Patent Publication Number: US-2019197843-A1

Title: Wearable article having an actuator that performs non-haptic and haptic operations

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 16/110,272, filed on Aug. 23, 2018, which is a continuation of U.S. patent application Ser. No. 14/974,963, filed on Dec. 18, 2015, both of which have been incorporated herein by reference in their entirety. 
    
    
     TECHNICAL FIELD 
     This patent document relates to haptic effects, and more particularly to wearable articles that have an actuator that performs a non-haptic operation and a haptic operation. 
     BACKGROUND 
     Actuated clothing that automatically fastens to a person&#39;s body or that automatically adjust their fit are being developed. Examples include shoes that automatically lace themselves, zippers that automatically open and close, and belts that automatically tighten. Other examples of actuated clothing include clothing that automatically change their porosity based on conditions such as moisture, ambient temperature, body temperature, and other environmental or biometric factors. 
     Such actuated clothing has several existing and as yet unforeseen advantages such as minimizing the effort to dress of people who are lazy or in a hurry, enabling people with limited mobility to dress themselves and retain a level of independence and dignity, or automatically adjusting the enhance a person&#39;s comfort. 
     SUMMARY 
     Embodiments of the present invention provide a haptic zipper. 
     In one embodiment, a haptic zipper includes a first chain, a second chain opposing the first chain, a slider, an actuator coupled to the slider, and a controller coupled to the actuator. The slider is coupled to the first chain and the second chain to mesh or disengage opposing teeth of the first and second chains. The controller is configured to process an input signal including data related to a haptic effect, generate a haptic drive signal based on the data, and transmit the haptic drive signal to the actuator to render the haptic effect. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a block diagram illustrating an embodiment of a wearable article that is has an actuator that performs non-haptic and haptic operations. 
         FIG. 2  is a block diagram illustrating an alternative embodiment of the wearable article illustrated in  FIG. 1 . 
         FIG. 3  is a block diagram illustrating the wearable article shown in  FIG. 1  in more detail. 
         FIG. 4  is a block diagram illustrating the wearable article shown in  FIGS. 1 and 3  having an additional input device. 
         FIG. 5  is a block diagram illustrating a networked environment in which the wearable articles illustrated in  FIGS. 1-4  can operate. 
         FIG. 6  is a partial isometric view illustrating a shoe having an automated lacing system having an actuator that performs non-haptic and haptic operations. 
         FIG. 7  is a partial isometric view illustrating an automated zipper which can be used in wearable articles having an actuator that performs non-haptic and haptic operations. 
         FIGS. 8A and 8B  are partial isometric views of a wearable article having smart material that performs non-haptic and haptic operations. 
     
    
    
     DETAILED DESCRIPTION 
     Various embodiments will be described in detail with reference to the drawings, wherein like reference numerals represent like parts and assemblies throughout the several views. Reference to various embodiments does not limit the scope of the claims attached hereto. Additionally, any examples set forth in this specification are not intended to be limiting and merely set forth some of the many possible embodiments for the appended claims. 
     Whenever appropriate, terms used in the singular also will include the plural and vice versa. The use of “a” herein means “one or more” unless stated otherwise or where the use of “one or more” is clearly inappropriate. The use of “or” means “and/or” unless stated otherwise. The use of “comprise,” “comprises,” “comprising,” “include,” “includes,” “including,” “has,” and “having” are interchangeable and not intended to be limiting. The term “such as” also is not intended to be limiting. For example, the term “including” shall mean “including, but not limited to.” 
     In general terms, this patent document relates to articles wearable by a person in which the article has an actuator that performs a non-haptic operation and a haptic operation. 
     Referring now to  FIG. 1 , a wearable article  100  has an actuator  102 , a controller  104 , and an input device  106 . The wearable article  100  can be any type of thing worn by a person. Examples of wearable articles  100  include clothing; footwear; prosthetics such as artificial limbs; headwear such as hats and helmets; athletic equipment worn on the body; protective equipment such as ballistic vests, helmets, and other body armor; eyeglasses; accessories such as neckties and scarfs; belts and suspenders; jewelry such as bracelets, necklaces, and watches; and anything else that can be worn on the body. 
     The actuator  102  can be any controlled mechanism or other structure that initiates movement to perform an operation on the wearable article. Examples of operations performed by an actuator  102  include fastening the wearable article  100  to the person&#39;s body, adjusting the fit of the wearable article  100 , or performing any other operation on the article  100 . Various embodiments can include a single actuator or two or more actuators. 
     The input device  106  is any device that inputs a signal into the controller  104 . An example of an input device  106  is a control device such as a switch. Another example of an input device  106  is a transducer that inputs a signal into the controller  104 . Examples of transducers that can be used as an input device  106  include antennas and sensors. Various embodiments can include a single input device or can include two or more input devices. Additionally, various embodiments can include different types of input devices. For example, at least some possible embodiments include a switch and a transducer such as an antenna or a sensor. 
     The controller  104  is any type of circuit that controls operation of the actuator  102  based on receiving a signal or data from the input device  106 . Data can be any type of parameters, instructions, flags, or other information that is processed by the processors, program modules, and other hardware disclosed herein. 
     In operation, the controller  104  and actuator  102  have a non-haptic operation. Examples of such operations include operating a fastener to close or secure a wearable article  100  on a person or adjusting the fit of a wearable article  100 . The operation is performed by operating an input device  106  such as a switch. Non-haptic operation of an actuator  102  may cause tactile sensation to a person, but is not intended to convey a particular message such as a cue, notification, or other information. 
     The controller  104  and actuator  102  also have a haptic operation. In such an operation, an input device  106  is stimulated and inputs a signal to the controller  104 . In response, the controller  104  operates the actuator  102  to provide haptic feedback to the person wearing the article  100 . The haptic feedback typically embodies a message to the person wearing the article  100 . The message can be a notification or can contain other types of more complex information. Haptic operation of the actuator  102  can be such that it is distinguishable from non-haptic operation. For example, an automated belt, as described in more detail herein, can be automatically tightened at a slower rate during non-haptic operation. The belt then can be tightened at a quicker rate or according to particular pattern of movement during haptic operation. 
     A haptic effect can be any type tactile sensation delivered to a person. The haptic effect embodies a message such as a cue, notification, or more complex information. 
       FIG. 2  illustrates an alternative embodiment of the wearable article  100  that is substantially similar to the wearable article illustrated in  FIG. 1  and also includes the input device  106 , controller  100 , and actuator  102 . 
     The wearable article  100  in this embodiment also includes an RFID tag  108  that stores identifying information. Examples of identifying information that can be stored on the RFID tag  108  include information identifying the person wearing the wearable article  100 , the type of wearable article  100 , the specific wearable article that includes the RFID tag, the type of actuator  102  included on the wearable article  100 , or any other information. 
     In this embodiment, the wearable article  100  includes at least one input device  106  that is an antenna for receiving a signal that embodies data associated with a haptic message. 
     The embodiment illustrated in  FIG. 2  has many applications, including use in an environment that has a network that provides communication between an RFID reader and a remote device. In operation, a person moves near the RFID reader that detects the RFID tag  108  and reads the identifying information, which in turn is sent to the remote device. In response to receiving the identifying information, the remote device determines whether to deliver data associated with a haptic effect to the wearable article  100 . If the computing device determines to send data, a signal is generated and transmitted to the antenna. The antenna receives the signal, which is processed by the controller  104 . The controller  104  then controls the actuator  102  to deliver the haptic message. 
     Other embodiments can be used in an environment that uses hardware, software, and systems other than RFID tags and readers to communicate between the controller  104  and a remote device or network. For example, the wearable article  100  could have a Bluetooth transceiver in data communication with the controller  104 . The Bluetooth receiver could provide data communication or presence sensing with a Bluetooth beacon that is in communication with the remote device. In this example, the Bluetooth beacon could periodically broadcast haptic messages or other data that are received by the Bluetooth receiver and processed by the controller  104 . In another example, a camera or other imaging device could be in data communication with the remote device and provide the remote device with images of a person&#39;s face or particular items of clothing. If remote device recognizes the person&#39;s face or item of clothing, it can then determine whether a haptic message or other data should be sent to the controller and send the haptic message or data to the controller  104 , which would then processes it. 
       FIG. 3  illustrates a more detailed block diagram of a possible embodiment of the wearable article  100  illustrated in  FIG. 1 . 
     In this embodiment, the wearable article  100  includes the actuator  102  and the controller  104 . Two input devices are in electrical communication with the controller and include a non-haptic control device  110  and a sensor  112 . An actuator drive circuit  114  is in electrical communication with the controller  104  and the actuator  102 . 
     The actuator  102  can be any device that produces a motion. Examples of actuators include mechanisms such as motors; linear actuators such as solenoids; magnetic or electromagnetic mechanisms; and smart materials such as shape memory alloys, piezoelectric materials, electroactive polymers, and materials containing smart fluids. 
     The non-haptic control device  110  is an input device that initiates performance of the non-haptic operation. An example of a non-haptic control device  110  is a switch that a person manually actuates. Another example includes switches that are automatically executed upon certain conditions. Yet another example of the non-haptic control device  110  includes an antenna that receives a signal that communicates an instruction or a sensor output associated with a detected condition. A switch can be any mechanism that makes, breaks, or changes a connection in a circuit. 
     The sensor  112  can be any instrument or other device that outputs a signal in response to receiving a stimulus. The sensor  112  can be hardwired to the controller  104  or can be connected to the controller  104  wirelessly. The sensor  112  can be used to detect or sense a variety of different conditions, events, and things such as non-haptic operation of the actuator  102  or wearable article  100 , haptic operation of the actuator  102  or wearable article  100 , the physical condition of the wearable article  100 , environmental conditions, or the presence of other people or objects. 
     Examples of sensors  112  include acoustical or sound sensors such as microphones; vibration sensors; chemical and particle sensors such as breathalyzers, carbon monoxide and carbon dioxide sensors, and Geiger counters; electrical and magnetic sensors such as voltage detectors or hall-effect sensors; flow sensors; navigational sensors or instruments such as GPS receivers, altimeters, gyroscopes, or accelerometers; position, proximity, and movement-related sensors such as piezoelectric materials, rangefinders, odometers, speedometers, shock detectors; imaging and other optical sensors such as charge-coupled devices (CCD), CMOS sensors, infrared sensors, and photodetectors; pressure sensors such as barometers, piezometers, and tactile sensors; force sensors such as piezoelectric sensors and strain gauges; temperature and heat sensors such as thermometers, calorimeters, thermistors, thermocouples, and pyrometers; proximity and presence sensors such as motion detectors, triangulation sensors, radars, photo cells, sonars, and hall-effect sensors; biochips; biometric sensors such as blood pressure sensors, pulse/ox sensors, blood glucose sensors, and heart monitors. Additionally, the sensors  112  can be formed with smart materials, such as piezo-electric polymers, which in some embodiments function as both a sensor and an actuator. Additional sensors are disclosed in U.S. Pat. No. 8,659,571 issued on Feb. 25, 2014 and entitled Interactivity model for shared feedback on mobile devices, the entire disclosure of which is hereby incorporated by reference. 
     With the wearable article  100  including an antenna or sensor, the controller  104  can receive input or feedback about the operation or state of the wearable article  100  including non-haptic operation, haptic operation, and the state of the article  100  such as whether the article  100  has any worn areas, the state of fasteners on the article  100 , or positioning of the article  100  on a person. The controller  104  can process the signal, information, or data input and then control the actuator  102  to deliver a haptic message related to the operation of state of the wearable article  100 . The controller  104  also can receive input or feedback related to conditions, aspects, and things other than the operation or state of the wearable article  100  itself. For example, it can receive information about environmental conditions to which the wearable article  100  is exposed or might be exposed, information about the conduct or movement of the person wearing the wearable article  100 , and any other information that can be sensed by sensor  112  or otherwise delivered to the controller  104 . 
     The actuator drive circuit  114  is a circuit that receives a haptic signal from the controller  104 . The haptic signal embodies haptic data, and the haptic data defines parameters the actuator control circuit  114  uses to generate a haptic drive signal. Examples of parameters that can be defined by the haptic data includes frequency, amplitude, phase, inversion, duration, waveform, attack time, rise time, fade time, and lag or lead time relative to an event. The haptic drive signal is applied to the actuator  102 . 
     The controller  104  comprises a bus  116 , processor  118 , input/output (I/O) controller  120 , and memory  122 . The bus  116  includes conductors or transmission lines for providing a path to transfer data between the components in the controller  104  including the processor  118 , memory  122 , and I/O controller  120 . The bus  116  typically comprises a control bus, address bus, and data bus. However, the bus  116  can be any bus or combination of busses, suitable to transfer data between components in the controller  104 . 
     The I/O controller  120  is circuitry that monitors operation of the controller  104  and peripheral or external devices such as the non-haptic control device  110 , the sensor  112 , and the actuator drive circuit  114 . The I/O controller  120  also manages data flow between the controller  104  and the peripheral devices and frees the processor  118  from details associated with monitoring and controlling the peripheral devices. Examples of other peripheral or external devices with which the I/O controller  120  can interface includes external storage devices; monitors; input devices such as keyboards, pointing devices; external computing devices; antennas; other articles worn by a person; and any other remote devices. 
     The processor  118  can be any circuit configured to process information and can include any suitable analog or digital circuit. The processor  118  also can include a programmable circuit that executes instructions. Examples of programmable circuits include microprocessors, microcontrollers, application specific integrated circuits (ASIC), programmable gate arrays (PLA), field programmable gate arrays (FPGA), or any other processor or hardware suitable for executing instructions. In various embodiments, the processor  118  can be a single unit or a combination of two or more units. If the processor  118  includes two or more units, the units can be physically located in a single controller or in separate devices. 
     The memory  122  can include volatile memory such as random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EPROM), flash memory, magnetic memory, optical memory, or any other suitable memory technology. The memory  122  also can include a combination of volatile and nonvolatile memory. 
     The memory  122  can store a number of program modules for execution by the processor  118 , including an event detection module  124 , a haptic determination module  126 , a registration module  128 , a communication module  130 , a non-haptic control module  132 , and a haptic control module  134 . Each module is a collection of data, routines, objects, calls, and other instructions that perform one or more particular task. Although certain modules are disclosed herein, the various instructions and tasks described herein can be performed by a single module, different combinations of modules, modules other than those disclosed herein, or modules executed by remote devices that are in communication with the controller  104 . 
     The event detection module  124  is programmed to receive data from the sensor  112 , the antenna, or a remote device. Upon receiving the data, the event detection module  124  determines whether there is an event, condition, or operating state associated with a haptic effect. 
     Upon identification of an event associated with a haptic effect, the haptic determination module  126  analyzes the data received from the sensor  112 , antenna, or remote device to determine a haptic effect to deliver through the actuator  102 . An example technique the haptic determination module  126  can use to determine a haptic effect includes rules programmed to make decisions to select a haptic effect. Another example includes lookup tables or databases that relate haptic effects to data received from the sensor or antenna. 
     The haptic control module  134  generates a haptic signal upon the haptic determination module  126  identifying a haptic effect to deliver to the actuator  102 . The haptic control module  134  receives haptic data and generates a haptic signal. The haptic control module  134  sends the haptic signal to the actuator drive circuit  114 , which then generates the haptic drive signal. The haptic drive signal embodies the message to be conveyed to the person wearing the article  100 . 
     Upon actuation of the non-haptic control device  110 , the I/O controller  120  inputs non-haptic operational data to the controller  104 . The non-haptic control module  132  receives the non-haptic operational data and generates a non-haptic operation signal, which is input to the actuator drive circuit  114 . The actuator drive circuit  114  then generates a non-haptic drive signal and applies the non-haptic drive signal to the actuator  102 . Also in various embodiments, the non-haptic control device and I/O controller  120  can input binary information into the controller  104  such as a flag indicating a simple on or off instruction. Alternatively, the non-haptic control device  110  and I/O controller  120  can input more complex information indicating more complex instructions for the non-haptic control module  132  to process and to provide more complex control of the actuator  102 . 
     The registration module  128  receives and processes registration data such as device information, context information, or other data used for system functions. The device information may include identifying data such as an address or other data that can identify the wearable article  100 , the type of wearable article  100 , the type of hardware included in the wearable article  100 , the person who is wearing the article  100 , or the person to whom the article  100  belongs. The identifying information also can identify capability (e.g., whether the device is capable of providing haptic feedback, storing digital content, receiving user inputs, etc.) of the hardware included on the wearable article  100 . Examples of addresses include media access control (MAC) addresses, uniform resource locators (URL), or other network addresses. The address data also can include port information identifying where communication channels may be established for transferring digital content, and/or other device information. In alternative embodiments, the registration data can be stored on the RFID tag  108 . 
     By registering identifying data about the wearable article  100 , and as discussed in more detail herein, remote devices may be made aware of the wearable article  100  so they can transfer data such as haptic data instructions to and from the wearable article  100 . 
     Registration of wearable articles and communication of data to and from them is discussed in more detail in U.S. application Ser. No. 14/106,275, which was filed on Dec. 13, 2013 and is entitled METHOD AND APPARATUS OF BODY-MEDIATED DIGITAL CONTENT TRANSFER AND HAPTIC FEEDBACK, the entire disclosure of which is hereby incorporated by reference. 
     The communication module  130  facilitates communication between the controller  104  and remote devices. Examples of remote devices include computing devices, sensors, other wearable articles, exercise equipment, and smart appliances. Examples of computing devices include servers, desktop computers, laptop computers, tablets, smartphones, home automation computers and controllers, and any other device that is programmable. The communication can take any form suitable for data communication including communication over wireless or wired communication signal or data paths. In various embodiments, the communication module may configure the controller  104  as a centralized controller of wearable articles or other remote devices, as a peer that communicates with other wearable articles or other remote devices, or as a centralized controller and peer such that the controller can operate as a centralized controller in some circumstances and as a peer in other circumstances. 
     Alternative embodiments of the program modules are possible. For example, some alternative embodiments might have more or fewer program modules than the event detection module  124 , haptic determination module  126 , registration module  128 , communication module  130 , non-haptic control module  132 , and haptic control module  134 . For example, the controller  104  can be configured to deliver only a single haptic effect. Such embodiments might not have a haptic determination module  126 , and the event detection module  124  or some other module would cause the haptic control module  134  to send the haptic data to the haptic control module  134 . In other alternative embodiments, there is no event detection module  124  and the haptic control module  134  sends a haptic signal to the actuator control circuit  114  upon the controller  104  receiving an input from the sensor  112 . 
     In some possible embodiments, one or more of the program modules are in remote devices such as remote computing devices or other wearable articles. For example, the event determination module  124  can be located in a remote computing device, which also stores a library of haptic effects and rules that define when to deliver a haptic effect. In such an embodiment, the controller  104  communicates data to the remote device when the event detection module  124  determines that a haptic effect should be delivered through the actuator  102 . The data might be as simple as a flag indicating that the controller  104  received an input from the sensor  112 , or more complex such as identifying the type of condition indicated by the sensor  112  or identifying the type of sensor  112  from which an input signal was received. The haptic determination module  126  on the remote device will process the data and instructions, retrieve matching haptic data from memory  122 , and then transmit the haptic data to the controller  104  for processing and generating a haptic effect through the actuator  102 . In yet other possible embodiments, the event detection module  124  is also located in a remote device, in which case the controller  104  communicates data to the remote device when it receives input from the sensor  112 . 
     The wearable article  100  illustrated in  FIG. 4  is substantially similar to the wearable article illustrated in  FIG. 3  and includes the controller  104 , non-haptic control device  110 , sensor  112 , actuator drive circuit  114 , and actuator  102 . Additionally, the controller  104  includes a network interface controller (NIC)  106 . An antenna  138  is in electrical communication with the NIC  136  and provides wireless communication between the controller  104  and remote devices. The communication module  130  is programmed to control communication through the antenna  138  including processing data embodied in signals received through the antenna  138  and preparing data to be transmitted to remote devices through the antenna  138 . Communication can be according to any wireless transmission techniques including standards such as Bluetooth, cellular standards (e.g., CDMA, GPRS, GSM, 2.5G, 3G, 3.5G, 4G), WiGig, IEEE 802.11a/b/g/n/ac, IEEE 802.16 (e.g., WiMax). 
     The NIC  136  also can provide wired communication between the controller  104  and remote devices through wired connections using any suitable port and connector for transmitting data and according to any suitable standards such as RS 232, USB, FireWire, Ethernet, MIDI, eSATA, or thunderbolt. 
     Referring now to  FIG. 5  and discussed elsewhere in this disclosure, the wearable article  100  can operate within and communicate with a network  140  and remote devices. Examples of remote devices include computing devices  142 , sensors  144 , RFID readers  146 , and other connected devices such as other wearable articles, exercise equipment, smart appliances, and other devices. In other embodiments, the network  140  provides data communication with different combinations of remote devices or remote devices other than those disclosed herein. 
     The network  140  operates in an environment  141  in which the wearable article  100  would be worn such as in a building, an automobile or other vehicles, or a defined area in the outdoors. Additionally, in various embodiments, the network  140  is a public network, private network, local area network, wide area network such as the Internet, or some combination thereof. 
     In various embodiments, the computing device  142  communicates with the controller  104  on the wearable article  100 . In such embodiments, the computing device  142  executes program modules to process data and communicates data to the controller  104 . For example, the computing device  142  receives input from a sensor  112 , which could be in the wearable article  100  or remote from the wearable article  100 . The computing device  142  then communicates the sensor data to the controller  104  in the wearable article  100 . In another example, the computing device  142  receives data from one wearable device and relays that data to the controller in another wearable device to coordinate the delivery of haptic effects between different wearable articles. In another example, the computing device  142  receives data from other remote device  143  such as a smart appliance or exercise equipment and relays that data to the controller in the wearable article. In yet another possible embodiment, the controller  104  in the wearable article  100  communicates data such as sensor readings to the computing device  142 , which then determines whether to deliver a haptic effect or what haptic effect to deliver. The computing device  142  then returns appropriate data to the controller  104 . 
     In yet another possible example, the RFID reader  146  or some other sensor detects the presence of the RFID tag  108  and the presence of a wearable article  100  and communicates that presence to the computing device  142 . The RFID reader  146  retrieves identifying data from the RFID tag  108  and communicates the retrieved identifying data to the computing device  142 , which then processes the data and determines whether to communicate data to the controller  104  in the wearable article  100 . The computing device  142  might execute a haptic determination module  126 . If the haptic determination module  126  determines to deliver a haptic effect, the computing device  142  might communicate data associated with a haptic effect to the controller  104  of the wearable article  100 , which then delivers the haptic effect through the actuator  102 . The determination of whether to deliver a haptic effect can be based on a variety of factors including the identifying data retrieved from the RFID tag  108 , or a combination of identifying data retrieved from the RFID tag  108  and additional data such as input from a sensor  112  or data such as weather reports received from a third party source. 
     Additionally, in various embodiments, the haptic data defining the haptic effect and defining the parameters for the haptic drive signal can be determined by the computing device  142 . If there is only one available haptic effect, the computing device  142  retrieves the haptic data upon determining an event associated with a haptic effect has occurred. The computing device  142  communicates that haptic data to the controller  104  in the wearable article  100  for processing. Alternatively, the computing device  142  executes a haptic determination module  126  to identify the haptic effect that corresponds to the identifying data. 
     In an example application, when a person wearing actuated foot wear similar to shoe illustrated in  FIG. 6 , and discussed in more detail herein, begins to walk from the indoors to the outdoors, they will pass near and RFID reader  146  positioned near the door. The RFID reader  146  will detect the presence of the actuated shoe and communicate this presence to the computing device  142 . If the computing device  142  receives information that there is inclement weather such as rain, it will transmit data associated with a haptic effect and associated with a message indicating the person should change to boots, grab an umbrella, or put on a raincoat. 
     In another example a person who is trying to lose weight is wearing an actuated article  100  such an automated belt. The person approaches a refrigerator equipped with an RFID reader  146  or other proximity detector, which detects the presence of the actuated belt and communicates this presence to the computing device  142 . The computing device  142  then transmits data to the controller  104 , which is on the belt. The transmitted data is associated with a haptic effect and message advising the person to be careful of the food they select. 
     In yet another example, a person wearing an actuated article  100  such as a necktie is in a meeting or in quiet area and receives a call on their smartphone. The phone is aware of the actuated article  100  and determines that the call is an emergency. The phone then sends a signal to the actuated article  100  associated with a haptic effect and a message that the call is important and needs to be answered as soon as possible. In this example, the necktie comprises smart material, which causes the necktie to tighten either temporarily or until the emergency call is connected. 
     In another example, the haptic track for a video or movie can be played back through wearable articles  100 . In this example, operation of the actuator  102  can be coordinated with events or emotions presented in a movie. Operating the actuator  102  to suddenly or repeatedly tighten and loosen can be coordinated with an explosion in a movie, or the actuator could tighten the wearable article in particularly tense scenes. Operation of the actuator  102  in a wearable article can be similarly coordinated with events and emotions in video games such as when a character is shot in a combat oriented game, there is a crash in a racing game, or a collision in a sports game. 
     The actuator  102  also can be operated to provide feedback when a user is interacting with a user interface. For example, an actuator in the cuff of a shirt, a belt, zipper, or other article of clothing can be vibrated or moved to provide haptic feedback when using buttons, pointing devices such as a mouse or pen, or other controls and objects when interfacing with a user interface for a computer, smartphone, gaming console, including user interfaces that are based in physical environments or in virtual reality. 
     Other examples and applications of haptic enabled clothing are possible as well, including the examples provided in U.S. application Ser. No. 14/106,275, which was filed on Dec. 13, 2013 and is entitled METHOD AND APPARATUS OF BODY-MEDIATED DIGITAL CONTENT TRANSFER ANT) HAPTIC FEEDBACK, the entire disclosure of which was incorporated by reference. In one such example disclosed in U.S. application Ser. No. 14/106,275, the actuators  102  can be operated to deliver a sensation of flow. In this example, operation of different actuators  102  in a single wearable article  100  or in multiple wearable articles can be coordinated to increase the area that a person feels the flow sensation. 
     Various embodiments of the wearable device  100  also can operate independently of a remote device. For example, a shoe, belt, necktie, safety equipment, or medical equipment could include a pressure sensor that inputs a signal to the controller  104  for processing. If the controller determines that the wearable article is too tight or loose, it could control the actuator  102  to deliver a haptic message indicate wearable article is too tight or loose. In a shoe for example, if the foot of a runner or other person begins to swell making the shoe too tight, the actuator  102  might deliver a haptic message to prompt the person to loosen the shoe. In another example, a helmet might have a series of sensors to detect the positioning on a person head or whether chin strap is secured. The controller  104  can receive input from the sensors, determine whether there is a misfit, and then control the actuator  102  to deliver a haptic message if there is a misfit. Wearable articles such as helmets also could include sensors to detect a structural failure, such as a crack, in the helmet material. If the sensors input a signal indicative of a failure in the helmet, the controller  104  could then control the actuator  102  to deliver a haptic message indicating the failure.  FIG. 6  illustrates one possible embodiment of a wearable article. In this embodiment, the wearable article is a shoe  148  having automated laces  150   a - 150   d . The shoe  148  includes a sole  152 , an upper portion  154  connected to the sole  152 , laces or straps  150   a - 150   d , and an automatic lacing system  156 . The sole  153  defines a cavity  153 . The upper portion  154  defines a gap to allow the upper portion  154  to expand and make room for inserting the wearer&#39;s foot. 
     The automatic lacing system  156  includes motor  158  having a drive shaft  160  and first and second pulleys  162   a  and  162   b  mounted on the drive shaft  160 . The motor  158 , drive shaft  160 , and pulleys  162   a  and  162   b  are positioned in the cavity. The automatic lacing system  156  also includes a yoke  164  positioned in a slot (not shown), which is defined in the sole  152  and extends from the cavity  153  to a position proximal to the upper portion  154  of the shoe  152 . First and second belts  168   a  and  168   b  have one end connected to the first and second pulleys  162   a  and  162   b , respectively. The belts  168   a  and  168   b  extend through the slot and have an opposite end connected to a yoke  164 , which also is positioned in the slot. 
     The straps  150   a - 150   b  have first ends connected to the upper portion  154  proximal to one side edge of the gap. The straps then extend over the gap, along an opposite side of the upper portion  154  and into the slot  166 . The opposite ends of the straps  150   a - 150   d  are connected to the yoke  164 . In operation, the motor  158  rotates the pulleys  162   a  and  162   b  in one direction to pull or take up the belts  168   a  and  168   b , which in turn pulls the yoke  164  closer to the pulleys  162   a  and  162   b . The yoke  164  pulls the straps  150   a - 150   d  and tightens or fastens the shoe  148  to the wearer&#39;s foot. To remove the shoe  148 , the motor  158  turns the drive shaft  160  and pulleys  162   a  and  162   b  in the opposite direction, which releases or loosens the straps  150   a - 150   d . 
     The controller  104  is positioned in the sole  152  and is in electrical communication with the motor  158  and a non-haptic control device  110  positioned on the surface of the sole  152 . In this embodiment, the non-haptic control device  110  is a pressure sensitive switch that is actuated when the wearer inserts their foot and applies pressure to the switch, which causes the controller  104  to drive the motor  158  until the straps  150   a - 150   d  are securely tightened. The pressure sensitive switch is also actuated when the wearer lifts their heel enough so that the force applied to the pressure sensitive switch is reduced a predetermined amount, which causes the controller  104  to drive the motor  158  until the straps  150   a - 150   d  are loosened a predetermined amount. The self-lacing shoe  148  disclosed herein is substantially similar to Nike Air Mag shoes developed by Nike, Inc. having its principle place of business in Beaverton, Oreg., and also is substantially similar to the shoe disclosed in U.S. Pat. No. 8,769,844, issued on Jul. 8, 2014 and entitled AUTOMATIC LACING SYSTEM, the entire disclosure of which is hereby incorporated by reference. 
     Additionally, a sensor  112  is mounted in the shoe  148  and also is in electrical communication with the controller  104 . As explained in more detail herein, the sensor  112  inputs a signal into the controller  104  upon sensing a predetermined condition. Upon receiving an input signal from the sensor  112  and depending on the embodiment, the controller  104  determines whether to deliver a haptic effect to the person wearing the shoe  148  and what haptic effect to deliver. Upon making this determination, the controller  104  generates a haptic signal and communicates the haptic signal to the actuator drive circuit (not shown in  FIG. 6 ). The actuator drive circuit generates the haptic drive signal and applies it to the motor  158  to move the straps  150   a - 150   d  in a predetermined pattern corresponding to the determined haptic effect and conveying the predetermined message. 
     The predetermined pattern can be any pattern that can communicate a message to the person wearing the shoe  148 . For example, the controller  104  might repeatedly loosen and tighten the straps  150   a - 150   d  a predetermined number of times or in a pattern, according to predetermined intervals or according to varying intervals. Another haptic effect might be tightening and loosening the straps  150   a - 150   d  to have a longitudinal tension along its length that is different than the tension normally applied to the straps  150   a - 150   d  when the shoe  148  is initially put on the person&#39;s foot. In yet another example, the tension of the straps  150   a - 150   d  is changed or varied to provide a sequence of different tensions. 
     In alternative embodiments, the controller  104  can include an antenna  138  in addition to a sensor  112  so that the controller  104  can communicate with remote devices. In other embodiments, the controller  104  in the shoe  158  contains an antenna  138  and no sensor. The shoe  158  can also include an RFID tag  108 . 
     Another alternative embodiment of a shoe that comprises smart material having an origami-type configuration that folds or transitions between a first shape that is flat or that has an enlarged opening to receive a foot, and a second shape that is molded around a person&#39;s foot. When a person steps into the shoe, a sensor detect the person&#39;s foot and inputs a signal to the controller. The controller then controls the smart material to bend from the first shape to the second shape molded around the person&#39;s foot. In this embodiment, the smart material also can vibrate when an external force such as an electric current or electric field is applied to it. In some embodiment, the smart material functions as the haptic actuator and the fastener, In other embodiment, the smart material functions as a sensor that outputs a signal when it detects the force of a foot and thus functions as the haptic actuator, fastener, and sensor. 
       FIG. 7  illustrates an automated zipper  172  that can be included in wearable articles  100 . The zipper  172  includes opposing chains  174   a  and  174   b , and each chain has teeth  176   a  and  176   b , respectively, positioned such that the teeth of one chain are offset relative to, and selectively mesh with, the teeth of the opposing chain. A slider  178  defines a Y-shaped channel that engages the opposing chains  174   a  and  174   b  and forces the opposing teeth  176   a  and  176   b  to mesh or disengage as the slider  178  is moved up and down the chains, respectively. A housing  180  is operably connected to the slider  178  and houses an automatic zipping system  184 . A pull tab  182  is operably connected to the housing  180  and can be used to manually move the slider  178  along the length of the zipper  172 . The slider  178  has a maximum length of travel between one position in which the zipper  172  is fully closed and an opposite position in which the zipper  172  is fully open. 
     The automatic zipping system  184  comprises a motor  186 , two gears  188   a  and  188   b , a controller  104 , a non-haptic input device  110  such as a switch, and an antenna  118 . The two gears  188   a  and  188   b  are mounted on a drive shaft of the motor  186 . One gear  188   a  has teeth that engage the gaps between the teeth  176   a  in one chain  174   a . The other gear  188   b  has teeth that engage the gaps between the teeth  176   b  in the opposing chain  174   b . In operation, the motor  186  rotates the gears in one direction to move the slider  178  up the chain  174   a  and  174   b  to close the zipper  172  and in the opposite direction to move the slider  178  down the chain to open the zipper  172 . 
     As explained in more detail herein, the antenna  118  receives from a remote device a signal that embodies data related to a haptic effect. The controller  104  processes the received data and controls the motor  186  to move the slider  178  in a predetermined pattern to deliver a haptic effect. The haptic effect can be movement of the slider  178  a distance or range-of-motion less than the maximum length of travel for the slider. Other haptic effects can be delivered by repeatedly moving the slider  178  along the zipper  100  in an up and down pattern or in a particular sequence; intermittently moving the slider  178  in intervals, which can vary in length; moving the slider  178  in different velocity or acceleration patterns; or any other pattern or movement. Additionally, moving the slider  178  without receiving instructions from the person wearing the article can be a haptic effect. 
     When the user is manually pulling the slider  178 , another possible haptic feedback can be urging the motor  186  and gears  188   a  and  188   b  to move the slider  178  in the direction opposite from the manual movement to provide force feedback. This force feedback can be delivered in a variety of patterns and magnitudes to deliver virtual detents along the length of the zipper or some other haptic effect, and to deliver different haptic messages. For example, the force feedback can be delivered intermittently to create a sequence of virtual detents as the slider  178  is moving along the length of the zipper to indicate that it is not recommended to loosen or open the zipper. 
     The virtual detents also can be used to provide a sense of the distance the fastener has traveled. For example, the actuator can periodically apply virtual detents every quarter inch or every centimeter. The virtual detents also can be applied when the fastener or actuator is being automatically operated. For example, an extra pulse can be periodically applied to the actuator as it is operating to cause it to jerk or temporarily change its the speed of operation. 
     In another example, the motor  186  can operate to provide force feedback or some other automated movement when the slider  178  hits or comes close to a stop, thereby signaling the user that the end of its range of motion. In this example, the slider or zipper would have a mechanism to determine relative position of the slider such as a force sensor, proximity sensor, encoder, or stepper motor. The slider  178  also can provide haptic feedback if the slider disengages with the one of the chains  174  of the zipper indicating the zipper and hence wearable article is fully open. 
     Alternative embodiments can include a sensor included in the automated zipping system  184  and in electrical communication with the controller  104 . A sensor  112  can be used in addition to, or in place of, the antenna  138 . Additionally, although a zipper  172  is illustrated, the embodiments disclosed herein can be applied to other types of fasteners such as other slide fasteners, buckles such as belt buckles, snaps, clips, clasps, buttons, smart materials, buttons, eye and hooks, hook and loop fasteners, laces, straps, or elastic bands. 
       FIG. 8A  is a sectional view of some possible embodiments in which the actuator  102  comprises smart material. In this embodiment, the wearable article  100  is formed with a fabric woven with strands of a material  192  such as filaments, fibers, or yarns. The strands woven into the fabric includes one or more strands formed from a smart material  194 . In the illustrated embodiments, the strands formed with smart materials  194  are oriented in one direction of the weave and are generally parallel to each other. 
     The number of strands formed with a smart material  194  will vary depending on the smart material, the non-haptic function of the smart material, and the ability of the smart material to deliver a sensation that is strong enough to be felt by the person wearing the article  100 . Examples of non-haptic functions for the smart material includes adjusting the fit of the article, securing the article to the person wearing it, adjusting the porosity of the fabric based on conditions such as moisture, ambient temperature, body temperature, and other environmental or biometric factors. The controller and other components of the wearable article are not illustrated, but are similar to those discussed herein.  FIG. 8B  illustrates a weave that include strands formed with smart material  194 , except that the weave includes at least one strand  194  woven in one direction and at least one strand  194  woven in a different, typically orthogonal direction. Various embodiments can include weaves that are different than the weaves illustrated in  FIGS. 8A and 8B . 
     In alternative embodiments, the wearable article  100  is formed with strands that are knitted or braided, or a material other than strands such as polymers, leather, or metal. Additionally, the smart material in various embodiments is combined with the wearable article with a technique other than weaving, knitting, or braiding. For example, the smart material can be applied to a surface of the wearable article and held in place with an adhesive, stiches of thread, or a fastener. In another example, the smart material is embodied inside the material using techniques such molding the smart material into the wearable article. 
     In addition to the origami-type shoe and the embodiments disclosed herein, the smart material can function as a sensor, haptic actuator, and fastener in different types of wearable articles. For example, a shirt can have cuffs formed with a smart material that have a first expanded state and a second contracted state. When a person inserts their hand through the cuff, it transitions from the first state to the second state. The smart material replaces the cuff button, actuator, and haptic actuator. 
     An elastic or example waist of pants is another example, the waist is formed with a smart material that has a first elastic state and a second inelastic state. A person puts on the pants and the state of the smart material in the waste changes form the first state to the second state. The smart material functions as a belt, including the belt disclosed herein in more detail. 
     The smart material can be any material that changes a physical property in response to an external stimulus thereby modifying the wearable article  100  and causing a sensation that can be felt by a person wearing the article  100 . The external stimulus can be applied to the smart material by the controller. Examples of stimuli that can control the smart material include potential differences, electrical currents, magnetic fields, or any other stimulus that can be generated, triggered, or controlled by the controller or a remote device communicating with the controller. In various embodiments, changing a physical property of the smart material will cause it to move relative to other strands or portions of the wearable article, vibrate, or change shape. In various embodiments, the smart material can have different types of movement such as linear movement, changes in the diameter or other dimensions of the smart material, and changes to the shape of the smart material. Examples of changes to the shape of a smart material can include bending, curving, transitioning between a spiral or helical shape and a straight configuration. Additionally, at least some embodiments, changes to the smart material are reversible and it can transition between two or more shapes or states. 
     Examples of smart material include shape memory alloys (such as temperature and magnetic shape-memory alloys), electroactive polymers having an electronic mechanism (such as electrostrictive, electrostatic, piezoelectric, and ferroelectric polymers), piezoelectric materials including piezo-polymers, conductive polymers, cellulose and other biopolymers, ionic polymer metal composites (IPMC), electrorheostatic materials, magnetorheostatic materials, magnetostrictive materials, pH-sensitive polymers, Peltier cells, ferrofluidic materials, and other fluidic materials. Additionally the smart material can be formed with or otherwise include nanoparticles or nanotubes. Examples of smart polymers include polyvinylidene fluoride (PVDF), polylactic acid (PLA), homo-polymers, co-polymers, and ter-polymers. The smart materials also can include polymer-metal composites and other combinations of different materials. Other examples include smart materials that move or change shape in response to forces such as temperature, electric currents, electric fields, Coulomb forces, mobility or diffusion of ions. 
     Additionally, the smart material can have a variety of states and structures such as fluids, solids, gases, gels, solids, elongated fibers, or panels, other shapes, and combinations thereof. Pneumatic structures such as gas bladders also can be used. 
     Additionally, the strands of smart material  194  can have a profile other than the traditional circular shape. The non-circular profile can help the strands of smart material  194  to move relative to other strands in the material, which can enable the wearable article  100  to contract or expand thereby tightening or loosening the wearable article, respectively. The non-circular shape also can be used to adjust the tightness of the weave, knit, or braid, or to adjust the porosity of the wearable article to enable it to vent, making it warmer or cooler. Changing the porosity also can make the wearable article more or less water repellent. Examples of alternative profile shapes include oval, square, or triangular. Different material can be added to the strand to form microscopic wings or propeller blades that also can help the strand of smart material move relative to the other strands in the article. In other possible embodiments, the smart material is formed into a structure other than a strand. A patch is an example of such an alternative structure for the smart material. Possible embodiments also can include fibers made of material that can cause the diameter of the fiber to change, which also can be used to adjust the tightness of the weave, knit, or braid, or to adjust the porosity of the wearable article. 
     In additional to the embodiments disclosed herein, properties of the smart fiber can be used to change the friction characteristics on the surface of a wearable article. Applying an external force to the smart material can change it between a slippery state and a non-slippery state. For example the sole on a shoe can be changed between a slippery state and a nonslippery state. In another example, the inner surface of a wearable article such as a prosthetic device or safety equipment can be changed to a slippery state to make it easier to put wearable article onto a person&#39;s body and then a non-slippery state to help hold the wearable article in place. 
     The various embodiments described above are provided by way of illustration only and should not be construed to limit the claims attached hereto. Those skilled in the art will readily recognize various modifications and changes that may be made without following the example embodiments and applications illustrated and described herein, and without departing from the true spirit and scope of the following claims.