerical matrix(lx2 like Lat / Lon, 3x3x3, 3x7, etc)

[0040] In some aspects, the second data type and the first data type are the same data type. In some aspects, the second data type is different from the first data type; where the processor 115 is further configured to convert an input reference value from the first data type to the second data type; and where the device, after receiving the input reference value in the first data type,Attorney Docket No. 21893-161868-US converts the input reference value from the first data type to the second data type. In some aspects, the first data type and the second data type are each selected from the group consisting of 3-D coordinate values, 2-D coordinate values, headings, integers, percentages, and ordinal values.

[0041] In some aspects, the processor 115 is further configured to receive additional information, and where the processor 115 is further configured to determine at least one of a respective waveform strength and a frequency modulation for each tactile stimulation mechanism 125 based on the additional information. In some aspects, the device further includes a storage device 135 and a waveform directory stored on a storage device 135, where different target location types are associated with tactile waveforms that create different textures. In some examples, processor 115 comprise distances information is encoded in the frequency modulation.

[0042] In some aspects, the processor 115 is further configured to generate the moving sensation by interpolating actuation strength across adjacent tactile stimulation mechanisms 125. In some aspects, the processor 115 is further configured to generate a moving tactile sensation to represent a scalar value. In some aspects, the processor 115 is further configured to generate a moving tactile sensation to represent a binary state. In some aspects, the processor 115 is further configured to generate a moving tactile sensation to represent a change in orientation. In some aspects, the actuation strength is determined using a function that includes a threshold beyond which the actuation strength is zero. In some aspects, the function is a non-linear function.

[0043] According to some aspects, processor 115 receives, based on a wearable haptic device, input reference values of a first data type in real time, where the processor 115 includes a software module 120. In some examples, processor 115 determines a respective actuation strength for each of a set of tactile stimulation mechanisms 125 spaced around a wearable medium 105 of the wearable haptic device, where each tactile stimulation mechanism 125 is communicatively coupled to the processor 115, has a unique mechanism reference value of a second data type, where the respective actuation strength as a function of the input reference value and the unique mechanism reference value of the tactile stimulation mechanism 125. In some examples, processor 115 actuates each tactile stimulation mechanism 125 with the respective actuation strength determined for that tactile stimulation mechanism 125.

[0044] In some examples, processor 115 repeats, in real time, the steps of receiving, determining, and actuating, thereby producing a moving sensation across a skin of a user in aAttorney Docket No. 21893-161868-US defined area of skin for the user wearing the wearable medium 105. In some aspects, the second data type and the first data type are the same data type. In some aspects, the second data type is different from the first data type where the processor 115 is further configured to convert an input reference value from the first data type to the second data type, where the method further includes: after receiving the input reference value in the first data type, converting the input reference value from the first data type to the second data type. In some aspects, the first data type and the second data type are each selected from the group consisting of 3-D coordinate values, 2-D coordinate values, headings, integers, percentages, and ordinal values.

[0045] In some aspects, the haptic device (TAG system) further includes a receiver 110 for receiving the first reference values, where said receiving input reference values of a first data type in real time further includes receiving the first reference values. In some aspects, said receiving input reference values of a first data type in real time further includes receiving the input reference values from a mobile device or external sensor. In some aspects, said receiving input reference values of a first data type in real time further including receiving additional information in real time. In some examples, processor 115 determines least one of a respective waveform strength and a frequency modulation for each tactile stimulation mechanism 125 based on the additional information. In some aspects, said repeating, in real time, the steps of receiving, determining, and actuating, further generates the moving sensation by interpolating actuation strength across adjacent tactile stimulation mechanisms 125. In some aspects, the function is a non-linear function.

[0046] According to some aspects, tactile stimulation mechanism 125 is spaced around the wearable medium 105 and communicatively coupled to the processor 115, each tactile stimulation mechanism 125 having a unique mechanism reference value of a second data type and configured for variable strength tactile stimulation. In some aspects, each tactile stimulation mechanism 125 includes a vibrotactile actuator. In some aspects, the vibrotactile actuator includes: a body having an internal cutout; a cantilever beam located in the cutout and having a fixed end and a free end, where the fixed end is coupled to the body; and an actuator and tip located in the cutout and coupled to the free end of the cantilever beam. In some aspects, each vibrotactile actuator includes a protruding tip that extends through a compressible comfort layer to contact the skin of the user when the wearable medium 105 is worn. In some aspects, each vibrotactile actuator is mechanically isolated from the wearable medium 105.Attorney Docket No. 21893-161868-US

[0047] In some aspects, the set of tactile stimulation mechanisms 125 includes electric stimulation systems, vibro-tactile stimulation devices, pressure application devices, or air blowing mechanisms. Tactile stimulation mechanism 125 is an example of, or includes aspects of, the corresponding element described with reference to FIGs. 3-6. In one aspect, storage device 135 includes waveform library 140.

[0048] FIG. 2 shows an example of a TAG system 200 according to aspects of the present disclosure. TAG system 200 is an example of, or includes aspects of, the corresponding element described with reference to FIGs. 1, 3, and 4. In one aspect, TAG system 200 includes wearable 205 and user 220.

[0049] In one aspect, wearable 205 includes wearable medium 210 and integrated electronics 215. Wearable 205 is an example of, or includes aspects of, the corresponding element described with reference to FIG. 3. Wearable medium 210 is an example of, or includes aspects of, the corresponding element described with reference to FIGs. 1 and 4.

[0050] FIG. 2 depicts integrated electronics 215 (e.g., a haptic stimulation device) with wearable medium 210. For example, the integrated electronics 215 are implemented in wearable 205 (e.g., a removable (e.g., replaceable) helmet padding system). Further details regarding the helmet padding system are provided with reference to FIGs. 3-4.

[0051] FIG. 2 depicts integrated electronics 215 (e.g., a processor, receiver, tactile stimulation mechanism, etc.) with wearable medium 210. For example, the integrated electronics 215 are implemented in wearable 205 (e.g., a removable (e.g., replaceable) helmet padding system). Some integrated electronics may be external to the wearable (as shown) and / or may be located within the wearable and / or the wearable medium. Further details regarding the helmet padding system are provided with reference to FIGs. 3-4.

[0052] As described herein, integrated electronics 215 may include a mechanism designed to stimulate mechanoreceptors on the skin 225 of a user 220. The integrated electronics 215 may include, but are not limited to, electric stimulation systems, vibro-tactile stimulation devices, pressure application devices, or air blowing mechanisms.

[0053] As shown in FIG. 2, the integrated electronics 215 comprise a tactile augmentation (TAG) system. For example, the TAG system refers to a communication platform that seamlessly integrates into a helmet of a user (e.g., a soldier) by replacing the standard helmet padding. In some examples, a TAG system may include one or more actuators configured to generate tactile sensations perceivable at a user's skin, in response to detected interactions, signals, or controlAttorney Docket No. 21893-161868-US inputs. The TAG system may enhance user interaction with digital content, virtual environments, or physical devices by providing artificial touch feedback such as vibration, pressure modulation, or texture simulation.

[0054] In some cases, wearable 205 including integrated electronics 215 creates a vibration sensation on the head of the soldier, where the sensation is configured to communicate a distance, a direction, and location type of a target in the field. By providing the sensation on the head of the soldier, embodiments of the present disclosure provide for a soldier to passively receive accurate location information while keeping their eyes and ears engaged with the current surroundings.

[0055] FIG. 3 shows an example of a TAG system 300 according to aspects of the present disclosure. TAG system 300 is an example of, or includes aspects of, the corresponding element described with reference to FIGs. 1, 2, and 4.

[0056] In one aspect, TAG system 300 includes wearable 305. Wearable 305 is an example of, or includes aspects of, the corresponding element described with reference to FIG. 2. In one aspect, wearable 305 includes wearable padding 310 and tactile stimulation mechanism 315.

[0057] As used herein, wearable padding 310 or a "replaceable helmet padding" refers to a material or assembly of materials, including but not limited to foam, gel, air cells, or textile-based structures, designed to be positioned within a helmet to provide impact absorption, cushioning, comfort, and / or stability to the wearer (e.g., a soldier).

[0058] In some cases, wearable padding 310 may cover (e.g., completely cover) the interior surface of wearable 305 (e.g., the helmet described in FIG. 2). In some cases, wearable padding 310 may be strategically placed in specific regions on wearable 305. In some cases, wearable padding 310 may be designed to conform to the shape of the head of a wearer (such as wearer described in FIG. 2, e.g., a soldier). In some cases, wearable padding 310 may be constructed in layers, with varying densities and materials.

[0059] In some cases, wearable padding 310 may include features such as ventilation channels, moisture-wicking properties, or integrated electronics (such as integrated electronics described in FIG. 2) for communication, sensing, or other functional enhancements. For example, wearable padding 310 comprises tactile stimulation mechanism 315.

[0060] In some cases, tactile stimulation mechanism 315 is configured to encode direction information, distance information, and data type using tactile vibrations based on the TAG system. For example, the vibration feedback from the head movement of the wearer may enableAttorney Docket No. 21893-161868-US high speed building of neural pathways. Tactile stimulation mechanism 315 is an example of, or includes aspects of, the corresponding element described with reference to FIGs. 1, and 4-6.

[0061] Accordingly, by performing touch sensation on the head of the wearer using the tactile stimulation mechanism in the helmet, embodiments of the present disclosure are able to provide the wearer with information, such as location information including direction, distance, and data type, etc. in a war zone.

[0062] Additionally, by integrating the tactile stimulation mechanism comprising the TAG system into the wearable padding in the helmet, embodiments of the present disclosure provide for effective communication between the soldiers (e.g., in the war zone) while easily carrying around the integrated system in their helmet.

[0063] Although embodiments of the present disclosure depict the TAG system as being a helmet. However, embodiments are not limited thereto, and the device may be used as a glove, belt, or another wearable device. In some cases, the figures and description of the TAG system in the present disclosure may include a 3D position input and a 3D orientation. For example, the device may be a wearable orientation finding system for remotely piloted vehicles.

[0064] In some cases, a tactile stimulation mechanism may encompass haptic sensations created by vibrations. In some cases, a tactile stimulation mechanism may encompass electro-tactile stimulation. For example, the wearable medium takes in a target heading in the angle domain (i.e. angle data type) and each actuator may have a reference point in the angle domain since a connected phone converts coordinates to headings.

[0065] In some examples, a tactile sensation may be created between two individual actuators using position data. In some examples, a tactile sensation may be created between two individual actuators using orientation data. For example, the tactile sensation may be applicable to another application (e.g., other than wearable haptics) of the TAG system, such as, including but not limited to drone or aircraft joysticks, machine control levers, tool handles, etc. For example, tactile sensations may be applicable to specifically scalar value or non-position / orientation based vibrations inputs.

[0066] In some examples, the device may include a configuration of tactile actuators where the power of tactile stimulation created at each actuator may be dependent on a real-time input value (e.g., coordinate, heading distance, power, orientation, etc.). Each actuator may have a reference value in the data type (i.e. domain) of the real-time reference value. In some examples, an actuator may have a reference value in a different data type (domain) and the device mayAttorney Docket No. 21893-161868-US translate between different domains or data types. The power of each actuator may be dependent on the difference between the reference and real-time input values.

[0067] According to an example, a reference value of an actuator may be proportionally linked to a spatial orientation or layout of an actuator in the configuration. In some examples, proportionately linking the reference value and the spatial orientation may result in a movement of vibration sensation in case the real-time value may be interpolated across a range. In some cases, a scalar quantity or a non-position or an orientation quantity may be communicated by moving a vibration sensation across the skin in a defined area.

[0068] FIG. 4 shows an example of a TAG system 400 according to aspects of the present disclosure. TAG system 400 is an example of, or includes aspects of, the corresponding element described with reference to FIGs. 1-3.

[0069] In one aspect, TAG system 400 includes wearable medium 405. Wearable medium 405 is an example of, or includes aspects of, the corresponding element described with reference to FIGs. 1 and 2.

[0070] In one aspect, wearable medium 405 includes tactile stimulation mechanism 410. Tactile stimulation mechanism 410 is an example of, or includes aspects of, the corresponding element described with reference to FIGs. 1, 3, 5, and 6.

[0071] According to an embodiment of the present disclosure, tactile stimulation mechanism may be configured to perform real-time tactile sensation generation of individual tactile force sensations. For example, the tactile stimulation mechanism 410 may be performed via wearable (e.g., haptic stimulation device, such as wearable described with reference to FIG. 2) designed to stimulate mechanoreceptors on the skin of a wearer (such as the wearer described with reference to FIG. 2). In some cases, the tactile stimulation mechanism 410 may impart a tactile sensation via wearable medium 405 with minimal bone conduction of sound.

[0072] For example, the sound isolating tactile stimulation mechanism 410 may comprise three components: an impact absorption layer, a comfort layer, and a force applicator. Further details regarding the impact absorption layer and the comfort layer are provided with reference to at least FIG. 5. Further details regarding the force applicator are provided with reference to at least FIGs. 6-7.

[0073] According to an embodiment, tactile stimulation mechanism may be incorporated with the replaceable padding in the helmet of the user. In some cases, tactile stimulation mechanismAttorney Docket No. 21893-161868-US410 may be at a constant distance to the head of the wearer regardless of the tightness of the helmet or sizing.

[0074] Although embodiments of the present disclosure depict the TAG system as being a helmet. However, embodiments are not limited thereto, and the device may be used as a glove, belt, or another wearable device. In some cases, the figures and description of the TAG system include a 3D position input and a 3D orientation. For example, the device may be a wearable orientation finding system for remotely piloted vehicles.

[0075] According to an example, a user may have an arm sleeve that may use a moving sensation up and down the arm on the user's back to communicate a charge level. For example, the charge level may correspond to a power-up ability in a video game. For example, in an array of actuators, the first actuator may correspond to 0% power and the last actuator may correspond to 100% power. As the user increases power in the game, a vibration point may move along the user arm from the first actuator to the last actuator. As a result of the movement of the vibration point, the user may be able to feel the power level.

[0076] In some examples, the haptic feedback may be used in a firearm hand guard that may provide vibratory feedback of the safety status of a weapon. In case the safety is on, the user may feel vibration on a forward actuator. Additionally, in case the user switches to fire, the rear actuator may turn on. As used herein, the real-time value may refer to a safety status of value of zero or value of one in the real-time domain, and the actuator power may interpolate between the values of zero and one. As such, the user may feel a fluid movement of vibration from the front actuator to the rear actuator.

[0077] FIG. 5 shows an example of actuator helmet liner mechanism 500 according to aspects of the present disclosure. In one aspect, actuator helmet liner mechanism 500 includes comfort layer 505, tactile stimulation mechanism 520, and impact layer 525.

[0078] In one aspect, comfort layer 505 includes cavity 510 and skin side 515. Tactile stimulation mechanism 520 is an example of, or includes aspects of, the corresponding element described with reference to FIGs. 1, 3, 4, and 6.

[0079] In some cases, tactile stimulation mechanism 520 is configured to impart a tactile sensation with minimal bone conduction of sound. For example, the sound isolating tactile stimulation mechanism 520 consists of three components, an impact absorption layer, a comfort layer, and a force applicator.Attorney Docket No. 21893-161868-US

[0080] FIG. 5 depicts tactile stimulation mechanism 520 with a protruding element into comfort layer 505. In some cases, impact layer 525 provides for the comfort layer and the force applicator layer to conform to the shape of the head of the soldier (such as head depicted in FIG. 2).

[0081] As shown with reference to FIG. 5, comfort layer 505 contacts the skin (such as skin shown in FIG. 2). In some cases, comfort layer 505 may be designed to be easily compressed. For example, when comfort layer 505 may be compressed, the comfort layer 505 may have a constant thickness.

[0082] By compressing the comfort layer to have a constant thickness, embodiments of the present disclosure provide for the tactile stimulation mechanism to have a constant distance to the head of the wearer (such as user described in FIG. 2) regardless of the tightness of the helmet or sizing.

[0083] FIG. 6 shows an example of tactile simulation mechanism according to aspects of the present disclosure. Tactile stimulation mechanism 600 is an example of, or includes aspects of, the corresponding element described with reference to FIGs. 1, and 3-5.

[0084] In one aspect, tactile stimulation mechanism 600 includes body 605. In one aspect, body 605 includes actuator 610, beam 615, cutout 620, and tip 625.

[0085] FIG. 6 depicts body 605 with an internal cutout 620. In some cases, beam 615 may be located in internal cutout 620. As shown in FIG. 6, beam 615 may have a fixed end and a free end. For example, the fixed end of beam 615 may be attached to body 605. Further, actuator 610 and tip 625 may be located in cutout 620. In some cases, actuator 610 and tip 625 may be attached to a free end of beam 615.

[0086] As shown in FIG. 6, the tactile stimulation mechanism 600 includes a mechanically isolated vibrotactile actuator 610 with tip 625 that protrudes the distance to the skin of wearer (such as skin of wearer described in FIG. 2) when comfort layer (such as comfort layer described in FIG. 5) is compressed. Additionally, beam 615 (e.g., cantilever beam 615) may be used to further mechanically isolate the actuator 610 and tip 625 from the comfort layer and impact layer (such as the impact layer described in FIG. 5).

[0087] In some cases, a tactile stimulation mechanism (such as the tactile stimulation mechanism described in FIGs. 2-4) may encompass haptic sensations created by vibrations. In some cases, the tactile stimulation mechanism may encompass electro-tactile stimulation. For example, the wearable medium takes in a target heading in the angle domain and actuator 610 may have a reference point in the angle domain since a connected phone converts coordinates to headings.Attorney Docket No. 21893-161868-US

[0088] In some examples, a tactile sensation may be created between two individual actuators (e.g., actuator 610) using position data. In some examples, a tactile sensation may be created between two individual actuators (e.g., actuator 610) using orientation data. For example, the tactile sensation may be applicable to another application (e.g., other than wearable haptics) of the TAG system, such as, including but not limited to drone or aircraft joysticks, machine control levers, tool handles, etc. For example, tactile sensations may be applicable to specifically scalar value or non-position / orientation based vibrations inputs.

[0089] In some examples, the device may include a configuration of tactile actuators where the power of tactile stimulation created at each actuator 610 may be dependent on a real-time input value (e.g., coordinate, heading distance, power, orientation, etc.). Each actuator 610 may have a reference value in the domain or data type of the real-time reference value. In some examples, an actuator 610 may have a reference value in a different domain or data type and the device may translate between different domains or data types. The power of each actuator 610 may be dependent on the difference between the reference and real-time input values.

[0090] According to an example, a reference value of an actuator 610 may be proportionally linked to a spatial orientation or layout of an actuator in the configuration. In some examples, proportionately linking the reference value and the spatial orientation may result in a movement of vibration sensation in case the real-time value may be interpolated across a range. In some cases, a scalar quantity or a non-position or an orientation quantity may be communicated by moving a vibration sensation across the skin in a defined area.

[0091] In some cases, motion may be created using haptic techniques such as saltation and amplitude modulation. In some examples, amplitude modulation may be used to create directional haptic stimulation.

[0092] For example, the directional cues may be created using a sensor, a processor, and actuator 610. In some examples, the processor calculates the actuator power. In some examples, the actuator 610 creates tactile stimulation.

[0093] An embodiment of the present disclosure is configured to modulate tactile amplitude. In some cases, the modulation may be performed in response to a change in relative angle or position from the actuator to a virtual 3D location.

[0094] In some cases, the actuator posture may be the physical direction of the movement of actuator 610. For example, an electro-tactile actuator 610 may lack direction of movement. Accordingly, each actuator 610 may be provided a digital representation of the associatedAttorney Docket No. 21893-161868-US orientation. In some cases, the digital representation may be used by the processor to calculate the actuator power. Further details regarding the actuator power are provided with reference to FIG. 7.

[0095] FIG. 7 shows an example of a TAG system diagram 700 according to aspects of the present disclosure. In one aspect, TAG system diagram 700 includes delta angle 705 and delta angle vs tactile sensation strength chart 720.

[0096] According to an embodiment of the present disclosure, tactile stimulation mechanism may be configured to perform real-time tactile sensation generation of individual tactile force sensations. In some cases, amplitude modulation includes modulation of the frequency and waveform of the output signal to communicate further information. In some cases (e.g., in case of TAG system 400), the amplitude modulation may include distance encoded through frequency, where a high frequency indicates less distance and a low frequency indicates high distance. Additionally, the amplitude modulation may include a waveform dictionary, where different target location types are represented with tactile waveforms that create different textures.

[0097] FIG. 7 shows a reference direction 710. In some cases, reference direction 710 refers to the direction from a digital position of an actuator (such as the actuator described in FIG. 6) to the virtual target in global coordinates. The actuator orientation 715 represents the virtual orientation of the actuator. Figure 7 shows a 1 dimensional rotational orientation data type such as azimuth using the local actuator orientation as the origin or zero point of the coordinate system. In some cases, the actuator power may be computed by a processor based on a difference between reference direction 710 and virtual actuator orientation 715.

[0098] In one aspect, delta angle 705 may be computed based on reference direction 710 and actuator orientation 715. For example, the TAG system (such as TAG system described in FIGs. 5- 6) may use delta angle 705 of the actuator to generate an output signal strength. In one aspect, delta angle vs tactile sensation strength chart 720 includes first power-angle function 725, second power-angle function 730, and third power-angle function 735.

[0099] The delta angle vs tactile sensation strength graph shows examples of different actuator power-angle functions. The first power-angle function 725 illustrates a linear relationship between the actuator power and the delta angle: when the delta angle is minimum the power is maximum, when the delta angle is maximum the power is minimum, and varies linearly between these points. The second power-angle function 730 is a non-linear function where the slope of the function is a curve with no inflection points. In this case, the power decreases rapidly as theAttorney Docket No. 21893-161868-US angle increases from the minimum, and then the rate slows down as the delta angle approaches maxiumum. The third power-angle function 735 is another example of a non-linear function.

[0100] In some examples, the distinction of virtual actuator orientation and decreasing actuator power may enable communication of location information. An embodiment of the present disclosure is configured to generate signal amplitude. By generating signal amplitude, embodiments provide for further modulation of the signal waveform and frequency to communicate other types of information.

[0101] As described herein, haptic and sensory substitution technology may be easy to learn and interpret for mass adoption. For example, the haptic and sensory substitution technology may provide for creation of easy to use haptic interfaces for sharing digital location and sensor information for the wearer of the device carrying the haptic and sensory substitution technology.

[0102] Accordingly, an apparatus for tactile haptic interface integrated with ballistic helmet padding is described. One or more aspects of the apparatus include a wearable medium; a processor configured to receive input reference values of a first data type in real time; a plurality of tactile stimulation mechanisms spaced around the wearable medium and communicatively coupled to the processor, each tactile stimulation mechanism having a unique mechanism reference value of a second data type and configured for variable strength tactile stimulation; and a software module executable by the processor, wherein the device, in real time, repeatedly: receives an input reference value; determines a respective actuation strength for each tactile stimulation mechanism as a function of the input reference value and the unique mechanism reference value of the tactile stimulation mechanism; and actuates each tactile stimulation mechanism with the respective actuation strength for each tactile stimulation mechanism having been determined, whereby the actuation of the tactile stimulation mechanisms in real time produces a moving sensation across a skin of a user in a defined area of skin for the user wearing the wearable medium.

[0103] In some aspects, the second data type and the first data type are the same data type. In some aspects, the second data type is different from the first data type; wherein the processor is further configured to convert an input reference value from the first data type to the second data type; and wherein the device, after receiving the input reference value in the first data type, converts the input reference value from the first data type to the second data type. In some aspects, the first data type and the second data type are each selected from the group consistingAttorney Docket No. 21893-161868-US of 3-D coordinate values, 2-D coordinate values, headings, integers, percentages, and ordinal values.

[0104] In some aspects, each tactile stimulation mechanism comprises a vibrotactile actuator. In some aspects, the vibrotactile actuator comprises: a body having an internal cutout; a cantilever beam located in the cutout and having a fixed end and a free end, where the fixed end is coupled to the body; and an actuator and tip located in the cutout and coupled to the free end of the cantilever beam.

[0105] In some aspects, each vibrotactile actuator includes a protruding tip that extends through a compressible comfort layer to contact the skin of the user when the wearable medium is worn. In some aspects, each vibrotactile actuator is mechanically isolated from the wearable medium. In some aspects, the plurality of tactile stimulation mechanisms comprises electric stimulation systems, vibro-tactile stimulation devices, pressure application devices, or air blowing mechanisms.

[0106] Some examples of the apparatus and system further include a receiver for receiving the first reference values, wherein the processor is further configured to receive the first reference values from the receiver. In some aspects, the receiver is configured to receive input reference values from a mobile device or external sensor.

[0107] Some examples of the apparatus and system further include padding including a compressible comfort padding layer, wherein the comfort padding layer includes spaced cavities on a skin-side surface of the comfort padding layer, wherein at least a portion of one of the plurality of tactile stimulation mechanism is located each cavity.

[0108] In some aspects, the wearable medium further comprises an impact padding layer, wherein the impact layer is configured to allow the tactile stimulation mechanism to conform to a shape of the user's body. Some examples of the apparatus and system further include padding, wherein the padding is removable from the wearable medium.

[0109] In some aspects, the wearable medium further comprises a wearable, wherein the wearable medium is interposed between the wearable and the skin of the user when the wearable medium is worn. In some aspects, the wearable medium further comprises a wearable, wherein the wearable is a helmet, headband, glasses, goggles, virtual reality headset, augmented reality headset, a glove, or a belt.

[0110] In some aspects, the wearable medium further comprises a wearable, wherein the wearable is worn on a head of the user, and wherein the processor is further configured to useAttorney Docket No. 21893-161868-US head orientation or position as one element in determining said respective actuation strength for each tactile stimulation mechanism.

[0111] Some examples of the apparatus and system further include padding, wherein the padding covers at least a portion of a skin-proximate surface of the wearable when the wearable medium is worn. Some examples of the apparatus and system further include padding, wherein the padding includes at least one of ventilation channels, moisture-wicking properties, and integrated electronics.

[0112] Some examples of the apparatus and system further include padding, wherein the padding is further configured to contact the user's skin and compress when the wearable medium is worn by the user and maintain a substantially constant thickness when worn by the user.

[0113] Some examples of the apparatus and system further include padding, and wherein each tactile stimulation mechanism further comprises a force application mechanism having a vibrotactile actuator with a protruding tip that extends into the padding when the wearable medium is worn by the user.

[0114] In some aspects, the wearable medium comprises a removable helmet padding insert configured to be positioned inside a helmet. In some aspects, the wearable medium comprises at least one material selected from the group consisting of foam, gel, air cells, and textile-based structures.

[0115] In some aspects, the processor is further configured to receive additional information, and wherein the processor is further configured to determine at least one of a respective waveform strength and a frequency modulation for each tactile stimulation mechanism based on the additional information. In some aspects, the device further comprises a storage device and a waveform directory stored on a storage device, wherein different target location types are associated with tactile waveforms that create different textures.

[0116] Some examples of the apparatus and system further include distancing information is encoded in the frequency modulation.

[0117] In some aspects, the processor is further configured to generate the moving sensation by interpolating actuation strength across adjacent tactile stimulation mechanisms. In some aspects, the processor is further configured to generate a moving tactile sensation to represent a scalar value. In some aspects, the processor is further configured to generate a moving tactile sensation to represent a binary state. In some aspects, the processor is further configured to generate a moving tactile sensation to represent a change in orientation.Attorney Docket No. 21893-161868-US

[0118] In some aspects, the actuation strength is determined using a function that includes a threshold beyond which the actuation strength is zero. In some aspects, the function is a nonlinear function.Tactile Haptic Interface Process

[0119] A significant number of resources (e.g., financial resources and time-bsed) are spent on reducing communication gap for soldiers, wherein lives of soldiers and civilians may be at risk due to missing or inaccurate location information input due to the communication gap. Existing systems are unable to provide soldiers with location information while preventing a distraction of the soldier.

[0120] For example, existing communication systems for soldiers are under-developed, being reliant primarily on radio and digital maps. Although radio communications are established, they often suffer from overloaded channels, overlapping transmissions, and difficulty in confirming precise locations of allied units. In some cases, digital maps may be considered as more accurate than paper maps or radios. However, digital maps emit light that may be seen from large distances (e.g., up to several feet away) at night resulting in fatalities in case of nearby hostile armies.

[0121] Several embodiments of the disclosure advantageously address the needs above as well as other needs by providing systems and methods for enhancing perception of a soldier in the war zone. According to an embodiment of the present disclosure, a TAG system may be designed to be compatible with an existing device (e.g., a wearable device). For instance, the TAG system may be seamlessly incorporated in the helmet of the soldier by replacing the standard helmet padding. In some cases, the helmet, via the TAG system, creates a vibration sensation on the head of the soldier, where the sensation is configured to communicate a distance, a direction, and location type of a target (e.g., an enemy force) in the war zone.

[0122] For instance, the TAG system incorporated in the helmet of the present disclosure may be used with radio communication. By implementing the radio communication with the TAG system, embodiments of the present disclosure are able to provide a soldier with location information in a direction (e.g., in any direction). Additionally, since the tactile feedback from the TAG system does not emit light (e.g., light may be emitted in tablets, heads up display, etc.), embodiments easily conceal a position of a soldier and enable use during night operations.

[0123] FIG. 8 shows an example of a method 800 for tactile haptic interface according to aspects of the present disclosure. In some examples, these operations are performed by a system including a processor executing a set of codes to control functional elements of an apparatus.Attorney Docket No. 21893-161868-USAdditionally or alternatively, certain processes are performed using special-purpose hardware. Generally, these operations are performed according to the methods and processes described in accordance with aspects of the present disclosure. In some cases, the operations described herein are composed of various substeps, or are performed in conjunction with other operations.

[0124] At operation 805, the system receives, by a processor of a wearable haptic device, input reference values of a first data type in real time, where the processor includes a software module. In some cases, the operations of this step refer to, or may be performed by, a processor as described with reference to FIG. 1. In some cases, the operations of this step refer to, or may be performed by, a wearable as described with reference to FIGs. 2 and 3.

[0125] At operation 810, the system determines a respective actuation strength for each of a set of tactile stimulation mechanisms spaced around a wearable medium of the wearable haptic device, where each tactile stimulation mechanism is communicatively coupled to the processor, has a unique mechanism reference value of a second data type, where the respective actuation strength as a function of the input reference value and the unique mechanism reference value of the tactile stimulation mechanism. In some cases, the operations of this step refer to, or may be performed by, a processor as described with reference to FIG. 1. In some cases, the operations of this step refer to, or may be performed by, a tactile stimulation mechanism as described with reference to FIGs. 1, and 3-6. In some cases, the operations of this step refer to, or may be performed by, a TAG system diagram as described with reference to FIG. 7.

[0126] At operation 815, the system actuates each tactile stimulation mechanism with the respective actuation strength determined for that tactile stimulation mechanism. In some cases, the operations of this step refer to, or may be performed by, a processor as described with reference to FIG. 1. In some cases, the operations of this step refer to, or may be performed by, a tactile stimulation mechanism as described with reference to FIGs. 1, and 3-6.

[0127] At operation 820, the system repeats, in real time, the steps of receiving, determining, and actuating, thereby producing a moving sensation across a skin of a user in a defined area of skin for the user wearing the wearable medium. In some cases, the operations of this step refer to, or may be performed by, a processor as described with reference to FIG. 1. In some cases, the operations of this step refer to, or may be performed by, a TAG system as described with reference to FIGs. 1-4.

[0128] Accordingly, a method for tactile haptic interface integrated with ballistic helmet padding is described. One or more aspects of the method include receiving, by a processor of a wearableAttorney Docket No. 21893-161868-US haptic device, input reference values of a first data type in real time, wherein the processor includes a software module; determining, by the processor, a respective actuation strength for each of a plurality of tactile stimulation mechanisms spaced around a wearable medium of the wearable haptic device, wherein each tactile stimulation mechanism is communicatively coupled to the processor, has a unique mechanism reference value of a second data type, wherein the respective actuation strength as a function of the input reference value and the unique mechanism reference value of the tactile stimulation mechanism; actuating, by the processor, each tactile stimulation mechanism with the respective actuation strength determined for that tactile stimulation mechanism; and repeating, in real time, the steps of receiving, determining, and actuating, thereby producing a moving sensation across a skin of a user in a defined area of skin for the user wearing the wearable medium.

[0129] In some aspects, the second data type and the first data type are the same data type. In some aspects, the second data type is different from the first data type wherein the processor is further configured to convert an input reference value from the first data type to the second data type, wherein the method further comprises: after receiving the input reference value in the first data type, converting the input reference value from the first data type to the second data type. In some aspects, the first data type and the second data type are each selected from the group consisting of 3-D coordinate values, 2-D coordinate values, headings, integers, percentages, and ordinal values.

[0130] In some aspects, the haptic device further comprises a receiver for receiving the first reference values, wherein said receiving input reference values of a first data type in real time further comprises receiving the first reference values via the receiver.

[0131] In some aspects, said receiving input reference values of a first data type in real time further comprises receiving the input reference values from a mobile device or external sensor. In some aspects, said receiving input reference values of a first data type in real time further comprising receiving additional information in real time.

[0132] Some examples of the method, apparatus, and system further include determining, by the processor, least one of a respective waveform strength and a frequency modulation for each tactile stimulation mechanism based on the additional information.

[0133] In some aspects, said repeating, in real time, the steps of receiving, determining, and actuating, further generates the moving sensation by interpolating actuation strength across adjacent tactile stimulation mechanisms. In some aspects, the function is a non-linear function.Attorney Docket No. 21893-161868-US

[0134] Some of the functional units described in this specification have been labeled as modules, or components, to more particularly emphasize their implementation independence. For example, a module may be implemented as a hardware circuit comprising custom very large-scale integration (VLSI) circuits or gate arrays, off-the-shelf semiconductors such as logic chips, transistors, or other discrete components. A module may also be implemented in programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices or the like.

[0135] Modules may also be implemented in software for execution by various types of processors. An identified module of executable code may, for instance, comprise one or more physical or logical blocks of computer instructions that may, for instance, be organized as an object, procedure, or function. Nevertheless, the executables of an identified module need not be physically located together, but may comprise disparate instructions stored in different locations which, when joined logically together, comprise the module and achieve the stated purpose for the module.

[0136] Indeed, a module of executable code could be a single instruction, or many instructions, and may even be distributed over several different code segments, among different programs, and across several memory devices. Similarly, operational data may be identified and illustrated herein within modules, and may be embodied in any suitable form and organized within any suitable type of data structure. The operational data may be collected as a single data set, or may be distributed over different locations including over different storage devices, and may exist, at least partially, merely as electronic signals on a system or network.

[0137] The methods and systems described herein may be deployed in part or in whole through machines that execute computer software, program codes, and / or instructions on a processor. The disclosure may be implemented as a method on the machine(s), as a system or apparatus as part of or in relation to the machine(s), or as a computer program product embodied in a computer readable medium executing on one or more of the machines. In embodiments, the processor may be part of a server, cloud server, client, network infrastructure, mobile computing platform, stationary computing platform, or other computing platforms. A processor may be any kind of computational or processing device capable of executing program instructions, codes, binary instructions and the like, including a central processing unit (CPU), a general processing unit (GPU), a logic board, a chip (e.g., a graphics chip, a video processing chip, a data compression chip, or the like), a chipset, a controller, a system-on-chip (e.g., an RF system on chip, an Al systemAttorney Docket No. 21893-161868-US on chip, a video processing system on chip, or others), an integrated circuit, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), an approximate computing processor, a quantum computing processor, a parallel computing processor, a neural network processor, or other type of processor. The processor may be or may include a signal processor, digital processor, data processor, embedded processor, microprocessor or any variant such as a co-processor (math co-processor, graphic co-processor, communication co-processor, video coprocessor, Al co-processor, and the like) and the like that may directly or indirectly facilitate execution of program code or program instructions stored thereon. In addition, the processor may enable execution of multiple programs, threads, and codes. The threads may be executed simultaneously to enhance the performance of the processor and to facilitate simultaneous operations of the application. By way of implementation, methods, program codes, program instructions and the like described herein may be implemented in one or more threads. The thread may spawn other threads that may have assigned priorities associated with them; the processor may execute these threads based on priority or any other order based on instructions provided in the program code. The processor, or any machine utilizing one, may include non- transitory memory that stores methods, codes, instructions and programs as described herein and elsewhere. The processor may access a non-transitory storage medium through an interface that may store methods, codes, and instructions as described herein and elsewhere. The storage medium associated with the processor for storing methods, programs, codes, program instructions or other type of instructions capable of being executed by the computing or processing device may include but may not be limited to one or more of a CD-ROM, DVD, memory, hard disk, flash drive, RAM, ROM, cache, network-attached storage, server-based storage, and the like.

[0138] A processor may include one or more cores that may enhance speed and performance of a multiprocessor. In embodiments, the process may be a dual core processor, quad core processors, other chip-level multiprocessor and the like that combine two or more independent cores (sometimes called a die).

[0139] The methods and systems described herein may be deployed in part or in whole through machines that execute computer software on various devices including a server, client, firewall, gateway, hub, router, switch, infrastructure-as-a-service, platform-as-a-service, or other such computer and / or networking hardware or system. The software may be associated with a server that may include a file server, print server, domain server, internet server, intranet server, cloudAttorney Docket No. 21893-161868-US server, infrastructure-as-a-service server, platform-as-a-service server, web server, and other variants such as secondary server, host server, distributed server, failover server, backup server, server farm, and the like. The server may include one or more of memories, processors, computer readable media, storage media, ports (physical and virtual), communication devices, and interfaces capable of accessing other servers, clients, machines, and devices through a wired or a wireless medium, and the like. The methods, programs, or codes as described herein and elsewhere may be executed by the server. In addition, other devices required for execution of methods as described in this application may be considered as a part of the infrastructure associated with the server.

[0140] The server may provide an interface to other devices including, without limitation, clients, other servers, printers, database servers, print servers, file servers, communication servers, distributed servers, social networks, and the like. Additionally, this coupling and / or connection may facilitate remote execution of programs across the network. The networking of some or all of these devices may facilitate parallel processing of a program or method at one or more locations without deviating from the scope of the disclosure. In addition, any of the devices attached to the server through an interface may include at least one storage medium capable of storing methods, programs, code and / or instructions. A central repository may provide program instructions to be executed on different devices. In this implementation, the remote repository may act as a storage medium for program code, instructions, and programs.

[0141] The software program may be associated with a client that may include a file client, print client, domain client, internet client, intranet client and other variants such as secondary client, host client, distributed client and the like. The client may include one or more of memories, processors, computer readable media, storage media, ports (physical and virtual), communication devices, and interfaces capable of accessing other clients, servers, machines, and devices through a wired or a wireless medium, and the like. The methods, programs, or codes as described herein and elsewhere may be executed by the client. In addition, other devices required for the execution of methods as described in this application may be considered as a part of the infrastructure associated with the client.

[0142] The client may provide an interface to other devices including, without limitation, servers, other clients, printers, database servers, print servers, file servers, communication servers, distributed servers and the like. Additionally, this coupling and / or connection may facilitate remote execution of programs across the network. The networking of some or all of these devicesAttorney Docket No. 21893-161868-US may facilitate parallel processing of a program or method at one or more locations without deviating from the scope of the disclosure. In addition, any of the devices attached to the client through an interface may include at least one storage medium capable of storing methods, programs, applications, code and / or instructions. A central repository may provide program instructions to be executed on different devices. In this implementation, the remote repository may act as a storage medium for program code, instructions, and programs.

[0143] The methods and systems described herein may be deployed in part or in whole through network infrastructures. The network infrastructure may include elements such as computing devices, servers, routers, hubs, firewalls, clients, personal computers, communication devices, routing devices and other active and passive devices, modules and / or components as known in the art. The computing and / or non-computing device(s) associated with the network infrastructure may include, apart from other components, a storage medium such as flash memory, buffer, stack, RAM, ROM and the like. The processes, methods, program codes, instructions described herein and elsewhere may be executed by one or more of the network infrastructural elements. The methods and systems described herein may be adapted for use with any kind of private, community, or hybrid cloud computing network or cloud computing environment, including those which involve features of software as a service (SaaS), platform as a service (PaaS), and / or infrastructure as a service (laaS).

[0144] The methods, program codes, and instructions described herein and elsewhere may be implemented on a cellular network with multiple cells. The cellular network may either be frequency division multiple access (FDMA) network or code division multiple access (CDMA) network. The cellular network may include mobile devices, cell sites, base stations, repeaters, antennas, towers, and the like. The cell network may be a GSM, GPRS, 3G, 4G, 5G, LTE, EVDO, mesh, or other network types.

[0145] The methods, program codes, and instructions described herein and elsewhere may be implemented on or through mobile devices. The mobile devices may include navigation devices, cell phones, mobile phones, mobile personal digital assistants, laptops, palmtops, netbooks, pagers, electronic book readers, music players and the like. These devices may include, apart from other components, a storage medium such as flash memory, buffer, RAM, ROM and one or more computing devices. The computing devices associated with mobile devices may be enabled to execute program codes, methods, and instructions stored thereon. Alternatively, the mobile devices may be configured to execute instructions in collaboration with other devices. The mobileAttorney Docket No. 21893-161868-US devices may communicate with base stations interfaced with servers and configured to execute program codes. The mobile devices may communicate on a peer-to-peer network, mesh network, or other communications network. The program code may be stored on the storage medium associated with the server and executed by a computing device embedded within the server. The base station may include a computing device and a storage medium. The storage device may store program codes and instructions executed by the computing devices associated with the base station.

[0146] The computer software, program codes, and / or instructions may be stored and / or accessed on machine readable media that may include: computer components, devices, and recording media that retain digital data used for computing for some interval of time; semiconductor storage known as random access memory (RAM); mass storage typically for more permanent storage, such as optical discs, forms of magnetic storage like hard disks, tapes, drums, cards and other types; processor registers, cache memory, volatile memory, non-volatile memory; optical storage such as CD, DVD; removable media such as flash memory (e.g., USB sticks or keys), floppy disks, magnetic tape, paper tape, punch cards, standalone RAM disks, Zip drives, removable mass storage, off-line, and the like; other computer memory such as dynamic memory, static memory, read / write storage, mutable storage, read only, random access, sequential access, location addressable, file addressable, content addressable, network attached storage, storage area network, bar codes, magnetic ink, network-attached storage, network storage, NVME- accessible storage, PCIE connected storage, distributed storage, and the like.

[0147] While only a few embodiments of the disclosure have been shown and described, it will be obvious to those skilled in the art that many changes and modifications may be made thereunto without departing from the spirit and scope of the disclosure as described in the following claims.

[0148] In describing example embodiments, specific terminology is used for the sake of clarity. For purposes of description, each specific term is intended to at least include all technical and functional equivalents that operate in a similar manner to accomplish a similar purpose. Additionally, in some instances where a particular example embodiment includes system elements, device components or method steps, those elements, components or steps can be replaced with a single element, component or step. Likewise, a single element, component or step can be replaced with a plurality of elements, components or steps that serve the same purpose. Moreover, while example embodiments have been shown and described with references toAttorney Docket No. 21893-161868-US particular embodiments thereof, those of ordinary skill in the art will understand that various substitutions and alterations in form and detail can be made therein without departing from the scope of the disclosure. Further still, other aspects, functions and advantages are also within the scope of the disclosure.

[0149] The methods and systems described herein may transform physical and / or intangible items from one state to another. The methods and systems described herein may also transform data representing physical and / or intangible items from one state to another.

[0150] The elements described and depicted herein, including in flow charts and block diagrams throughout the figures, imply logical boundaries between the elements. However, according to software or hardware engineering practices, the depicted elements and the functions thereof may be implemented on machines through computer executable code using a processor capable of executing program instructions stored thereon as a monolithic software structure, as standalone software modules, or as modules that employ external routines, code, services, and so forth, or any combination of these, and all such implementations may be within the scope of the disclosure. Examples of such machines may include, but may not be limited to, personal digital assistants, laptops, personal computers, mobile phones, other handheld computing devices, medical equipment, wired or wireless communication devices, transducers, chips, calculators, satellites, tablet PCs, electronic books, gadgets, electronic devices, devices, artificial intelligence, computing devices, networking equipment, servers, routers and the like. Furthermore, the elements depicted in the flow chart and block diagrams or any other logical component may be implemented on a machine capable of executing program instructions. Thus, while the foregoing drawings and descriptions set forth functional aspects of the disclosed systems, no particular arrangement of software for implementing these functional aspects should be inferred from these descriptions unless explicitly stated or otherwise clear from the context. Similarly, it will be appreciated that the various steps identified and described in the disclosure may be varied, and that the order of steps may be adapted to particular applications of the techniques disclosed herein. All such variations and modifications are intended to fall within the scope of this disclosure. As such, the depiction and / or description of an order for various steps should not be understood to require a particular order of execution for those steps, unless required by a particular application, or explicitly stated or otherwise clear from the context.

[0151] The methods and / or processes described in the disclosure, and steps associated therewith, may be realized in hardware, software or any combination of hardware and softwareAttorney Docket No. 21893-161868-US suitable for a particular application. The hardware may include a general-purpose computer and / or dedicated computing device or specific computing device or particular aspect or component of a specific computing device. The processes may be realized in one or more microprocessors, microcontrollers, embedded microcontrollers, programmable digital signal processors or other programmable devices, along with internal and / or external memory. The processes may also, or instead, be embodied in an application specific integrated circuit, a programmable gate array, programmable array logic, or any other device or combination of devices that may be configured to process electronic signals. It will further be appreciated that one or more of the processes may be realized as a computer executable code capable of being executed on a machine-readable medium.

[0152] The computer executable code may be created using a structured programming language such as C, an object oriented programming language such as C++, or any other high-level or low- level programming language (including assembly languages, hardware description languages, and database programming languages and technologies) that may be stored, compiled or interpreted to run on one of the devices described in the disclosure, as well as heterogeneous combinations of processors, processor architectures, or combinations of different hardware and software, or any other machine capable of executing program instructions. Computer software may employ virtualization, virtual machines, containers, dock facilities, portainers, and other capabilities.

[0153] Thus, in one aspect, methods described in the disclosure and combinations thereof may be embodied in computer executable code that, when executing on one or more computing devices, performs the steps thereof. In another aspect, the methods may be embodied in systems that perform the steps thereof and may be distributed across devices in a number of ways, or all of the functionality may be integrated into a dedicated, standalone device or other hardware. In another aspect, the means for performing the steps associated with the processes described in the disclosure may include any of the hardware and / or software described in the disclosure. All such permutations and combinations are intended to fall within the scope of the disclosure.

[0154] Example flowcharts are provided herein for illustrative purposes and are non-limiting examples of methods. One of ordinary skill in the art will recognize that example methods can include more or fewer steps than those illustrated in the example flowcharts, and that the steps in the example flowcharts can be performed in a different order than the order shown in the illustrative flowcharts.Attorney Docket No. 21893-161868-US

[0155] While the disclosure has been disclosed in connection with the preferred embodiments shown and described in detail, various modifications and improvements thereon will become readily apparent to those skilled in the art. Accordingly, the spirit and scope of the disclosure is not to be limited by the foregoing examples, but is to be understood in the broadest sense allowable by law.

[0156] The use of the terms "a" and "an" and "the" and similar referents in the context of describing the disclosure (especially in the context of the following claims) is to be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. The terms "comprising," "with," "including," and "containing" are to be construed as open-ended terms (i.e., meaning "including, but not limited to,") unless otherwise noted. Recitations of ranges of values herein are merely intended to serve as a shorthand method of referring individually to each separate value falling within the range, unless otherwise indicated herein, and each separate value is incorporated into the specification as if it were individually recited herein. All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The use of any and all examples, or exemplary language (e.g., "such as") provided herein, is intended merely to better illuminate the disclosure and does not pose a limitation on the scope of the disclosure unless otherwise claimed. The term "set" may include a set with a single member. No language in the specification should be construed as indicating any non-claimed element as essential to the practice of the disclosure.

[0157] While the foregoing written description enables one skilled to make and use what is considered presently to be the best mode thereof, those skilled in the art will understand and appreciate the existence of variations, combinations, and equivalents of the specific embodiment, method, and examples herein. The disclosure should therefore not be limited by the abovedescribed embodiment, method, and examples, but by all embodiments and methods within the scope and spirit of the disclosure.

[0158] All patent applications and patents, both foreign and domestic, and all other publications references herein are incorporated herein in their entireties to the full extent permitted by law.

[0159] While the invention herein disclosed has been described by means of specific embodiments, examples and applications thereof, numerous modifications and variations could be made thereto by those skilled in the art without departing from the scope of the invention set forth in the claims.

Claims

Attorney Docket No. 21893-161868-USClaimsWhat is claimed is:

1. A haptic device, comprising: a wearable medium; a processor configured to receive input reference values of a first data type in real time; a plurality of tactile stimulation mechanisms spaced around the wearable medium and communicatively coupled to the processor, each tactile stimulation mechanism having a unique mechanism reference value of a second data type and configured for variable strength tactile stimulation; and a software module executable by the processor, wherein the device, in real time, repeatedly: receives an input reference value; determines a respective actuation strength for each tactile stimulation mechanism as a function of the input reference value and the unique mechanism reference value of the tactile stimulation mechanism; and actuates each tactile stimulation mechanism with the respective actuation strength for each tactile stimulation mechanism having been determined, whereby the actuation of the tactile stimulation mechanisms in real time produces a moving sensation across a skin of a user in a defined area of skin for the user wearing the wearable medium.

2. The haptic device of claim 1, wherein the first data type and the second data type are each selected from the group consisting of 3-D coordinate values, 2-D coordinate values, headings, integers, percentages, and ordinal values.

3. The haptic device of claim 1, wherein each tactile stimulation mechanism comprises a vibrotactile actuator.

4. The haptic device of claim 3, wherein each vibrotactile actuator is mechanically isolated from the wearable medium.

5. The haptic device of claim 1, further comprising a receiver for receiving the first reference values, wherein the processor is further configured to receive the first reference values from the receiver.Attorney Docket No. 21893-161868-US6. The haptic device of claim 1, wherein the receiver is configured to receive input reference values from a mobile device or external sensor.

7. The haptic device of claim 1, the wearable medium further comprising: padding including a compressible comfort padding layer, wherein the comfort padding layer includes spaced cavities on a skin-side surface of the comfort padding layer, wherein at least a portion of one of the plurality of tactile stimulation mechanism is located each cavity.

8. The haptic device of claim 1, wherein the wearable medium further comprises an impact padding layer, wherein the impact layer is configured to allow the tactile stimulation mechanism to conform to a shape of the user's body.

9. The haptic device of claim 1, wherein the wearable medium further comprises a wearable, wherein the wearable is worn on a head of the user, and wherein the processor is further configured to use head orientation or position as one element in determining said respective actuation strength for each tactile stimulation mechanism.

10. The haptic device of claim 1, the wearable medium further comprising: padding, wherein the padding is further configured to contact the user's skin and compress when the wearable medium is worn by the user and maintain a substantially constant thickness when worn by the user.

11. The haptic device of claim 1, the wearable medium further comprising: padding, and wherein each tactile stimulation mechanism further comprises a force application mechanism having a vibrotactile actuator with a protruding tip that extends into the padding when the wearable medium is worn by the user.

12. The haptic device of claim 1, wherein the wearable medium comprises a removable helmet padding insert configured to be positioned inside a helmet.

13. The haptic device of claim 1, wherein the processor is further configured to receive additional information, and wherein the processor is further configured to determine at least one of a respectiveAttorney Docket No. 21893-161868-US waveform strength and a frequency modulation for each tactile stimulation mechanism based on the additional information.

14. The haptic device of claim 13, wherein distance information is encoded in the frequency modulation.

15. The haptic device of claim 1, wherein the processor is further configured to generate the moving sensation by interpolating actuation strength across adjacent tactile stimulation mechanisms.

16. The haptic device of claim 1, wherein the processor is further configured to generate a moving tactile sensation to represent a change in orientation.

17. The haptic device of claim 1, wherein the function is a non-linear function.

18. A method for generating haptic feedback, comprising: receiving, by a processor of a wearable haptic device, input reference values of a first data type in real time, wherein the processor includes a software module; determining, by the processor, a respective actuation strength for each of a plurality of tactile stimulation mechanisms spaced around a wearable medium of the wearable haptic device, wherein each tactile stimulation mechanism is communicatively coupled to the processor, has a unique mechanism reference value of a second data type, wherein the respective actuation strength as a function of the input reference value and the unique mechanism reference value of the tactile stimulation mechanism; actuating, by the processor, each tactile stimulation mechanism with the respective actuation strength determined for that tactile stimulation mechanism; repeating, in real time, the steps of receiving, determining, and actuating, thereby producing a moving sensation across a skin of a user in a defined area of skin for the user wearing the wearable medium.

19. The method for generating haptic feedback of claim 18, wherein the first data type and the second data type are each selected from the group consisting of 3-D coordinate values, 2-D coordinate values, headings, integers, percentages, and ordinal values.Attorney Docket No. 21893-161868-US20. The method for generating haptic feedback of claim 18, wherein the haptic device further comprises a receiver for receiving the first reference values, wherein said receiving input reference values of a first data type in real time further comprises receiving the first reference values via the receiver.

21. The method for generating directional haptic feedback of claim 20, wherein said receiving input reference values of a first data type in real time further comprises receiving the input reference values from a mobile device or external sensor.

22. The method for generating haptic feedback of claim 18, further comprising: said receiving input reference values of a first data type in real time further comprising receiving additional information in real time; and determining, by the processor, least one of a respective waveform strength and a frequency modulation for each tactile stimulation mechanism based on the additional information.

23. The method for generating haptic feedback of claim 18, said repeating, in real time, the steps of receiving, determining, and actuating, further generates the moving sensation by interpolating actuation strength across adjacent tactile stimulation mechanisms.

24. The method for generating haptic feedback of claim 18, wherein the function is a non-linear function.

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