Devices and methods for measuring musculotendonal profiles

Abstract

Methods and devices for determining intended movement based on various measurements taken by a wearable device, such as a wrist device or band, are disclosed. The methods and devices provide for various ways to measure musculotendonal profiles, which can be used to determine a pose and / or location of, for example, fingers on a hand based on the measurements taken at, for example, the wrist. Various methods for making these determinations include using force and / or displacement sensors, three-dimensional scanning, electrical contact, temperature contact, and / or acoustic contact. In some embodiments, one or more distance sensors are provided to help make pose determinations based on distances between the wearable device and a landmark, such as a body of the person wearing the device or a floor. Various devices and methods for motion prediction and determination are described.

Description

Attorney Docket No.: PL-001-PCT | 100921-429808 Devices and Methods for Measuring Musculotendonal Profiles CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims priority to and the benefit of U.S. Provisional Application No.63 / 701,333, entitled “Devices and Methods for measuring Musculotendonal Profiles,” and filed on September 30, 2024, and U.S. Provisional No.63 / 708,745, entitled “Devices and Methods for measuring Musculotendonal Profiles,” and filed on October 17, 2024, the contents of each which is incorporated herein by reference in its entirety. FIELD

[0002] The present disclosure relates to using sensing movement of muscles and / or tendons of an arm and / or hand to determine intended movement and then using the same to control an object remotely, and more particularly relates to devices and methods that measure musculotendonal profiles in conjunction with the same. BACKGROUND

[0003] The ability to control an object without touching it is becoming a more prevalent desire. Existing systems typically leverage sensors, motion tracking, and / or haptic feedback to create experiences that simulate the sensation of controlling objects without direct touch. However, the technology to truly achieve instantaneous remote control of an object through gestures involves many complications to be addressed. Namely, the biggest hurdles involve capturing an intended movement with the highest form of fidelity and reliability that will be acceptable to an average user. To the extent current technology options can be fused to create higher fidelity tracking, the sums of those options still fail to reach an average user’s expectations of fidelity and reliability for input. Accordingly, there has been little innovation in the technological control market. Incremental improvements reached by contributions from cameras and electronic waves, for example, fall short of the standard of accuracy provided by objects such as a keyboard, mouse, buttons, and / or trackpad, for instance. Voice-based input also has fallen short. Because users expect their technological control to be accurate on a consistent basis (e.g., 95% of the time or more, 99% of the time or more, even greater than 99%), it can be important that meaningful innovation in this space preserves the highest form of fidelity in tracking muscular intention.Attorney Docket No.: PL-001-PCT | 100921-429808

[0004] The ability to sense intended movement has seen improvements, including as provided for in U.S. Patent Application No.63 / 662,303, entitled “Utilizing One or More Sensors to Detect Muscle Activation,” filed June 20, 2024, and U.S. Patent Application No. 19 / 243,566, entitled “Utilizing One or More Sensors to Detect Muscle Activation,” filed June 19, 2025, each incorporated by reference herein in its entirety. In the ‘303 and ‘566 patent applications, devices and methods that utilize sensors to detect muscle activation for purposes of determining intended movement are provided. For example, sensors can be used to detect muscle stiffness, position, and size in conjunction with making such determinations. However, there are areas of the body where muscles terminate into tendons. In those locations, the stiffness and / or size characteristics of muscles are less available for use in making determinations of intended movement.

[0005] When using sensors to track one or more of muscles, tendons, bones, and / or skin, there arises a problem of mechanical ambiguity. This is particularly the case when biological elements cross concern more than a single joint. For example, extending a wrist outwards at least subjects the tendons, muscle, and skin on the palm side of the hand into additional mechanical tension, referred to as tenodesis. This can cause the fingers and hand to passively flex. The process works similarly in the opposite direction. The effect can also be observed in other primary axes of wrist motion, such as radial / ulnar deviation and supination / pronation. As a result, sensors observing for finger movement may incorrectly conclude that a finger has moved when it was in fact the wrist moving. Alternatively, the reverse case may be true when attempting to detect wrist movement when it was in fact finger movement.

[0006] Further, to the extent it is known that knowing one or more axes of hands and / or arms position relative to a stable reference frame can be used for gesture control applications, the mechanisms for carrying out such gesture control is limited. Such determinations have been done, for example, with external sensors, like light detection and ranging (LiDAR) and / or cameras. While inertial measurement units (IMUs) can provide some information on pose of the limb, and inverse kinematic models can be used to estimate possible positions that form that pose, such estimations have multiple solutions at least because the human arm has redundant degrees of freedom for certain hand and wrist poses.

[0007] Accordingly, there is a need for devices and methods that can measure tendon activity to assist in making determinations of intended movement for use in controllingAttorney Docket No.: PL-001-PCT | 100921-429808 something remotely, as well as devices and methods that can use distance measurements to help determine poses and / or can properly distinguish between instances when biological elements cross concern more than a single joint to help overcome the problem of mechanical ambiguity. SUMMARY

[0008] The present disclosure is directed to devices and methods capable of measuring tendon activity, such as tendon activity that occurs at the wrist. For example, when a finger flexes, a tendon moves, in turn changing the physical, three-dimensional (3D) surface profile of the wrist. This profile can be measured and used to estimate finger and / or hand activity. The measurements and estimations allow for a combination of tendon movements to be used for applications such as control systems and interfaces. More specifically, in an embodiment of a device worn on the wrist, such as a wristband, the device can measure and estimate tendon movements to predict and / or determine intended movement. The device can, in at least some instances, profile the wrist skin position over time to estimate the tendon activity of the fingers. As provided for herein, the profiling can be accomplished in a variety of manners, at least six of which are described herein.

[0009] The profiling can be accomplished using various sensors, and the sensed data can be converted to signals. The device can then communicate those signals, for example wirelessly, to a control system that is able to operate an object based on the determined intended movement. Examples of the objects that can be moved include, but are not limited to: a cursor on a computer; an avatar or other character, object, etc. in a video game and / or virtual reality; graphical elements on digital displays of wearable devices such as smart- glasses devices; objects used as the primary modality for interacting with an underlying operating system (i.e., where it is not substituting a cursor), which can be particularly relevant in screen-less, Internet of Things (IoT)-related technologies like smart homes and / or speakers. Because the provided for control device(s) offers extreme high fidelity, it allows for additional applications in technological control for objects and / or in fields such as precision robotics, manufacturing, medical device control, and / or hands-free data tracking industrial environments, among other uses provided for herein or otherwise understood as potential uses by a person skilled in the art in view of the present disclosures. The underlying technology can be used to track passive and / or active biometric data as a means to understanding how a muscle and / or tendon intended to move consciously and / or how aAttorney Docket No.: PL-001-PCT | 100921-429808 muscle and / or tendon may be moving unconsciously to the user. That vertical of data tracking can integrate into devices and / or objects where a primary value is contained in the data itself. Productized forms of those devices and / or objects can have applications in healthcare, medical devices, and / or performance athletics hardware where users are trying to make informed decisions and / or observations based on muscle and / or tendon movement.

[0010] One or more embodiments described herein includes a device for making determinations about a user’s intended movement. The device includes a body, at least one sensor associated with the body, and a communication mechanism. The body is configured to be disposed around at least a portion of a user’s body. The at least one sensor is configured to determine a musculotendonal profile of at least one of the portion of the user’s body around which the body is disposed or a location proximate to the portion of the user’s body around which the body is disposed. The communication mechanism is configured to communicate at least one of the musculotendonal profile or information that can be gleaned from the musculotendonal profile to a system operable to control an object based on the at least one of the musculotendonal profile or information that can be gleaned from the musculotendonal profile.

[0011] The device can include one or more of the following features. The sensor(s) can be disposed in the body of the device and / or can include at least one of one or more force sensors or one or more displacement sensors. The one sensor(s) can include one or more sensors that can be configured to provide three-dimensional surface profiling of at least one of the portion of the user’s body around which the body is disposed or a location proximate to the portion of the user’s body around which the body is disposed. In at least some embodiments, the sensor(s) can include one or more sensors that can be configured to determine the musculotendonal profile using electrical contact, using temperature contact, and / or using acoustic contact. The sensor(s) can include one or more force sensors and / or one or more position sensors that can be configured to measure a wrist angle for use in determining a wrist pose and / or differentiating between at least one of finger movements or wrist movements. In some embodiments, the device can also include a pop-out lever that can be configured to selectively extend outwards for use in determining a wrist pose and / or differentiating between finger movements and / or wrist movements. The sensor(s) can include one or more sensors that can be configured to determine finger flexion from skin movement. The sensor(s) can include one or more sensors that can be configured to detectAttorney Docket No.: PL-001-PCT | 100921-429808 changes in hand oscillation to determine a location and / or position of fingers. The sensor(s) can include one or more sensors that can be configured to determine whether a wrist is at least one of extended, flexed, radial deviation, ulnar deviation, pronation, or supination. The sensor(s) can include one or more emitters and / or one or more receivers. In at least some such embodiments, the one or more emitters can be configured to emit one or more electromagnetic waves to interact with organic tissue, and / or the one or more receivers can be configured to measure electromagnetic radiation intensity and / or electromagnetic radiation direction to determine a user’s intended movement.

[0012] One or more embodiments described herein include a system for moving an object based on a determined musculotendonal profile. The system includes the device of any of the embodiments described and / or elsewhere herein, and one or more processors. The one or more processers are configured to receive one or more signals from the communication mechanism of the device. The one or more signals are related to at least one of the musculotendonal profile or information that can be gleaned from the musculotendonal profile. Still further, the processor is configured to provide instructions to move an object that is remote from the user of the device based on the received one or more signals.

[0013] One or more embodiments described herein include a method of controlling movement of an object remotely. The method includes receiving at least one of a determined musculotendonal profile of a user attempting to move an object remotely or information that can be gleaned from the determined musculotendonal profile. The method further includes instructing movement of the object based on the received at least one of the determined musculotendonal profile of the user attempting to move the object remotely or information that can be gleaned from the determined musculotendonal profile.

[0014] The method can include one or more of the following features. The determined musculotendonal profile can have been determined by detection of forces and / or displacements that can occur at a location being measured in response to movement of the location being measured. Alternatively, or additionally, the determined musculotendonal profile can be determined by three-dimensional surface profiling of a location being measured in response to movement of the location being measured. Still further, the determined musculotendonal profile can be determined by measuring electrical contact associated with higher regions of skin of a location being measured in response to movement of the location being measured. In at least some embodiments, the determinedAttorney Docket No.: PL-001-PCT | 100921-429808 musculotendonal profile can be determined by measuring temperature contact based on air thermal resistance associated with higher regions of skin of a location being measured in response to movement of the same. In at least some other embodiments, the determined musculotendonal profile can be determined by measuring at least one of transmittance, diffraction, refraction, and / or reflectivity of electromagnetic waves as the electromagnetic waves interact with organic tissue of the user. Still further, in at least some embodiments, the determined musculotendonal profile can be determined by measuring acoustic contact based on frequency and / or amplitude changes depending on direct or indirect skin contact of a location being measured in response to movement of the location being measured. In at least some embodiments, the determined musculotendonal profile can be determined by measuring a wrist angle to determine a wrist pose and / or differentiate between at least one of finger movements or wrist movements.

[0015] While embodiments of the present disclosure are discussed primarily with respect to the wrist, a person skilled in the art, in view of the present disclosures, will understand how to implement similar methods at other locations in the body where tendons and / or muscles are present, including but not limited to elbows, shoulders, arms, knees, legs, ankles, feet, legs, necks, waists, stomachs, backs, and faces. Likewise, a person skilled in the art, in view of the present disclosures, will understand how to implement designs of devices in other locations of the body that can perform the disclosed functionality of the devices disclosed herein (and the associated methods), thus creating a variety of smart devices for carrying out the disclosed functionality. Such a person can design, for example, a smart device that can be worn on the elbow, shoulder, arm, knee, leg, ankle, feet, leg, neck, waist, stomach, back, and face that operates similar to the devices disclosed herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] This disclosure will be more fully understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0017] FIG.1A is a schematic bottom view drawing of a wrist and hand having an open palm;

[0018] FIG.1B is the schematic bottom view drawing of the wrist and hand of FIG.1A having a closed fist;Attorney Docket No.: PL-001-PCT | 100921-429808

[0019] FIG.1C is a cross-section of a portion of the wrist of FIG.1A;

[0020] FIG.1D is a cross-section of a portion of the wrist of FIG.1B;

[0021] FIG.2 is a schematic bottom view drawing of the wrist and hand of FIG.1A having one embodiment of a wrist device for determining intended motion disposed thereon;

[0022] FIG.3A is the cross-section of the portion of the wrist of FIG.1C illustrating force vectors detected by the wrist device of FIG.2;

[0023] FIG.3B is the cross-section of the portion of the wrist of FIG.1D illustrating force vectors detected by the wrist device of FIG.2;

[0024] FIG.3C is a conceptual diagram of a system for processing signals from sensors of a wrist device;

[0025] FIG.4A is a front view of another embodiment of a wrist device that can be worn like the wrist device of FIG.2, the wrist device having one or more force and / or displacement sensors embedded therein, the one or more force and / or displacement sensors being configured to detect the force vectors of FIGs.3A and 3B;

[0026] FIG.4B is a front view of a portion of the wrist device of FIG.4A in which the one or more force and / or displacement sensors are embedded, the portion of the wrist device being illustrated linearly for illustrative purposes;

[0027] FIG.4C is the front view of the portion of the wrist device of FIG.4B illustrating one force vector applied thereto;

[0028] FIG.4D is the front view of the portion of the wrist device of FIG.4C illustrating a second force vector applied thereto;

[0029] FIG.5A is a front view of still another embodiment of a wrist device that can be worn like the wrist device of FIG.2, the wrist device having one or more optical distance sensors embedded therein, the one or more optical distance sensors being configured to detect a series of angular measurements, as illustrated in FIGs.5B and 5C;Attorney Docket No.: PL-001-PCT | 100921-429808

[0030] FIG.5B is a cross-section of a portion of the wrist of FIG.2 taken at a similar location and with the hand in a similar configuration as the cross-section of FIG.1C, illustrating a series of angular measurements detected by the wrist device of FIG.5A;

[0031] FIG.5B is the cross-section of the portion of the wrist of FIG.2 taken at a similar location and with the hand in a similar configuration as the cross-section of FIG.1D, illustrating a series of angular measurements detected by the wrist device of FIG.5A;

[0032] FIG.6A is a schematic side view drawing of the wrist and hand of FIG.2 having an open palm with fingers close together;

[0033] FIG.6B is the schematic side view drawing of the wrist and hand of FIG.6A having three fingers curled towards the wrist;

[0034] FIG.7A is a cross-section of a portion of the wrist of FIG.6A taken at a similar location as the cross-section of FIG.1C;

[0035] FIG.7B is a cross-section of a portion of the wrist of FIG.6B taken at a similar location as the cross-section of FIG.1D;

[0036] FIG.8A is a plot showing three-dimensional (3D) data from tendons during a 3D scan of the portion of the wrist illustrated in FIG.7B;

[0037] FIG.8B is a plot showing a resulting height map based on the data from FIG.8A;

[0038] FIG.9A is the schematic side view drawing of FIG.6A, illustrating the wrist and hand having an open palm with fingers close together, and also including lines indicative of two sensors;

[0039] FIG.9B is the schematic side view drawing of FIG.6B, illustrating the wrist and hand having three fingers curled towards the wrist, and also including the lines indicative of two sensors of FIG.9A;

[0040] FIG.9C is a schematic bottom view drawing of the wrist of FIG.9A having another embodiment of a wrist device disposed on the wrist;

[0041] FIG.9D is a schematic bottom view drawing of the wrist of FIG.9B having the wrist device of FIG.9C disposed on the wrist;Attorney Docket No.: PL-001-PCT | 100921-429808

[0042] FIG.9E is a graph illustrating a skin position versus finger percent flexion;

[0043] FIG.10A is a schematic bottom view drawing of the wrist and hand of FIG.2 having an open palm and a sensor disposed on the wrist;

[0044] FIG.10B is a schematic bottom view drawing of the wrist and hand, along with the sensor, of FIG.10A, the hand having a closed fist;

[0045] FIG.10C is a top view of the sensor of FIG.10A;

[0046] FIG.10D is a top view of another embodiment of a sensor that can be used in place of the sensor of FIG.10C;

[0047] FIG.10E is a schematic side view drawing of the wrist, hand, and sensor of FIG. 10A, the hand having an open palm with fingers close together;

[0048] FIG.10F is the schematic side view drawing of the wrist, hand, and sensor of FIG. 10E, the hand having three fingers curled towards the wrist;

[0049] FIG.11A is a schematic bottom view drawing of the wrist and hand of FIG.2 having an open palm and illustrating light transmittance associated with tendons thereof;

[0050] FIG.11B is a schematic bottom view drawing of the wrist and hand of FIG.11A having a closed fist and illustrating light transmittance associated with the tendons thereof;

[0051] FIG.11C is a top view of one embodiment of a sensor that can be used to measure light transmittance in accordance with the illustrations of FIGs.11A-11B;

[0052] FIG.11D is a schematic side view drawing of a tendon of the tendons of FIG.11A having a sensor associated therewith;

[0053] FIG.12A is a top view of one embodiment of a sensor for use in detecting electromagnetic radiation;

[0054] FIG.12B is a top view of another embodiment of a sensor for use in detecting electromagnetic radiation;

[0055] FIG.12C is a top view of still another embodiment of a sensor for use in detecting electromagnetic radiation;Attorney Docket No.: PL-001-PCT | 100921-429808

[0056] FIG.13A is a schematic bottom view of the wrist and hand of FIG.2 having one embodiment of a wrist device for determining intended motion disposed on the wrist;

[0057] FIG.13B is a schematic side view of the wrist, hand, and wrist device of FIG.13B;

[0058] FIG.13C is a schematic bottom view of the wrist and hand of FIG.2 having another embodiment of a wrist device for determining intended motion disposed on the wrist;

[0059] FIG.13D is a schematic side view of the wrist, hand, and wrist device of FIG.13C;

[0060] FIG.13E is a schematic perspective view of the wrist and hand of FIG.2 having still another embodiment of a wrist device for determining intended motion disposed on the wrist;

[0061] FIG.14A is a schematic side view drawing of the wrist and hand of FIG.2 having an open palm facing downwards and another embodiment of a wrist device disposed on the wrist;

[0062] FIG.14B is the schematic side view drawing of the wrist, hand, and wrist device of FIG.14A illustrating motion of the wrist;

[0063] FIG.15A is a schematic side view drawing of the wrist and hand of FIG.2 having an open palm facing downwards and yet another embodiment of a wrist device disposed on the wrist, the wrist device including a watch module with a pop-out lever;

[0064] FIG.15B is the schematic side view drawing of the wrist, hand, and wrist device of FIG.15A with the pop-out lever being in an extended position;

[0065] FIG.15C is the schematic side view drawing of the wrist, hand, and wrist device of FIG.15B illustrating motion of the wrist;

[0066] FIG.16A is a schematic side view drawing of the wrist and hand of FIG.2 having an open palm facing downwards and another embodiment of a wrist device disposed on the wrist;

[0067] FIG.16B is the schematic side view drawing of the wrist, hand, and wrist device of FIG.16B with the hand having three fingers curled towards the wrist;Attorney Docket No.: PL-001-PCT | 100921-429808

[0068] FIG.17 is a graph illustrating skin position as detected by the wrist device of FIGs. 16A and 16B against finger percent flexion;

[0069] FIG.18A is a schematic top view drawing of the wrist and hand of FIG.2;

[0070] FIG.18B is the schematic top view drawing of the wrist and hand of FIG.18A having two fingers curled towards the wrist;

[0071] FIG.19A is a schematic side view drawing of the wrist and hand of FIG.2 having a closed fist and illustrating motion of the wrist and an arm thereof;

[0072] FIG.19B is a schematic side view drawing of the wrist and hand of FIG.2 having an open palm and illustrating motion of the wrist and an arm thereof;

[0073] FIG.20 is a schematic side view drawing of the wrist and hand of FIG.2 illustrating oscillation between a closed fist and an open palm;

[0074] FIG.21 is a graph illustrating a sample index against a rate of angular change during the oscillation between the closed fist and the open palm of FIG.20;

[0075] FIG.22A is a schematic side view drawing of the wrist and hand of FIG.2, with a wrist device for determining intended motion disposed thereon, the hand having a closed fist and the wrist being in an extended position;

[0076] FIG.22B is a schematic side view drawing of the wrist, hand, and wrist device of FIG.22A, the hand having an open palm and the wrist being in an extended position;

[0077] FIG.22C is a schematic side view drawing of the wrist, hand, and wrist device of FIG.22A, the hand having a closed fist and the wrist being in a flexed position;

[0078] FIG.22D is a schematic side vie drawing of the wrist, hand, and wrist device of FIG.22C, the hand having an open palm and the wrist being in a flexed position;

[0079] FIG.22E is a schematic drawing of one embodiment of an algorithm for use in determining a wrist position;

[0080] FIG.23A is a schematic perspective view drawing of a body of a user illustrating a wrist and hand of the user located a distance away from a chest of the user’s body;Attorney Docket No.: PL-001-PCT | 100921-429808

[0081] FIG.23B is the schematic perspective view drawing of the body, chest, wrist, and hand of the user of FIG.23A, the wrist and hand being located proximate to the chest of the user as compared to their location in FIG.23A;

[0082] FIG.23C is a schematic front view drawing of the body, chest, wrist, and hand of the user of FIG.23A, the wrist and hand being located a distance away from the chest and at a first location with respect to a floor (not shown);

[0083] FIG.23D is the schematic front view drawing of the body, chest, wrist, and hand of the user of FIG.23C, the wrist and hand being located at a second location with respect to the floor (not shown, but located at a same location as in FIG.23C), the second location being closer to the floor than the first location;

[0084] FIG.23E is a schematic top view drawing of the body, chest, wrist, and hand of the user of FIG.23A, the wrist and hand being located a distance away from the chest of the user’s body and the wrist having disposed thereon still another embodiment of a wrist device;

[0085] FIG.24A is a schematic perspective view drawing of the body of the user of FIG. 23A, the wrist and hand being located proximate to the chest of the user, the hand having an open palm, and the wrist having disposed thereon another embodiment of a wrist device;

[0086] FIG.24B is a schematic perspective view drawing of the body, wrist, hand, and wrist device of FIG.24A with the hand having fingers thereof curled towards the wrist;

[0087] FIG.24C is a schematic side view drawing of the wrist, hand, and wrist device of FIG.24A with the hand having an open palm and the wrist being located proximate to a surface;

[0088] FIG.24D is a schematic side view drawing of the wrist, hand, and wrist device of FIG.24C with the hand having fingers thereof cured towards the wrist and the wrist being located a distance further from the surface as compared to its location in FIG.24C; and

[0089] FIG.25 is a schematic block diagram of one embodiment of a computer system for use in conjunction with the present disclosures.Attorney Docket No.: PL-001-PCT | 100921-429808 DESCRIPTION

[0090] Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings and / or are described herein. Those skilled in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the present disclosure is defined solely by the claims. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present disclosure. Terms commonly known to those skilled in the art may be used interchangeably herein. By way of example, the terms cross-sections and profiles and wrist device and band are terms that are used, in at least some instances, interchangeably herein.

[0091] To the extent features, sides, objects, sensors, or the like are described as being “first,” “second,” “third,” etc., such numerical ordering is generally arbitrary, and thus such numbering can be interchangeable. Still further, in the present disclosure, like-numbered components and / or like-named components of various embodiments generally have similar features when those components are of a similar nature and / or serve a similar purpose, unless otherwise noted or otherwise understood by a person skilled in the art. To the extent the present disclosure includes prototypes, mock-ups, schematic illustrations, bench models, or the like, a person skilled in the art will recognize how to rely upon the present disclosure to integrate the techniques, systems, devices, and methods into a product, such as a device wearable by a human (or other animal as desired and / or designed). The present disclosure may use or describe particular components using interchangeable or related terms. Moreover, it will be appreciated that although features may be discussed with respect to one embodiment within the present disclosure, these features can be applied to any combination of features across any of the embodiments of the present disclosure unless otherwise indicated or otherwise understood to not be possible by a person skilled in the art.

[0092] The present disclosure provides for methods of determining intended movement by measuring a musculotendonal profile. A device having sensors associated therewith can be worn by a user and the sensors can measure movements associated with one or more tendons.Attorney Docket No.: PL-001-PCT | 100921-429808 In some non-limiting embodiments, the device is worn on a wrist and musculotendon movement is detected by the device. The detected movements are provided in the form of signals, which are in turn communicated to a control system or controller. The control system / controller can then cause movement of an object in response to the same.

[0093] Some of the principles underlying the disclosed methods and devices provided for herein are illustrated in FIGs.1A-1D. FIG.1A illustrates a human wrist 10 and hand 12 with the hand 12 having an open palm 14. In contrast, FIG.1B illustrates the same human wrist 10 and hand 12 with the hand 12 having a closed fist 14′. Notably, in some embodiments illustrated herein, a right wrist and right hand are shown, and in other embodiments a left wrist and left hand are shown, but the reference numerals are the same for each as the devices and methods disclosed herein can be used in conjunction with either wrist or hand. Cross- section profiles 22, 22′ (also referred to as cross-sections or profiles) of a portion 20 of the wrist 10—the portion 20 being designated by a box 21 extending across FIGs.1A-1B—are illustrated in FIGs.1C and 1D, with FIG.1C illustrating the profile 22 of the portion 20 of the wrist 10 when the hand 12 has the open palm 14 as shown in FIG.1A and FIG.1D illustrating the profile 22′ of the portion 20 of the wrist 10 when the hand 12 has the closed fist 14′ as shown in FIG.1B. When fingers 16 of the hand 12, which for purposes of the present disclosure can include a thumb (i.e., fingers 16 = fingers and thumb), close to make the fist 14′, as shown in FIG.1B, the corresponding musculotendon movement can be observed on the wrist 10, with the corresponding profile 22′ shown in FIG.1D being less uniform than the profile 22 shown in FIG.1C when the fingers 16 are in the open palm 14 condition shown in FIG.1A. The varied profiles 22 and 22′ illustrate that these changes in profiles provide an opportunity for detection of tendon changes to be determined and used to determine intended movement.

[0094] The present disclosure provides for at least six different ways by which the profiles 22 and 22′ can be measured. They include: (1) force sensors; (2) displacement sensors; (3) three-dimensional (3D) scanning; (4) electrical contact; (5) temperature contact; and / or (6) acoustic contact. Additional methods for measuring profiles can include, but are not limited to: (1) capacitive skin contact; (2) optical scanning; and / or (3) magnetic sensing of a deformable garment having multiple magnetic elements. Although the present disclosures often describe only one of these implementations at a time, a person skilled in the art willAttorney Docket No.: PL-001-PCT | 100921-429808 appreciate that, in at least some embodiments, multiple of these implementations can be used together for profile detection.

[0095] FIG.2 illustrates the wrist 10 and hand 12 having the open palm 14, with the wrist 10 having disposed thereon one embodiment of a wrist device 100, also referred to as a band, among other terms, for use in determining intended motion. The device 100 can include a body 102 configured to be disposed around at least a portion of a user’s body, as shown the wrist 10, with the body 102 being able to conform to the user’s body around which it is disposed so that it can be well-positioned for making one or more measurements as provided for herein. In the illustrated embodiment, the body 102 is disposed around an entire 360° circumference of the wrist 10, although in other embodiments it is possible for the body 102 to not be disposed around an entirety of a portion of the body (i.e., it does not have to be disposed around an entire 360° circumference of the user’s body). Accordingly, use of the term “around” can include instances when the body 102 is disposed around less than an entire 360° circumference of the user’s body, and instead refers to the body 102 being disposed adjacent to at least some portion of the user’s body.

[0096] The device 100 can also include one or more sensors (examples illustrated in other embodiments) associated therewith (e.g., disposed in, on, and / or coupled thereto) capable of measuring a musculotendonal profile of at least one portion of the user’s body around which the body 102 is disposed or a location proximate to the portion of the user’s body around which the body 102 is disposed. For example, when the body 102 is disposed around a wrist 10, the sensor(s) can measure the musculotendonal profile of the wrist or one or more locations proximate to the wrist, such as the hand 12, fingers 16, and / or arm. In one non- limiting embodiment, the sensor(s) can estimate a force between the device 100 and skin of the wrist 10. Accordingly, as shown in FIG.3A, when the hand 12 has the open palm 14, the corresponding profile 222 is illustrated in FIG.3A, with force vectors F1, F2, F3, F… through Fn being able to be determined by the sensor(s) of the device 100. Likewise, as shown in FIG .3B, when the hand 12 has a closed fist (see, e.g., the closed fist 14′ of FIG.1B), the corresponding profile 222′ is illustrated in FIG.3B, with force vectors F1′, F2′, F3′, F′… through Fn′ being able to be determined by the sensor(s) of the device 100. As shown, when the fingers 16 close to form the fist, the corresponding musculotendon movement is observed on the wrist 10, proximal to the hand 12, with the corresponding profile 222′ being moreAttorney Docket No.: PL-001-PCT | 100921-429808 varied than the more uniform profile 222 that is provided when the hand 12 has the open palm 14.

[0097] The device 100 can also include one or more communication mechanisms for communicating the musculotendonal profile and / or measurements associated with the profile, or the profile and / or measurements converted to signals, to a location remote from the device 100 for use in controlling an object. The communication mechanism(s) can be a wired communication mechanism(s) and / or a wireless communication mechanism(s). A person skilled in the art, in view of the present disclosures, will understand how to incorporate the communication mechanism(s) for wired and / or wireless communication into the device 100, as well as how to make the device 100 part of a system that can communicate determined musculotendonal profiles, and / or information gleaned or otherwise determined from musculotendonal profiles, to the location remote from the device 100 for use in controlling a remote object in view of the intended movement of the user wearing the device 100.

[0098] Additional details of acquisition and pre-processing of information measured, detected, and / or determined by the wrist device 100 are provided in the following paragraphs before turning to other examples of wrist devices or bands. For example, FIG.3C is a conceptual diagram of a system 1500 for processing the signals that are acquired from sensors 1502A-N of the device 100. The system 1500 can include the device 100 in communication (e.g., wired, wireless) with a backend computer system 1504 via network(s) 1506. The backend computer system 1504 can also be in network communication with various data sources, such as a data store 1508. The backend computer system 1504 can be any type of computing system, cloud-based system, and / or network of computing devices configured to perform additional processing of signals from the sensors 1502A-N of the device 100.

[0099] As the signals are acquired from the sensor(s) 1502A-N (block A, 1510) and continue to exist as digital information on a persistent or temporary memory device (e.g., of the device 100), the signals can be optionally processed onboard the device 100 (block B, 1512), partially or wholly, and / or processed on a receiving system, such as the backend computer system 1504 (blocks C, 1514, and E, 1518), partially or wholly. The signals may also be processed on a separate device or system that is not the wearable device nor the device that is being controlled and / or to which input is provided. The signals may be first processed by one or more methods known to a person skilled in the art, such as frequencyAttorney Docket No.: PL-001-PCT | 100921-429808 and / or amplitude-based filters. Furthermore, the initial processing may be done at the hardware and / or embedded level using passive and / or active electrical signal conditioning techniques.

[0100] With respect to signal processing, such as at the device 100 (block B, 1512) and / or at the backend computer system 1504 (block E, 1518), the cleaned signals can be sent through additional processing, where the model(s) on which the processing is (are) based may be derived empirically and / or theoretically. A non-limiting example of these models can include using the amplitudes of the sensor readings to determine whether the user’s hand is forming a fist gesture, where if the readings exceed a fixed or variable multiple of the standard deviation of the “baseline” readings over a fixed or variable number of samples in a historical data buffer, it is assumed or otherwise determined a fist gesture is being made. In another non-limiting example, the relative amplitudes of different sensors can be compared and analyzed for patterns that correspond to one or more specific actions and / or gestures. Accordingly, actions and / or gestures can be determined based on the processing (block F, 1520). In yet another example, a trained machine learning model or other similar adaptive algorithm can be used to classify different sets of sensor readings as different actions and / or gestures. Further, the software of the backend computer system 1504 may possess anatomical data concerning the area of the body over which the device’s sensor(s) is (are) measuring. The anatomical data or other relevant data can be received from the data store (block D, 1516), and used in processing the signals (block E, 1518) and / or determining the actions and / or gestures (block F, 1520). Using this anatomical data, relationships between the actions of muscle, tendon, skin (and / or other anatomical components) and the physical gestures and movements can be established. For example, when the skin on the back of the hand elongates near the index finger, it is more likely that the index finger has moved. What is disclosed herein does not need to be extensively trained as an algorithm at least because the relationship is based on known, anatomical fact. This method of anatomical context can be used to help minimize uncertainty when determining an action gesture based on sensor input.

[0101] Sensor information that is determined can be combined with other information, whether taken from other sensors, from a learned model, and / or from other locations where relevant information can be determined, as known to those skilled in the art in view of the present disclosures (refer to Blocks D, 1516, E, 1518, and F, 1520). A fundamental software element can be the fusion of different sources of data (a non-limiting example is anAttorney Docket No.: PL-001-PCT | 100921-429808 accelerometer and a musculotendonal sensor) so that one sensor may modulate the interpretation or processing techniques applied to another. This includes at least two key uses: (1) increasing reliability; and (2) increasing specificity. To increase reliability (1), one sensor or group of sensors can modulate the interpretation and / or processing of another sensor or group of sensors during an activity or situation where the latter sensor may encounter greater difficulty providing correct information. For example, when an accelerometer reads high levels of acceleration, the data from the muscle sensors can be filtered and / or interpreted differently to minimize the adverse effects of motion-induced data artifacts. To increase specificity (2), one sensor or group of sensors can modulate the interpretation and / or processing of another sensor or group of sensors to achieve a multiplicative effect on the number of unique control and / or input signals. For example, when a hand is pointing up, as determined by one sensor or group of sensors, flexing a thumb of that hand may mean a different control action is triggered than when the hand is pointing down and the thumb is moved in the same way. Sensor data combinations can be achieved across any number of sensors and sensor types.

[0102] The sensor data can be mapped to various actions, such as by the backend computer system 1504 in block G (1522). More particularly, an individual or combined set of sensor data conditions can be mapped to any number of output signals, which can then be returned by the backend computer system 1504 in block H (1524). In some instances, the mapping can be fixed for a specific application. In other instances, the software can include a “tool selector” method through which the same sets of control outputs can be re-mapped to different applications. For example, arrow keys on a computer, a joystick controller, a command to open an e-mail application, a command to increase system volume, etc. The “tool selector” can be controlled with yet another gesture-based action and / or through some other method. Further, the software can understand the specific task that the user is currently engaged with (i.e., e-mail, gaming, fitness, etc.) and automatically map the control outputs appropriately. Additionally, the sensor data can be used to combine all of the above to adjust how the data is filtered, processed, and / or mapped depending, at least in part, on the situation, posture, and / or location of the user. For example, on a hot day, the system, such as the backend computer system 1504, may detect the elevated temperature and adjust the sensor operation and / or data processing to compensate for skin characteristics changes. In another example, the system may detect that the user is laying down on a bed and remap some of the gesture interpretation to be more ergonomic and / or intuitive. In another example, the systemAttorney Docket No.: PL-001-PCT | 100921-429808 can function conveniently on an airplane or other mode of transportation by looking for smaller, more subtle gestures that work better in the confines of a small passenger seat. In still another example, the system may detect tremors and / or other physical and / or cognitive disabilities of the user and use signal filters and other software algorithms to compensate for them and keep the system’s performance at an acceptable level. A person skilled in the art, in view of the present disclosures, will appreciate these are all non-limiting examples, and further, such a person will appreciate other ways by which the sensor data can be mapped and / or tuned to account for various inputs related to a user of the system. Although blocks E- H (1518-1524) are described from the perspective of the backend computer system 1504, this is merely an illustrative, non-limiting example. One or more of the disclosed operations can, in some implementations, be performed on the edge at the device 100.

[0103] FIG.4A illustrates one example of a wrist device or band 200 that can be located on a wrist, similar to the positioning of the device 100 with respect to the wrist 10 illustrated in FIG.2. The wrist device 200 can include a body 202 and one or more force sensors and / or displacement sensors 204 associated with the body 202. The body 202 can be similar to the body 102 and / or similar to other bodies provided for herein and / or understood by a person skilled in the art to be suitable for use as a wearable device in the contexts disclosed herein. The sensors 204 can be embedded within the body 202 as shown, and / or one or more of the sensors 204 can be disposed on, coupled to, and / or otherwise associated with the body 202 and / or the wrist device 200 more generally. In the illustrated embodiment, five displacement and / or force sensors 204 are included, embedded within the body 202, disposed approximately equidistant from each other, and disposed approximately equidistant from each other. As shown, the sensors 204 are disposed at a location within the wrist device 200 that can be positioned adjacent to the visible portion of the wrist 10 in FIG.2, i.e., at a downward location as shown if a wrist was placed through an opening 206 of the wrist device 200 with the palm 14 facing towards the sensors 204. The array of sensors 204 disposed in the wrist device 200, or otherwise associated with the wrist device 200, can include any configuration, and thus the illustrated embodiment is a non-limiting embodiment. Any number of force sensors and / or displacement sensors can be used, including only force sensor(s), only displacement sensor(s), and / or any possible combination of the two. As shown in FIGs.4A-4D, there are five force and / or displacement sensors 204, though any number of sensors can be used. As illustrated by FIGs.4C-4D, as force is applied to the wrist device 200, for example by moving from the open palm to the fist, a force FA can applied toAttorney Docket No.: PL-001-PCT | 100921-429808 the wrist device 200 at one of the sensors 204 and a second force FBcan be applied to the wrist device 200 at one of the other sensors 204. The force measurements that are able to be taken by the force sensors 204 are illustrated as force vectors F1, F2, F3, F… through Fn and force vectors F1′, F2′, F3′, F′… through Fn′ of FIGs.3A-3B.

[0104] A person skilled in the art, in view of the present disclosures, will understand that any number of sensors can be used to form an array of force and / or displacement sensors (including a single sensor, which would not be considered an array, but any more than one sensor is considered an array) and in any order and / or configuration. For example, while in the illustrated embodiment the sensors 204 are only illustrated in approximately between one- quarter and one-third of a circumference of the wrist device 200, in other embodiments the sensors 204 can be disposed in, on, or otherwise associated with an entirety, or an approximate entirety, of the circumference of the wrist device and / or in a different portion of the circumference when disposed in less than the entirety of the circumference. Likewise, in other embodiments, the sensors 204 may not be equidistant from each other and / or evenly spaced with respect to each other. More generally, as provided for herein, the sensor(s) 204 can be used to profile a surface of the skin over the area of interest. Higher spatial sensor density can allow for a higher fidelity reconstruction of the resulting profiles (e.g., the profiles 222 and 222′ of FIGs.3A and 3B). While in the illustrated embodiment both force and displacement sensors 204 are used, in other embodiments, only a force sensor(s) or only a displacement sensor(s) is used. Other sensors disclosed herein or otherwise known to those skilled in the art can be used in lieu of or in addition to one or both of the force and displacement sensor(s) 204.

[0105] FIG.5A illustrates another example of a wrist device or band 300 that can be located on a wrist, similar to the positioning of the device 100 with respect to the wrist 10 illustrated in FIG.2. The wrist device 300 can include a body 302 and one or more displacement sensors 304 associated with the body. The body 302 can be similar to the body 102 and / or similar to other bodies provided for herein and / or understood by a person skilled in the art to be suitable for use as a wearable device in the contexts disclosed herein. The sensors 304 can be embedded within the body 302 as shown, and / or one or more of the sensors 304 can be disposed on, coupled to, and / or otherwise associated with the body 302 and / or the wrist device 300 more generally. In the illustrated embodiment, there are five sensors embedded within the body 302, disposed approximately equidistant from each other,Attorney Docket No.: PL-001-PCT | 100921-429808 and disposed approximately equidistant from each other. As shown, the sensors 304 are disposed at a location within the wrist device 300 that can be positioned adjacent to the visible portion of the wrist 10 in FIG.2, i.e., at a downward location as shown if a wrist was placed through an opening 306 of the wrist device 300 with the palm 14 facing towards the sensors 304. The wrist 10 disposed within the opening 306 of the wrist device 300 is shown in FIG.5A.

[0106] Similar to the sensors 204, the array of sensors 304 disposed in the wrist device 300, or otherwise associated with the wrist device 300, can include any configuration, and thus the illustrated embodiment is a non-limiting embodiment. The sensors 304 can be configured to estimate distance between the device 300 and skin of the wrist 10 and / or the relative angle of tangent skin surfaces of the wrist 10. In the illustrated embodiment, the sensors 304 are embedded optical distance sensors, with the dashed lines in FIG.5A being illustrative of the sensors 304 being able to detect relative angles of tangent skin surfaces and / or estimate a distance between the device 300 and the skin of the wrist 10. More generally, any angular sensor, such as hall effect sensors, optical sensors, micro-electromechanical systems (MEMs) sensors, and / or inertial measurement unit (IMU) sensors, can be used to measure relative angles and / or estimate distances. In use, and as illustrated by FIGs.5B and 5C, respectively, when moving from an open palm to a fist, the corresponding musculotendon profiles 322, 322′ can be measured and represented as a series of angles. FIGs.5B and 5C illustratetangent skin surfaces(illustrated by dashed lines in each figure) and resulting angles, as shown angles θ1, θ2, θ3′, and θ4′, in FIG.5B and angles θ1′, θ2′, θ3′, θ4′, …through θs′ in FIG. 5C, formed by surfaces of skin of the wrist 10.

[0107] A person skilled in the art, in view of the present disclosures, will understand that any number of sensors can be used to form an array of displacement sensors (including a single sensor, which would not be considered an array, but any more than one sensor is considered an array) and in any order and / or configuration. For example, while in the illustrated embodiment the sensors 304 are only illustrated in approximately between one- quarter and one-third of a circumference of the wrist device 300, in other embodiments the sensors 304 can be disposed in, on, or otherwise associated with an entirety, or an approximate entirety, of the circumference of the wrist device and / or in a different portion of the circumference when disposed in less than the entirety of the circumference. Likewise, in other embodiments, the sensors 304 may not be equidistant from each other and / or evenlyAttorney Docket No.: PL-001-PCT | 100921-429808 spaced with respect to each other. More generally, as provided for herein, the sensor(s) 304 can be used to profile a surface of the skin over the area of interest. Higher spatial sensor density can allow for a higher fidelity reconstruction of the resulting profiles (e.g., the profiles 322 and 322′ of FIGs.5B and 5C). Other sensors disclosed herein or otherwise known to those skilled in the art can be used in lieu of or in addition to the displacement sensor(s) 304.

[0108] In another embodiment of a wrist device or band, the wrist device can provide for three-dimensional (3D) scanning. The wrist device 100 of FIG.2, for example, can be configured in this manner. That is, the profile of the tendons and skin of the wrist 10 and / or surrounding portions of the body can be profiled with various methods in 3D surface profiling known to those skilled in the art. There are several ways to achieve this, including but not limited to any method that creates a map of data points and / or other geometric data of the wrist profile can be used. Non-limiting examples include structured light scanning, oblique light surface profiling, scatter angle measurement, polarized light scanning, and / or polarized light stress measurement, among other techniques known to those skilled in the art. Additionally, or alternatively, the vasculature of the wrist can be tracked for this purpose. For example, one or more discrete sensors, such as an array (i.e., more than one) of sensors, and / or one or more camera sensors can be used in combination with normal and angled light to generate a 3D topological representation of the wrist. In turn, this 3D data can be used for control and / or input systems, as provided for herein or otherwise understood by those skilled in the art in view of the present disclosures.

[0109] FIGs.6A-8B illustrated one non-limiting example of how movement of the hand 12 can result in different profiles 422, 422′, and thus different 3D scans 442, 442′. More particularly, FIG.6A illustrates the wrist 10 and hand 12 having the open palm 14 facing upwards with the fingers 16 close together, while FIG.6B illustrates three fingers 16 curled towards the wrist 10, forming a partially closed fist 14″. A wrist device designed to perform 3D scanning can measure an area instead of just a line, allowing for changes in both transverse and longitudinal axes to be determined. The cross-section profiles 422, 422′ of the wrist 10 corresponding to the open palm 14 and the partially closed fist 14″ are shown in FIGs.7A and 7B, respectively, with the profile 422 being illustrative of the open palm 14 and the profile 422′ being illustrative of the partially closed fist 14″. Further, a 3D scan 442 of the profiles 422′ that helps illustrate changes in both transverse and longitudinal axes asAttorney Docket No.: PL-001-PCT | 100921-429808 compared to a 3D scan (not provided, but what the scan looks like would be understood by a person skilled in the art) of the profile 422 is shown in FIG.8A. FIG.8B illustrates a plot of a resulting height map 442′ that can be mapped to input systems and / or controllers by various algorithms provided for herein or otherwise known to those skilled in the art in view of the present disclosures. In at least some embodiments, colors can be applied across the height map 442′ to better illustrate differences across the illustrated profile.

[0110] FIGs.9A-9D illustrate a way of determining direction of tendon movement with multiple emitting or receiving locations. As described above with respect to FIGs.6A-8B, a sensing method can include profiling the wrist skin, muscle, tendon, and / or vasculature position and shape over time to estimate the action of the fingers 16 with the open palm 14 (FIGs.9A and 9C) and the partially closed fist 14′′ (FIGs.9B and 9D). A person skilled in the art, in view of the present disclosures, will understand the profile can be obtained with other methods as well, including any method that creates a map of data points and / or other geometric data of a wrist profile can be used. In FIGs.9A-9B and 9C-9D, the same movement of the fingers 16 with respect to the wrist 10 of the hand 12 as illustrated in FIGs. 6A-6B is shown. In the illustrated embodiment of FIGs.9A-9B and 9C-9D, however, the position and / or shape of the organic tissues at multiple (e.g., several) locations along an axis substantially parallel to a primary axis of motion is used to determine the direction in which those tissues are changing position and / or shape.

[0111] More particularly, as shown in FIGs.9A-9B, a first sensor 404a and a second sensor 404b can be disposed on the wrist 10. The lines illustrating the sensors 404a and 404b are representative of making measurements and / or detecting data at multiple locations. The sensors 404a, 404b can be disposed in, on, and / or otherwise associated with a wrist device or band, similar to other such devices or bands described herein (see, e.g., wrist devices 100, 200, 300). As shown in FIGs.9A-9B, the sensors 404a and 404b can measure multiple points along an axis of movement to determine a direction of movement. Similarly, as shown in FIGs.9C-9D, a first line of sensors 404a′ and a second line of sensors 404b′ can be disposed on a wrist device 400′, the wrist device 400′ having similar capabilities as other wrist devices provided for herein or otherwise derivable from the present disclosures. As shown the sensors 404a′ and 404b′ can be disposed on a body 402′ of the wrist device 400′, the body 402′, and thus the sensors 404a′, 404b′ and the device 400′, being disposed on the wrist 10. Any number of sensors 404a′ and 404b′ can be used, including a single sensor of each or aAttorney Docket No.: PL-001-PCT | 100921-429808 single sensor total (e.g., only sensor 404a′ or only sensor 404b′), the sensors 404a′ and 404b′ performing similarly as the sensors 404a and 404b and / or other sensors disclosed herein or known to those skilled in the art.

[0112] As illustrated in FIG.9E, which provides data from both sensors 404a, 404b to illustrate skin position versus finger percent flexion, depending on which sensor 404a, 404b registers a significant difference first, the direction of movement can be determined. As shown in FIG.9E, the horizontal axis offset between peaks, inflections, or other mathematical datums gives useful information about the finger position. Similar data can be generated from the sensors 404a′, 404b′.

[0113] This solves the challenge where a system may be able to determine that some movement has occurred, but due, at least in part, to not knowing the initial conditions (e.g., did the fingers start opened or closed), the system cannot determine what exact movement occurred. The system sees a minimum value, maximum value, and a slope, but that is not enough. By knowing the order in which those data features occur, and by knowing sensor placement, it becomes possible to know the state of the hand without prior knowledge of it. Therefore, the sensor data will reflect the direction and magnitude of wrist, hand, and / or finger movement.

[0114] Measuring the transmittance, diffraction, refraction, and / or reflectivity of electromagnetic (optical or other) waves as they interact with organic tissue of user is yet another way by which intended motion can be determined. Some non-limiting embodiments of how this works are illustrated in FIGs.10A-10E. A person skilled in the art will appreciate how reflection of light, refraction of light, and diffraction of light work, and thus an explanation of the same is unnecessary. The organic tissue of the wrist 10 and / or hand 12 can act as a “light pipe” or “optic fiber” such that electromagnetic waves in the visible and / or non-visible spectrum can be applied at one or more locations near or at a surface of the skin. The distance or gradient with which the light reaches through the tissue at different intensities can be correlated with tissue state (e.g., position, density, size, etc.). FIG.10A illustrates the hand 12 having an open palm 14, with fingers 16 extending away from the wrist 10, and FIG. 10B illustrates the hand 12 having a clinched fist 14′, with the fingers 16 extending towards the wrist 10. The changes in the electromagnetic radiation emitted by one or more emitters, as shown an emitter 503, disposed at, on, or near the wrist 10 can be measured by one or more receivers, as shown a receiver 505, the combination thereof being referred to herein as aAttorney Docket No.: PL-001-PCT | 100921-429808 sensor 504. An embodiment of the sensor 504 having the emitter 503 and the receiver 505 is shown in FIGs.10A-10B, and is illustrated by itself in FIG.10C. As shown, the emitter 503 is centrally disposed and concentric with the receiver 505. Both the emitter 503 and receiver 505 are circular in nature. In the illustrated embodiments of FIGs.10A and 10B, additional intensity from the emitter 503 is detected by the receiver 505 due to the clinched fist 14′ as compared to the open palm 14, as shown by the brighter and wider intensity of light 507′ in FIG.10B as compared to an intensity of light 507 in FIG.10A. This is because flexing the fingers 16 into the clinched fist 14′ with the fingers 16 pointing towards the wrist 10 changes internal tissue arrangement such that light attenuates at different rates and in different directions, referred to as light dispersion, than when the fingers 16 are pointing away from the wrist 10 with the open palm 14. As a result, surface and cross-sectional transmittance can be used to detect movement of the fingers 16 relative to the wrist 10.

[0115] An alternative, non-limiting embodiment of a sensor 504′ that includes one or more emitters, as shown an emitter 503′, and one or more receivers, as shown a plurality of receivers 505′. A person skilled in the art, in view of the present disclosure, will understand many different sizes, shapes, configurations, and arrangements that can be used to form a sensor like the sensors 504, 504′. The physical arrangement between emitter(s) and receiver(s) can be many, and can be changed or adjusted to optimize for different areas of the body. Additionally, while the embodiments illustrated in FIGs.10A-10D illustrate sensors 504, 504′ being disposed adjacent to and / or on the wrist 10, one or more of the sensors 504, 504′, and / or other embodiments of sensors provided for herein or otherwise derivable from the present disclosure, can be incorporated into a wrist device or band, such as the devices and bands provided for herein or otherwise derivable from the present disclosure. Further, multiple wavelengths of light can be used to amplify optical effects, such as light attenuation in different mediums and / or over the length of one or more mediums. The light may be electronically modulated to different frequencies, amplitudes, and / or waveforms to allow the receiver(s) to determine the origin of the detected light simultaneously.

[0116] FIGs.10E-10F illustrate how the sensor 504 can be operated with the wrist 10, hand 12, and fingers 16, with three fingers 16 moving from an open palm 14 as shown in FIG.10E and towards a partially closed fist 14″ as shown in FIG.10F. The sensor 504 can be disposed at the wrist 10. The emitter 503 emits electromagnetic radiation towards the wrist 10, and, in turn, the receiver 505 detects light that results from the emitted electromagnetic radiationAttorney Docket No.: PL-001-PCT | 100921-429808 attenuating at a particular rate and in a particular direction based on movement of the fingers 16. As the fingers 16 move, as shown in FIG.10F three fingers 16 flexing towards the wrist 10, internal tissue movement changes density and position, affecting light transmission. By measuring with a radiation receiver(s) (e.g., the receiver 505) at multiple locations in relation to an emitter(s) (e.g., the emitter 503), a dispersion pattern and direction can be determined.

[0117] FIGs.11A-11B illustrate how tendons themselves can act as one or more “light pipes” or “optic fibers” such that electromagnetic waves in the visible and / or non-visible spectrum can be applied at one location near or at the surface of the skin. The distance or gradient with which the light reaches through the tissue at different intensities can be correlated with tissue state (e.g., position, density, size, etc.). FIG.11A illustrates the hand 12 having an open palm 14 and FIG.10B illustrates the hand 12 having a clinched fist 14′. Flexing the fingers 16 changes the position and curvature of the tendons such that light attenuates at different rates and in different directions. As a result, light transmittance through the tendons can be used to detect finger movement, as schematically illustrated by light attenuated tendons 15 in FIGs.11A and 11B.

[0118] An embodiment of a sensor 504″ having one or more emitters, as shown an emitter 503″, and one or more receivers, as shown a plurality of receivers 505″, is illustrated in FIG. 11C. In use, the emitter(s) 503″ can emit electromagnetic radiation and changes in the electromagnetic radiation direction and / or intensity can be measured by the one or more receivers 505″. When a tendon curves, its light transmittance changes, which can be detected and used to detect finger and / or wrist movement. FIG.11D illustrates a possible arrangement of a sensor 504‴ that includes an emitter 503‴ and multiple receivers 505‴ (as shown, two). As light 509‴ emitted from the emitter 503‴ travels through the tendon 15‴, the receivers 505‴ can measure light transmission through the tendon 15‴.

[0119] Descriptions related to FIGs.10A-11D discuss various embodiments of sensors (e.g., sensors 504, 504′, 504″, 504‴), and further, note how many other set-ups and configurations are possible. FIGs.12A-12C provide three more non-limiting embodiments of sensors 604, 604′, and 604″. A person skilled in the art, in view of the present disclosures, will understand many other possible configurations.

[0120] The sensor 604 of FIG.12A includes a centrally disposed emitter 603 and a plurality of receivers 605 disposed substantially equidistantly around the emitter 603. In theAttorney Docket No.: PL-001-PCT | 100921-429808 illustrated embodiment, there are four receivers 605 each disposed circumferentially about 90 degrees from the next receiver. The sensor 604′ of FIG.12B has an opposite configuration as compared to the sensor 604 of FIG.12A. More particularly, the sensor 604′ includes a centrally disposed receiver 605′ and a plurality of emitters 603′ disposed substantially equidistantly around the receiver 605′. In the illustrated embodiment, there are four emitters 603′ each disposed circumferentially about 90 degrees from the next emitter. The sensor 604″ of FIG.12C has a more linear configuration as compared to the more circumferential or circular configurations of the sensors 604 and 604′ of FIGs.12A and 12B, respectively. As shown, there is a substantially linear array of receivers 605″, as shown four receivers being horizontally aligned along a center of each receiver, and a substantially linear array of emitters 603″, as shown four emitters disposed below the receivers 605″ and being horizontally aligned along a center of each emitter. Further, as shown a center of each receiver 605″ is substantially vertically aligned with a center of each emitter 603″. While in the illustrated embodiment the receivers 605″ are disposed above the emitters 603″, in other embodiments they can be oppositely disposed. By way of further non-limiting example, in some embodiments, one or more receivers can be disposed above one or more emitters while also including one or more emitters being disposed above one or more receivers.

[0121] Notably, while in at least some of the illustrated embodiments the emitters are typically illustrated as being circular and the receivers being squares, a person skilled in the art will appreciate that emitters and receivers can have most any shape or cross-sectional shape, and the illustrations of a particular shape provide for easy identification purposes when viewing the different embodiments. Additionally, while in at least some of the illustrated embodiments the emitters are shown to be larger than the receivers, in other embodiments, they can have similar sizes and / or the receivers can be larger than the emitters. Likewise, while in at least some of the illustrated embodiments the configurations of emitters and receivers are generally symmetrical in nature, there is no requirement that they be symmetrical. Similarly, while in at least some of the illustrated embodiments the configurations of emitters and receivers show alignment of centers vertically and / or horizontally, there is no requirement that any one emitter and / or receiver be aligned with any other emitter and / or receiver. Most any configuration of emitters and receivers are possible.

[0122] Configurations like at least the embodiment of FIGs.10A-10C and 10E-10F can minimize the number of emitters used. As shown, the receiver(s) 505 surrounds theAttorney Docket No.: PL-001-PCT | 100921-429808 emitter(s) 503 such that the attenuation of electromagnetic radiation can be determined in several directions, thus minimize the number of emitters, and in turn reducing power draw for a portable system. In other configurations, like at least the embodiment of FIG.12B, the emitter(s) 603′ can surround the receiver(s) 605′ such that a spatial distribution of electromagnetic radiation is greater, which can increase the probability that some of the radiation will encounter meaningful obstacles and / or other variations in tissue properties on the path towards the receiver(s) 605′.

[0123] The emitter(s) of the various embodiments are used in conjunction with the receiver(s). During operation, the emitter(s) activates and the receiver(s) reads the returned signal. Based on the known relative locations of the emitter(s) and the receiver(s), the signal can be interpreted. In configurations in which multiple emitters are used, the emitters can be activated sequentially over time. Activating the emitters and / or the receivers sequentially can allow the optical path taken by photons from the emitter(s) and the receiver(s) to be controlled and / or known. Alternatively, in at least some instances, multiple emitters can be activated in parallel. Operating emitters in parallel, i.e., simultaneously, can allow the measurement to be completed more quickly. Furthermore, the simultaneity may increase the local and / or overall optical illumination of the measurement region. Additionally, in some instances, at least some of the emitter(s) and / or the receiver(s) can be activated sequentially and at least some of the emitter(s) and / or the receiver(s) can be activated in parallel. By activating some sequentially and / or some in parallel, additional optical combinations can be established, which can be used to detect finer differences in the musculotendon profile. By way of non-limiting examples, a tendon(s) can be illuminated from one side by one emitter, measured from the other side by another receiver(s) and / or a tendon(s) can be illuminated from an emitter(s) at a top location and received from a receiver(s) near a bottom location and / or diagonal to it.

[0124] Different wavelengths of electromagnetic radiation can be emitted simultaneously and / or sequentially, for example, to estimate the composition of the medium (e.g., organic tissue) through which the electromagnetic radiation is propagating by comparing the attenuation and / or direction in intensity at different wavelengths. For example, light in the visible green spectrum attenuates, reflects, and absorbs at a different rate than light in the visible blue spectrum, the visible red spectrum, the infrared spectrum, and the ultraviolet spectrum.Attorney Docket No.: PL-001-PCT | 100921-429808

[0125] Still further, emitters of the present embodiments, or other embodiments provided for herein or otherwise derivable from the present disclosure, can emit light at different wavelengths and / or use waveform modulations to mitigate sensor crosstalk. A person skilled in the art, in view of the present disclosures, will understand various ways by which emitter and receiver arrangements can be optimized to emit and receive light along different areas of the body and / or for different body sensing applications. Use of the sensors, emitters, and receivers provided for herein is by no means limited to use with the wrist, but rather, they can be used at any location in which tendons and / or muscles are located, including but not limited to elbows, shoulders, arms, knees, legs, ankles, feet, legs, necks, waits, stomachs, backs, and faces.

[0126] The present disclosure provides for the use of fiber optics, light pipes, mirrors, lenses, wave guides, and / or other optical methods to allow optical sensors (e.g., optical emitters and / or receivers) to be located farther from a point of measurement. This allows the sensor(s), and thus emitter(s) and / or receiver(s) thereof, to be placed, for example, near sides of a wrist, as shown in FIGs.13A-13E, sending light into and receiving light from a final point of measurement interest via an optical transmission device. For instance, FIGs.13A- 13B illustrate a wrist device or band 700 that includes a body or strap 702 with optical sensors 704 disposed on opposed sides of the wrist 10. The sensors 704 can be disposed on, embedded in, or can be otherwise associated with the body 702. Each of the sensors 704 can include one or more emitters and / or one or more receivers. One or more optic fibers 701 can be embedded in and / or disposed along the body 702. By way of further non-limiting example, FIGs.13C-13D illustrate a wrist device or band 700′ that includes optical sensors 704′ disposed on opposed sides of the wrist 10 with no body or strap (i.e., there is not an equivalent body or strap like the body / strap 702). This provides for a “free skin” configuration. Each of the sensors 704′ can include one or more emitters and / or one or more receivers. As shown, a strapless light scanner 701′ can be disposed between the sensors 704′ to allow for communication between the sensors 704′. Still a further non-limiting example of an optical wrist device or band 700″ is shown in FIG.13E. The wrist device 700″ includes a body or strap 702″ with optical sensors 704″ disposed on opposed sides of the wrist 10, as shown near the sides or dorsal of the wrist 10. The sensors 704″ can be disposed on, embedded in, or can be otherwise associated with the body 702″. Each of the sensors 704″ can include one or more emitters and / or one or more receivers. One or more optical fibers or light pipes 701″ can be embedded in and / or disposed along the body 702″. The fibers 701″Attorney Docket No.: PL-001-PCT | 100921-429808 can measure points of interest on a bottom side (i.e. palm side of a hand 12) of the wrist 10. In this way, an arm 18 can more easily rest on a table without obstruction.

[0127] Although in the illustrated embodiments the sensors are described as including emitter(s) and / or receiver(s), a person skilled in the art will appreciate that in at least some instances an emitter(s) and / or a receiver(s) can be its own standalone component. For example, an emitter(s) can be separate and apart from a sensor(s) and / or a receiver(s).

[0128] In still other embodiments, a wrist device or band can use electrical contact to measure wrist profiles when the hand, fingers, and / or wrist are in different positions. By way of non-limiting example, one or more sensors, including an array of sensors, can determine the profile of the wrist by making area contact with higher regions of skin.

[0129] In other embodiments, a wrist device or band can use temperature contact to measure wrist profiles when the hand, fingers, and / or wrist are in different positions. By way of non-limiting example, one or more sensors, including an array of sensors, can detect air thermal resistance, with determinations of contact with the skin versus. no contact with the skin being able to be used to create a map of the higher regions of skin.

[0130] In yet other embodiments, a wrist device or band can use acoustic contact to measure wrist profiles when the hand, fingers, and / or wrist are in different positions. By way of non-limiting example, one or more sensors, including an array of sensors, can detect frequency changes and / or amplitude changes, with determinations of the changes being dependent, for example, on whether there is direct or indirect skin contact with the wrist device.

[0131] The wrist device 100 of FIG.2, for example, can be configured in any of these matters, i.e., using one or more of electrical contact, temperature contact, and / or acoustic contact to measure wrist profiles.

[0132] FIGs.14A-14B illustrate use of the wrist device 100 itself as a force and / or position sensor of wrist movement. In FIG.14A, the wrist device 100, and thus the body 102 of the wrist device 100, is disposed on the wrist 10, proximate to the hand 12, and can be used to help determine a wrist pose. As shown, when the hand 12 moves, as shown in FIG.14B, it can push onto a distal-most edge of the wrist device 100. The device 100 can act as a single or multi-axis wrist angle sensor that, when used in conjunction with an IMU sensor, can beAttorney Docket No.: PL-001-PCT | 100921-429808 used to control devices, monitor wrist angle, and / or to differentiate between finger movements and wrist movements.

[0133] FIGs.15A-15C illustrate another embodiment of a wrist device or band 800 disposed on the wrist 10, proximate to the hand 12, the device 800 including a body 802 and a watch module 850 coupled to and / or otherwise associated with the body 802 (e.g., the watch module 850 being integrally formed with the body 802, among other options). The watch module 850 can include a pop-out lever or sensor 854 that can be used to help determine a wrist pose. As shown, the watch module 850 extends above a main surface of the body 802, looking similar to a face of a watch, and includes the selectively deployable pop-out lever 804. FIG.15A illustrates the pop-out lever 804 in an undeployed configuration, while FIG.15B illustrates the pop-out lever 804 in a deployed configuration with the pop-out lever 804 extending axially out from the watch module 850. The pop-out lever 804 can bench against the physical pose of the hand 12 to measure the pose of the hand 12 relative to an arm as the hand moves, as shown in FIG.15C. This can allow one or more sensors (e.g., an IMU sensor, an angle sensor, a force sensor) to be reactive to hand position. This type of configuration can be useful, for example, when detecting movements related to typing, operation of a mouse (e.g., a computer mouse), and / or for other control. The pop-out lever 804 can retract back into the side of the watch module 850 when that type of control is not needed or desired. This can allow the user to go from a “basic mode” in which the pop- out lever 804 is not deployed to a “high performance gaming and / or input mode.” The watch module 850 itself can be integrated into the wrist device 800 or it can be a separate component that can be selectively attached and detached from the wrist device 800. The pop- out lever 804 can be stowed away, including so that it is not visible when not in use. In other embodiments, a watch module may not have a pop-out lever.

[0134] FIGs.16A-16B illustrate still another embodiment of a wrist device or band 900 disposed on the wrist 10, proximate to the hand 12, the device 900 including a body 902 and a sensor 904 configured to measure movement of the skin as the fingers 16 of the hand 12 are moved. The sensor 904, and thus the wrist device 900, can help determine finger flexion from skin movement. The sensor 904 can be part of a watch module, akin to the watch module 850, or it can be its own stand-alone sensor associated with the device 900. When the fingers 16 flex, as shown in FIG.16B when three fingers 16 are curled towards the wrist 10, the skin on the hand 12 moves and stretches. The sensor 904 can measure the stretch andAttorney Docket No.: PL-001-PCT | 100921-429808 movement of the skin to detect when the fingers 16 are moving and estimate to what extent the fingers 16 are flexed. The sensor 904 can make these determinations using a variety of different techniques. For example, the sensor 904 can be one or more of a shear force sensor, a mechanical shear displacement sensor, or an optical sensor, such sensor(s) 904 being disposed against the skin in at least some instances. Furthermore, the skin can become physically thinner when tensioned, so optical, mechanical, and / or electrical characteristics that can be measured by the sensor(s) 904 can be used to determine higher tension skin versus lower tension skin to help determine a position of the fingers 16. Such optical, mechanical, and / or electrical characteristics can include optical reflection, refraction, and / or scattering at certain optical wavelengths, and / or acoustic measurements, and / or capacitive / resistive measurements. For an optical measurement method, naturally or artificially occurring optical landmarks, such as, by way of non-limiting examples, skin pores, melanin distribution, tattoos, and / or vasculature, can be used to achieve an absolute position measurement scheme. As with any of the embodiments provided for herein, although the illustrated embodiment shows a single sensor 904, any number of sensors can be disposed in, on, and / or be otherwise associated with the wrist device 900, or any other wrist device disclosed herein or otherwise derivable from the present disclosures. In some embodiments, multiple sensors can be provided in the structure that provides for the sensor 904.

[0135] FIG.17 illustrates how a skin position changes with movement of the finger, plotting a spin position against finger percent flexion. As shown, an extended finger, which has a low finger percent flexion, has a lower skin position, and as the finger is flexed, the skin position is higher. This aligns with the descriptions provided above for FIGs.16A-16B, as well as FIGs.18A and 18B, which illustrate that when a finger—as shown two fingers 16— flex, the skin on the dorsal and palm side of the hand 12 and wrist 10 moves and stretches over the changed path length of the skin of the fingers 16 and the hand 12. As provided for herein, this action can be measured to detect movement and position of the finger(s) 16.

[0136] FIGs.19A-19B illustrate movements of the hand 12 and an arm 18 that includes the wrist 10, hand 12, and fingers 16. A wrist device or band (not shown) can be similarly disposed on the wrist 10 as it is in other embodiments, for example the wrist device 100 of FIG.2, and can be used to measure spring mass motion of the hand 12 and / or the arm 18. The amplitude and frequency characteristics of an oscillating object, such as the wrist 10 and hand 12 illustrated in FIGs.19A and 19B, can be affected by one or more of the mass itself,Attorney Docket No.: PL-001-PCT | 100921-429808 the mass distribution along a length, the length, and / or elastic properties of the objects in motion and their mechanical joints. Just as a longer pendulum will have a lower natural frequency and respond different to rapid oscillatory perturbations, so too can the wrist 10 and arm 18. Carrying out the pendulum analogy to the wrist 10 and arm 18, in this case the equivalent of the pendulum has a non-negligible mass distribution along its length, with the magnitude of the mass itself and the distance from its centroid to the axis of rotation affecting reaction force on the source of perturbation and the frequency characteristics.

[0137] In view of these principles, a wrist device or band, such as any of the wrist devices provided for herein or otherwise derivable from the present disclosures, can be disposed on the wrist 10 and used to detect the change in how the hand 12 oscillates depending on whether the hand 12 and / or fingers 16 are open, partially closed, or closed. Using one or more sensors capable of measuring the movement and / or reaction forces, the state of the fingers 16 can be estimated and / or it can be determined whether the hand 12 is “wagging” and or the location of the hand 12 in conjunction with being “wagged.” The “wagging” can be a sustained oscillation or a single impulse movement. FIG.20 illustrates movement of the hand 12 and fingers 16 with respect to the wrist 10 and arm 18 as the hand 12 starts as a closed fist 14′, moves to an open palm 14, returns to the closed fist 14′, and again moves to the open palm 14. The corresponding rate of angular change across the sample index is illustrated in the graph of FIG.21. Because the elastic properties of the wrist 10 change due to musculotendon involvement when the fingers 16 are extended or flexed, the natural frequency of the oscillations of the wrist 10 are further affected. When the hand 16 is in the closed fist 14′, the spring constant for the movement of the wrist 10 is increased, which in turn increases the natural frequency of movement. This can be detected by a wrist device and used for gesture control, body state detection, and / or other software / electronic systems as made possible by the present disclosures.

[0138] FIGs.22A-22D illustrate various movements during which wrist movement can be compensated for when detecting finger movement. These movements include the wrist 10 extended with the fingers 16 flexed or directed towards the wrist 10 (FIG.22A), the wrist 10 extended with the fingers 16 extended or directed away from the wrist 10 (FIG.22B), the wrist 10 flexed with the fingers 16 flexed or directed towards the wrist (FIG.22C), and the wrist 10 flexed with the fingers 16 extended or directed away from the wrist 10 (FIG.22D). Other non-limiting examples of potential wrist positions include pronation and supination,Attorney Docket No.: PL-001-PCT | 100921-429808 among others. One or more sensors (not shown) can be located in and / or on a wrist device or band 1100 as provided for in various embodiments provided for herein and / or otherwise understood and / or known by a person skilled in the art in view of the present disclosure. As shown, the wrist device 1100, and thus a body 1102 of the wrist device 1100, can be disposed on the wrist 10, proximate to the hand 12, the sensor(s) being able to detect movement of the wrist, such as flexing. Non-limiting examples of the types of sensor(s) that can be used to detect wrist movement, including but not limited to flexing, include a distance sensor(s), a shear force sensor(s), a magnetic sensor(s), an inertial sensor(s), an optical tracking sensor(s), and / or other sensors understood by a person skilled in the art to be able to detect wrist movement. The sensor(s) of the wrist device 1100 is able to detect the positions and / or locations of the wrist 10 illustrated in FIGs.22A-22D to help determine or otherwise define a state of the wrist. Various wrist position determination techniques can be used, including those provided for herein (see, e.g., FIGs.15A-19B, among others) and / or other techniques known to those skilled in the art.

[0139] In turn, the data concerning the approximate state of the wrist 10 can be used by a computer algorithm when looking at other sensors, such as one or more sensors detecting finger movement, to assist in determining the correct classification of the current state of the wrist 10 and fingers 16 (i.e., determining if the fingers 16 are flexed or extended when the wrist 10 is determined to be extended, as shown in FIGs.22A and 22B, respectively, or determining if the fingers 16 are flexed or extended when the wrist 10 is determined to be flexed, as shown in FIGs.22C and 22D, respectively). This compensatory method helps improve accuracy of state determination due, at least in part, to the mechanical linking of finger and wrist biological elements. FIG.22E provides one example of an algorithm 1160 that can be used in determining the correct classification of a state of the wrist 10 and fingers 16. As shown, a determination can be made, such as from a sensor(s) of the wrist device 1100, regarding whether the wrist is flexed. Depending on the resulting determination, one or more parameter sets can be used to help determine finger position. In the illustrated embodiment, Parameter Set 1 is used when the wrist is not flexed, Parameter Set 2 is used when the wrist is flexed, and Parameter Set 3 is used when the wrist position is unknown. The Parameter Sets 1, 2, and 3 can include none, some, or all of the same data points and can be used separately and / or together. Any number of parameter sets can be used. As provided for herein, a position, and / or deviation from a position, of the wrist can be detected and used to compensate an algorithm output to more accurately detect finger movement (and theAttorney Docket No.: PL-001-PCT | 100921-429808 opposite also being possible in view of the present disclosures). As shown in FIG.22E, other processes can also be used, with the output of these various steps ultimately being a prediction of the wrist position, and which may also include the prediction of other details, such as finger position. A person skilled in the art, in view of the present disclosures, will understand that the block identified as “other processes” represents an output of the algorithm. This block, in that manner, can be considered all encompassing. Accordingly, selecting one of the different “parameter sets” is effectively one example of an output of the algorithm, among other outputs provided for herein and / or otherwise understood by a person skilled in the art.

[0140] While the illustrated embodiment illustrates the wrist being in an extended position or a flexed position, other positions are also possible and also able to be detected by the wrist device 1100. Some such positions besides extended and flexed include radial deviation, ulnar deviation, pronation, and supination. Any axis of wrist movement is able to be measured and / or determined by the wrist device 1100, including one or more of any combination of extended, flexed, radial deviation, ulnar deviation, pronation, and / or supination. Further, while FIG.22E provides for an example algorithm 1160 for use in determining a wrist state, a person skilled in the art, in view of the present disclosures, can formulate algorithms of this nature for other body parts in view of the present disclosure and knowledge base of the skilled person.

[0141] FIGs.23A-23E illustrate that wrist devices or bands as provided for herein can be provide landmark distance sensing. Although no wrist device or band is illustrated with respect to FIGs.23A-23D, a person skilled in the art will appreciate that a wrist device or band can be similarly disposed on the wrist 10 as it is in other embodiments, for example the wrist device 100 of FIG.2, and can be used to determine landmark distances. Placing a wrist device or band on the wrist can allow for single and / or multi-axis distance information from a limb (e.g., the arm) to a landmark to be used to aid an inverse kinematic model in reducing the number of possible positions that exist due, at least in part, to the human arm having redundant degrees of freedom for certain hand and wrist poses. In at least some embodiments, accelerometer data can be double integrated to achieve crude position sensing. In use, this technique may drift quickly and thus it can be helpful to continually reset or use it only as part of a relative movement scheme.Attorney Docket No.: PL-001-PCT | 100921-429808

[0142] As shown in FIGs.23A and 23B, a distance between a wrist device (not shown) that can be placed on the user’s wrist 10 and the user’s body 20 can be measured. The distance is illustrated by a dotted line 30 in FIG.23A and is not shown in FIG.23B because that distance is small with the wrist 10 being proximate to the body 20. The distance between the wrist 10 and the body 20 is larger in FIG.23A than in FIG.23B. Similarly, as shown in FIGs.23C and 23D, a distance between a wrist device (not shown) that can be placed on the user’s wrist 10 and environment, such as a floor as implied from the illustrations, can be measured. The distance is likewise illustrated by the dotted line 30 in FIGs.23C and 23D, with the distance becoming smaller between FIG.23C and FIG.23D. As illustrated in FIG.23E, in which a wrist device or band 1200 is illustrated, the distance as illustrated by the dotted line 30 measures the distance between the wrist device 1200 and the user’s body 20. The wrist device 1200 can include a body 1202 and can include one or more sensors (not shown) disposed therein, disposed thereon, and / or otherwise associated therewith.

[0143] The distance between the wrist device or band, such as the wrist device 1200, or any other wrist device disclosed herein or otherwise derivable from the present disclosures, can be measured, for example, by associating one or more distance sensors with the wrist device. The distance sensors can be embedded in the wrist device, disposed on the wrist device, or otherwise associated with the wrist device. The distance sensor(s) can be, by way of non- limiting examples, one or more time-of-flight sensors, body heat sensor(s), proximity sensor(s), focal blur sensor(s), acoustic sensor(s), magnetic sensor(s), and / or other similar sensor(s) that can be used with a wearable device. The sensor(s) can measure a distance between the wrist device and another location, such as the user’s body 20 and / or a location in the environment, such as the floor, as discussed above at least with respect to FIGs.23A-23E. The body is attached to the user’s arm, and there are rarely obscuring objects between them, allowing for ample opportunities to make the distance measurements. Similarly, the sensor(s) can be towards floors, walls, and / or ceilings to provide distance information across a variety of bodily postures. This information can be combined, for example, with other gesture data, including but not limited to muscle and / or tendon sensing as described herein, IMU data, wrist angle data, etc., to achieve a wider and more reliable variety of input methods. The movements can be static and / or dynamic (e.g., speed, oscillations, timed stillness, etc.). The wrist device can have one or more sensors attached at different positions and / or angles to capture angular data and / or to provide postural convenience to the user. The IMU pose of theAttorney Docket No.: PL-001-PCT | 100921-429808 wrist device can be used, for example, to estimate cosine (angular) error of the line distance from the wrist device to the target (e.g., the body, floor, etc.).

[0144] In addition to being able to use wrist devices and bands to measure a distance between the device / band and a user’s hand, body, and / or environment, wrist devices and bands of the present disclosure can also be used to generate a distinct gesture signal. Examples of this are illustrated in FIGs.24A-24D. As shown in FIGs.24A and 24B, a wrist device or band 1300 can be disposed on the wrist 10 as indicated in various embodiments herein. The wrist device 1300 can include a body 1302 and can include one or more sensors (not shown) disposed therein, disposed thereon, and / or otherwise associated therewith. Using a user’s body 20 as a target object, a distance between the wrist device 1300 and the user’s body 20 can be measured, as evidence by a dotted line 30. The measurement can be made using one or more of the various types of sensors provided for herein or otherwise known to those skilled in the art for measuring distance. As shown in comparing FIGs.24A and 24B, as the fingers 16 of the hand 12 move from an extended position in which a majority of a length of the fingers 16 are proximate and / or in contact with the body 20 (FIG.24A) to a flexed position in which more proximal portions of the fingers 16 (portions between the wrist 10 and finger tips) move away from the body 20, and thus the wrist 10 moves away from the body 20 as well (FIG.24B), a length of the dotted line 30 increases. Accordingly, the wrist device 1300 is able to determine a position of the hand 12, fingers 16, and / or wrist 10 based on the distance measured by the wrist device 1300.

[0145] A similar action is illustrated with respect to FIGs.24C and 24D, but with a surface 40, such as a surface of a table or desk, being the target. FIG.24C illustrates the fingers 16 such that a majority of their length is proximate and / or in contact with the surface 40, while in FIG.24D the fingers 16 are curled, causing more proximal portions of the fingers 16 (portions between the wrist 10 and fingers tips), as well as the wrist 10, to move away from the surface 40. As shown, a length of the dotted line 30 that illustrates the distance between the wrist device 1300 and the surface 40 increases from FIG.24C to FIG.24D.

[0146] The operation of the devices and methods disclosed herein, which can also be considered part of a system when the devices are used to communicate and / or operate with something, can be performed by at least one processor and / or controller. More specifically, implementation of the present disclosures on a computer readable medium can include a central processing unit (CPU), memory, and / or support circuits (or I / O), among otherAttorney Docket No.: PL-001-PCT | 100921-429808 features. In embodiments having a memory, that memory can be connected to the CPU, and may be one or more of a readily available memory, such as a read-only memory (ROM), a random access memory (RAM), floppy disk, hard disk, cloud-based storage, or any other form of digital storage, local or remote. Software instructions, algorithms (e.g., the processes for predicting motion and / or updating motion prediction), and data can be coded and stored within the memory for instructing the CPU. Support circuits can also be connected to the CPU for supporting the processor in a conventional manner. The support circuits may include conventional cache, power supplies, clock circuits, input / output circuitry, and / or subsystems, and the like. A non-limiting embodiment of a computer system 2500 with which the present disclosures can be used and / or implemented is illustrated in FIG.25.

[0147] More particularly, FIG.25 is a block diagram of one exemplary embodiment of a computer system 2500 upon which the present disclosures can be built, performed, operated, trained, etc. The computing system 2500 includes one or more computing devices (e.g., computing device 2510), which can be in wired and / or wireless communication with various peripheral device(s) 2580, data source(s) 2590, and / or other computing devices (e.g., over network(s) 2570). The computing device 2510 can represent various forms of stationary computers 2512 (e.g., workstations, kiosks, servers, mainframes, edge computing devices, quantum computers, etc.) and mobile computers 2514 (e.g., laptops, tablets, mobile phones, personal digital assistants, wearable devices, etc.). In some implementations, the computing device 2510 can be included in (and / or in communication with) various other sorts of devices, such as data collection devices (e.g., devices that are configured to collect data from a physical environment, such as microphones, cameras, scanners, sensors, etc.), robotic devices (e.g., devices that are configured to physically interact with objects in a physical environment, such as manufacturing devices, maintenance devices, object handling devices, etc.), vehicles (e.g., devices that are configured to move throughout a physical environment, such as automated guided vehicles, manually operated vehicles, etc.), or other such devices. Each of the devices (e.g., stationary computers, mobile computers, and / or other devices) can include components of the computing device 2510, and an entire system can be made up of multiple devices communicating with each other. For example, the computing device 2510 can be part of a computing system that includes a network of computing devices, such as a cloud-based computing system, a computing system in an internal network, or a computing system in another sort of shared network. Processors of the computing device (2510) and other computing devices of a computing system can be optimized for different types ofAttorney Docket No.: PL-001-PCT | 100921-429808 operations, secure computing tasks, etc. The components shown herein, and their functions, are meant to be examples, and are not meant to limit implementations of the technology described and / or claimed in this document.

[0148] The computing device 2510 includes processor(s) 2520, memory device(s) 2530, storage device(s) 2540, and interface(s) 2550. Each of the processor(s) 2520, the memory device(s) 2530, the storage device(s) 2540, and the interface(s) 2550 are interconnected using a system bus 2560. The processor(s) 2520 are capable of processing instructions for execution within the computing device 2510, and can include one or more single-threaded and / or multi-threaded processors. The processor(s) 2520 are capable of processing instructions stored in the memory device(s) 2530 and / or on the storage device(s) 2540. The memory device(s) 2530 can store data within the computing device 2510, and can include one or more computer-readable media, volatile memory units, and / or non-volatile memory units. The storage device(s) 2540 can provide mass storage for the computing device 2510, can include various computer-readable media (e.g., a floppy disk device, a hard disk device, a tape device, an optical disk device, a flash memory or other similar solid state memory device, or an array of devices, including devices in a storage area network or other configurations), and can provide date security / encryption capabilities.

[0149] The interface(s) 2550 can include various communications interfaces (e.g., USB, Near-Field Communication (NFC), Bluetooth, WiFi, Ethernet, wireless Ethernet, etc.) that can be coupled to the network(s) 2570, peripheral device(s) 2580, and / or data source(s) 2590 (e.g., through a communications port, a network adapter, etc.). Communication can be provided under various modes or protocols for wired and / or wireless communication. Such communication can occur, for example, through a transceiver using a radio-frequency. As another example, communication can occur using light (e.g., laser, infrared, etc.) to transmit data. As another example, short-range communication can occur, such as using Bluetooth, WiFi, or other such transceiver. In addition, a GPS (Global Positioning System) receiver module can provide location-related wireless data, which can be used as appropriate by device applications. The interface(s) 2550 can include a control interface that receives commands from an input device (e.g., operated by a user) and converts the commands for submission to the processors 2520. The interface(s) 2550 can include a display interface that includes circuitry for driving a display to present visual information to a user. The interface(s) 2550 can include an audio codec which can receive sound signals (e.g., spokenAttorney Docket No.: PL-001-PCT | 100921-429808 information from a user) and convert it to usable digital data. The audio codec can likewise generate audible sound, such as through an audio speaker. Such sound can include real-time voice communications, recorded sound (e.g., voice messages, music files, etc.), and / or sound generated by device applications.

[0150] The network(s) 2570 can include one or more wired and / or wireless communications networks, including various public and / or private networks. Examples of communication networks include a LAN (local area network), a WAN (wide area network), and / or the Internet. The communication networks can include a group of nodes (e.g., computing devices) that are configured to exchange data (e.g., analog messages, digital messages, etc.), through telecommunications links. The telecommunications links can use various techniques (e.g., circuit switching, message switching, packet switching, etc.) to send the data and other signals from an originating node to a destination node. In some implementations, the computing device 2510 can communicate with the peripheral device(s) 2580, the data source(s) 2590, and / or other computing devices over the network(s) 2570. In some implementations, the computing device 2510 can directly communicate with the peripheral device(s) 2580, the data source(s), and / or other computing devices.

[0151] The peripheral device(s) 2580 can provide input / output operations for the computing device 2510. Input devices (e.g., keyboards, pointing devices, touchscreens, microphones, cameras, scanners, sensors, etc.) can provide input to the computing device 2510 (e.g., user input and / or other input from a physical environment). Output devices (e.g., display units such as display screens or projection devices for displaying graphical user interfaces (GUIs)), audio speakers for generating sound, tactile feedback devices, printers, motors, hardware control devices, etc.) can provide output from the computing device 2510 (e.g., user-directed output and / or other output that results in actions being performed in a physical environment). Other kinds of devices can be used to provide for interactions between users and devices. For example, input from a user can be received in any form, including visual, auditory, or tactile input, and feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback).

[0152] The data source(s) 2590 can provide data for use by the computing device 2510, and / or can maintain data that has been generated by the computing device 2510 and / or other devices (e.g., data collected from sensor devices, data aggregated from various different data repositories, etc.). In some implementations, one or more data sources can be hosted by theAttorney Docket No.: PL-001-PCT | 100921-429808 computing device 2510 (e.g., using the storage device(s) 2540). In some implementations, one or more data sources can be hosted by a different computing device. Data can be provided by the data source(s) 2590 in response to a request for data from the computing device 2510 and / or can be provided without such a request. For example, a pull technology can be used in which the provision of data is driven by device requests, and / or a push technology can be used in which the provision of data occurs as the data becomes available (e.g., real-time data streaming and / or notifications). Various sorts of data sources can be used to implement the techniques described herein, alone or in combination.

[0153] In some implementations, a data source can include one or more data store(s) 2590a. The database(s) can be provided by a single computing device or network (e.g., on a file system of a server device) or provided by multiple distributed computing devices or networks (e.g., hosted by a computer cluster, hosted in cloud storage, etc.). In some implementations, a database management system (DBMS) can be included to provide access to data contained in the database(s) (e.g., through the use of a query language and / or application programming interfaces (APIs)). The database(s), for example, can include relational databases, object databases, structured document databases, unstructured document databases, graph databases, and other appropriate types of databases.

[0154] In some implementations, a data source can include one or more blockchains 2590b. A blockchain can be a distributed ledger that includes blocks of records that are securely linked by cryptographic hashes. Each block of records includes a cryptographic hash of the previous block, and transaction data for transactions that occurred during a time period. The blockchain can be hosted by a peer-to-peer computer network that includes a group of nodes (e.g., computing devices) that collectively implement a consensus algorithm protocol to validate new transaction blocks and to add the validated transaction blocks to the blockchain. By storing data across the peer-to-peer computer network, for example, the blockchain can maintain data quality (e.g., through data replication) and can improve data trust (e.g., by reducing or eliminating central data control).

[0155] In some implementations, a data source can include one or more machine learning systems 2590c. The machine learning system(s) 2590c, for example, can be used to analyze data from various sources (e.g., data provided by the computing device 2510, data from the data store(s) 2590a, data from the blockchain(s) 2590b, and / or data from other data sources), to identify patterns in the data, and to draw inferences from the data patterns. In general,Attorney Docket No.: PL-001-PCT | 100921-429808 training data 2592 can be provided to one or more machine learning algorithms 2594, and the machine learning algorithm(s) can generate a machine learning model 2596. Execution of the machine learning algorithm(s) can be performed by the computing device 2510, or another appropriate device. Various machine learning approaches can be used to generate machine learning models, such as supervised learning (e.g., in which a model is generated from training data that includes both the inputs and the desired outputs), unsupervised learning (e.g., in which a model is generated from training data that includes only the inputs), reinforcement learning (e.g., in which the machine learning algorithm(s) interact with a dynamic environment and are provided with feedback during a training process), or another appropriate approach. A variety of different types of machine learning techniques can be employed, including but not limited to convolutional neural networks (CNNs), deep neural networks (DNNs), recurrent neural networks (RNNs), and other types of multi-layer neural networks.

[0156] Various implementations of the systems and techniques described herein can be realized in digital electronic circuitry, integrated circuitry, specially designed ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. A computer program product can be tangibly embodied in an information carrier (e.g., in a machine-readable storage device), for execution by a programmable processor. Various computer operations (e.g., methods described in this document) can be performed by a programmable processor executing a program of instructions to perform functions of the described implementations by operating on input data and generating output. The described features can be implemented in one or more computer programs that are executable on a programmable system including at least one programmable processor coupled to receive data and instructions from, and to transmit data and instructions to, a data storage system, at least one input device, and at least one output device. A computer program is a set of instructions that can be used, directly or indirectly, by a computer to perform a certain activity or bring about a certain result. A computer program can be written in any form of programming language, including compiled or interpreted languages, and can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program product can be a computer- or machine-readable medium, such as a storage device or memory device. As used herein, the terms machine-readable medium and computer-readable medium refer to any computer program product, apparatus and / or deviceAttorney Docket No.: PL-001-PCT | 100921-429808 (e.g., magnetic discs, optical disks, memory, etc.) used to provide machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term machine-readable signal refers to any signal used to provide machine instructions and / or data to a programmable processor.

[0157] Suitable processors for the execution of a program of instructions include, by way of example, both general and special purpose microprocessors, and can be a single processor or one of multiple processors of any kind of computer. Generally, a processor will receive instructions and data from a read-only memory or a random access memory or both. The elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Generally, a computer can also include, or can be operatively coupled to communicate with, one or more mass storage devices for storing data files. Such devices can include magnetic disks (e.g., internal hard disks and / or removable disks), magneto-optical disks, and optical disks. Storage devices suitable for tangibly embodying computer program instructions and data can include all forms of non-volatile memory, including by way of example semiconductor memory devices, flash memory devices, magnetic disks (e.g., internal hard disks and removable disks), magneto-optical disks, and optical disks. The processor and the memory can be supplemented by, or incorporated in, ASICs (application-specific integrated circuits).

[0158] The systems and techniques described herein can be implemented in a computing system that includes a back end component (e.g., a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a client computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). The computer system can include clients and servers, which can be generally remote from each other and typically interact through a network, such as the described one. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0159] While this specification contains many specific implementation details, these should not be construed as limitations on the scope of the disclosed technology or of what may be claimed, but rather as descriptions of features that may be specific to particular embodimentsAttorney Docket No.: PL-001-PCT | 100921-429808 of particular disclosed technologies. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment in part or in whole. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Moreover, although features may be described herein as acting in certain combinations and / or initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination. Similarly, while operations may be described in a particular order, this should not be understood as requiring that such operations be performed in the particular order or in sequential order, or that all operations be performed, to achieve desirable results. Particular embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims.

[0160] Examples of the above-described embodiments can include the following: 1. A device for making determinations about a user’s intended movement, comprising: a body configured to be disposed around at least a portion of a user’s body; at least one sensor associated with the body, the at least one sensor being configured to determine a musculotendonal profile of at least one of the portion of the user’s body around which the body is disposed or a location proximate to the portion of the user’s body around which the body is disposed; and a communication mechanism configured to communicate at least one of the musculotendonal profile or information that can be gleaned from the musculotendonal profile to a system operable to control an object based on the at least one of the musculotendonal profile or information that can be gleaned from the musculotendonal profile. 2. The device of example 1, wherein the at least one sensor is disposed in the body of the device. 3. The device of example 1 or 2, wherein the at least one sensor comprises at least one of one or more force sensors or one or more displacement sensors. 4. The device of any of examples 1 to 3, wherein the at least one sensor comprises one or more sensors configured to provide three-dimensional surface profiling of at least one ofAttorney Docket No.: PL-001-PCT | 100921-429808 the portion of the user’s body around which the body is disposed or a location proximate to the portion of the user’s body around which the body is disposed. 5. The device of any of examples 1 to 4, wherein the at least one sensor comprises one or more sensors configured to determine the musculotendonal profile using electrical contact. 6. The device of any of examples 1 to 5, wherein the at least one sensor comprises one or more sensors configured to determine the musculotendonal profile using temperature contact. 7. The device of any of examples 1 to 6, wherein the at least one sensor comprises one or more sensors configured to determine the musculotendonal profile using acoustic contact. 8. The device of any of examples 1 to 7, wherein the at least one sensor comprises at least one of one or more force sensors or one or more position sensors configured to measure a wrist angle for use in at least one of determining a wrist pose or differentiating between at least one of finger movements or wrist movements. 9. The device of example 8, further comprising a pop-out lever configured to selectively extend outwards for use in at least one of determining a wrist pose or differentiating between at least one of finger movements or wrist movements. 10. The device of any of examples 1 to 9, wherein the at least one sensor comprises one or more sensors configured to determine finger flexion from skin movement. 11. The device of any of examples 1 to 10, wherein the at least one sensor comprises one or more sensors configured to detect changes in hand oscillation to determine at least one of a location or position of fingers. 12. The device of any of examples 1 to 11, wherein the at least one sensor comprises one or more sensors configured to determine whether a wrist is at least one of extended, flexed, radial deviation, ulnar deviation, pronation, or supination. 13. The device of any of examples 1 to 12, wherein the at least one sensor comprises: one or more emitters; and one or more receivers,Attorney Docket No.: PL-001-PCT | 100921-429808 wherein the one or more emitters are configured to emit one or more electromagnetic waves to interact with organic tissue, and wherein the one or more receivers are configured to measure at least one of electromagnetic radiation intensity or electromagnetic radiation direction to determine a user’s intended movement. 14. A system for moving an object based on a determined musculotendonal profile, comprising: the device of any of claims 1 to 13; and one or more processors configured to receive one or more signals from the communication mechanism of the device, the one or more signals being related to at least one of the musculotendonal profile or information that can be gleaned from the musculotendonal profile, the processor being configured to provide instructions to move an object that is remote from the user of the device based on the received one or more signals. 15. A method of controlling movement of an object remotely, comprising: receiving at least one of a determined musculotendonal profile of a user attempting to move an object remotely or information that can be gleaned from the determined musculotendonal profile; and instructing movement of the object based on the received at least one of the determined musculotendonal profile of the user attempting to move the object remotely or information that can be gleaned from the determined musculotendonal profile. 16. The method of example 15, wherein the determined musculotendonal profile was determined by detection of at least one of forces or displacements that occur at a location being measured in response to movement of the same. 17. The method of example 15 or 16, wherein the determined musculotendonal profile was determined by three-dimensional surface profiling of a location being measured in response to movement of the same. 18. The method of any of examples 15 to 17, wherein the determined musculotendonal profile was determined by measuring electrical contact associated with higher regions of skin of a location being measured in response to movement of the same.Attorney Docket No.: PL-001-PCT | 100921-429808 19. The method of any of examples 15 to 18, wherein the determined musculotendonal profile was determined by measuring temperature contact based on air thermal resistance associated with higher regions of skin of a location being measured in response to movement of the same. 20. The method of any of examples 15 to 19, wherein the determined musculotendonal profile was determined by measuring at least one of transmittance, diffraction, refraction, or reflectivity of electromagnetic waves as the electromagnetic waves interact with organic tissue of the user. 21. The method of any of examples 15 to 20, wherein the determined musculotendonal profile was determined by measuring acoustic contact based on at least one of frequency or amplitude changes depending on direct or indirect skin contact of a location being measured in response to movement of the same. 22. The method of any of examples 15 to 21, wherein the determined musculotendonal profile was determined by measuring a wrist angle to at least one of determine a wrist pose or differentiate between at least one of finger movements or wrist movements.

[0161] One skilled in the art will appreciate further features and advantages of the present disclosure based on the above-described embodiments. Accordingly, the disclosure is not to be limited by what has been particularly shown and described. Further, a person skilled in the art, in view of the present disclosures, will understand how to implement the disclosed devices and methods provided for herein in conjunction with various devices that can be worn on a person, including but not limited to on wrists, elbows, shoulders, arms, knees, legs, ankles, feet, legs, necks, waists, stomachs, backs, and / or faces. All publications and references cited herein are expressly incorporated herein by reference in their entireties.

[0162] Some non-limiting claims are provided below.

Claims

Attorney Docket No.: PL-001-PCT | 100921-429808 What is claimed is:

1. A device for making determinations about a user’s intended movement, comprising: a body configured to be disposed around at least a portion of a user’s body; at least one sensor associated with the body, the at least one sensor being configured to determine a musculotendonal profile of at least one of the portion of the user’s body around which the body is disposed or a location proximate to the portion of the user’s body around which the body is disposed; and a communication mechanism configured to communicate at least one of the musculotendonal profile or information that can be gleaned from the musculotendonal profile to a system operable to control an object based on the at least one of the musculotendonal profile or information that can be gleaned from the musculotendonal profile.

2. The device of claim 1, wherein the at least one sensor is disposed in the body of the device.

3. The device of claim 1, wherein the at least one sensor comprises at least one of one or more force sensors or one or more displacement sensors.

4. The device of claim 1, wherein the at least one sensor comprises one or more sensors configured to provide three-dimensional surface profiling of at least one of the portion of the user’s body around which the body is disposed or a location proximate to the portion of the user’s body around which the body is disposed.

5. The device of claim 1, wherein the at least one sensor comprises one or more sensors configured to determine the musculotendonal profile using electrical contact.

6. The device of claim 1, wherein the at least one sensor comprises one or more sensors configured to determine the musculotendonal profile using temperature contact.

7. The device of claim 1, wherein the at least one sensor comprises one or more sensors configured to determine the musculotendonal profile using acoustic contact.

8. The device of claim 1, wherein the at least one sensor comprises at least one of one or more force sensors or one or more position sensors configured to measure a wrist angle for use in at least one of determining a wrist pose or differentiating between at least one of finger movements or wrist movements.Attorney Docket No.: PL-001-PCT | 100921-429808 9. The device of claim 8, further comprising a pop-out lever configured to selectively extend outwards for use in at least one of determining a wrist pose or differentiating between at least one of finger movements or wrist movements.

10. The device of claim 1, wherein the at least one sensor comprises one or more sensors configured to determine finger flexion from skin movement.

11. The device of claim 1, wherein the at least one sensor comprises one or more sensors configured to detect changes in hand oscillation to determine at least one of a location or position of fingers.

12. The device of claim 1, wherein the at least one sensor comprises one or more sensors configured to determine whether a wrist is at least one of extended, flexed, radial deviation, ulnar deviation, pronation, or supination.

13. The device of claim 1, wherein the at least one sensor comprises: one or more emitters; and one or more receivers, wherein the one or more emitters are configured to emit one or more electromagnetic waves to interact with organic tissue, and wherein the one or more receivers are configured to measure at least one of electromagnetic radiation intensity or electromagnetic radiation direction to determine a user’s intended movement.

14. A system for moving an object based on a determined musculotendonal profile, comprising: the device of any of claims 1 to 13; and one or more processors configured to receive one or more signals from the communication mechanism of the device, the one or more signals being related to at least one of the musculotendonal profile or information that can be gleaned from the musculotendonal profile, the processor being configured to provide instructions to move an object that is remote from the user of the device based on the received one or more signals.

15. A method of controlling movement of an object remotely, comprising:Attorney Docket No.: PL-001-PCT | 100921-429808 receiving at least one of a determined musculotendonal profile of a user attempting to move an object remotely or information that can be gleaned from the determined musculotendonal profile; and instructing movement of the object based on the received at least one of the determined musculotendonal profile of the user attempting to move the object remotely or information that can be gleaned from the determined musculotendonal profile.

16. The method of claim 15, wherein the determined musculotendonal profile was determined by detection of at least one of forces or displacements that occur at a location being measured in response to movement of the same.

17. The method of claim 15, wherein the determined musculotendonal profile was determined by three-dimensional surface profiling of a location being measured in response to movement of the same.

18. The method of claim 15, wherein the determined musculotendonal profile was determined by measuring electrical contact associated with higher regions of skin of a location being measured in response to movement of the same.

19. The method of claim 15, wherein the determined musculotendonal profile was determined by measuring temperature contact based on air thermal resistance associated with higher regions of skin of a location being measured in response to movement of the same.

20. The method of claim 15, wherein the determined musculotendonal profile was determined by measuring at least one of transmittance, diffraction, refraction, or reflectivity of electromagnetic waves as the electromagnetic waves interact with organic tissue of the user.

21. The method of claim 15, wherein the determined musculotendonal profile was determined by measuring acoustic contact based on at least one of frequency or amplitude changes depending on direct or indirect skin contact of a location being measured in response to movement of the same.

22. The method of claim 15, wherein the determined musculotendonal profile was determined by measuring a wrist angle to determine a wrist pose or differentiate between at least one of finger movements or wrist movements.

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