Patent Description:
Significant advances have been made in the quality of sound reproduced by headphones, earpieces, and earbuds. For example, when recordings intended to be reproduced via external loudspeakers are played over a set of headphones, the reproduced sound may be perceived as having a point of origin that is between the listener's ears, resulting in an unnatural effect for the listener. To address this issue, stereo and surround sound enhancement systems have been developed to prevent or minimize this effect when audio is reproduced via headphones. In addition, correction filters and other equalization techniques have been employed to further improve the fidelity of sounds reproduced by headphones, including user-specific correction filters that optimize headphone output for a particular user.

Despite such advances, the fidelity of sound reproduced by headphones, earbuds, and other head-worn audio devices is limited, because the acoustics of such audio devices are designed with a reference seal that is rarely fully achieved by end users due to variations in hair, head shape, outer ear shape, and ear canal shape, which generally vary from the reference employed by the manufacturer. When the earcups do not seal completely, or when earbuds do not fit well, these audio devices do not perform according to the intended target frequency curve. This issue is particularly noticeable in the low-frequency regime.

Further, the fidelity of sound reproduced by headphones, earbuds, and other head-worn audio devices can also be limited by the impact of external sounds mixing with the sound reproduced by the head-worn audio device. Because the biggest source of such external sounds is typically leakage around the sealing surfaces of the head-worn audio device, significant attention has been directed to the development of resilient headphone cushions and earbud sealing surfaces that isolate external sounds from the ears of the user. However, because the size and shape of the head and ear canal of each user is unique, implementing a single headphone cushion configuration or earbud seal will be less than perfect for many users. As a result, many users are likely to hear significant external sounds mixed with reproduced sound when using a one-size-fits-all head-worn audio device.

Further, besides providing hi-fidelity sound reproduction, head-worn audio devices also enable a user to multi-task more effectively, when the head-worn audio device also functions as a hands-free audio device. For instance, when wearing wireless headphones, a user can participate in a telephone conversation or listen to music while simultaneously performing other activities, such as driving, doing household chores, and the like. However, use of a head-worn audio device in this way can adversely impact the other activities being performed. Specifically, auditory conveyance of information to the user necessarily interrupts the current use of the head-worn audio device. For example, when participating in a telephone call via an earpiece or earbuds, the user is generally precluded from receiving auditory driving instructions without audibly interrupting the telephone call. Consequently, to avoid missing any of the conversation, the user typically must rely on a visual medium for driving instructions, which may require the user to look away from the road. Thus, the multi-tasking that is enabled by a head-worn audio device is offset, in part, because the user is unable to receive information auditorily.

<CIT> discloses a frame into which a user can insert a mobile phone for use as a head mounted device, e.g. a virtual reality goggle, the frame having means for providing haptic feedback to the user through deformation of the frame.

<CIT> discloses a headset having sensors and actuators. The sensors are used for determining a correct fit of the headset.

<CIT> discloses an earbud having means for static inflation for improving its fit in the ear, where a sensor monitors if inflation is sufficient.

<CIT> describes a proximity sensing headphone that includes a gyroscopic sensor to determine the motion of the headphone structure and a proximity sensor to determine the movement of an external object through a three-dimensional ambient environment. A control circuit provides an alert output if a determined distance between the headphone structure and the external object is less than a defined distance threshold or the velocity of the external object through the three-dimensional ambient environment about the headphone structure exceeds a defined velocity threshold.

<CIT> describes a pedestrian information system to provide alerts to a distracted pedestrian related to hazards in the pedestrian's path. The system can detect objects, and determine if the objects are hazardous and if the pedestrian is likely to collide with the objects. The system can then determine from the pedestrian's activity whether the pedestrian is aware of identified hazards. If the system determines that the pedestrian is not aware of the identified hazards, then the system can output audio, visual, and/or haptic alerts to the pedestrian.

<CIT> describes an intelligent earpiece to be worn over an ear of a user. The earpiece includes a processor connected to the IMU, the GPS unit and the at least one camera. The processor can recognize an object in the surrounding environment by analyzing the image data based on the stored object data and at least one of the inertial measurement data or the location data.

In light of the above, more effective techniques for providing high-fidelity sound reproduction in a head-worn audio device and enabling a user to receive information while using a head-worn audio device would be useful.

The present invention is recited in the independent claims. Preferred embodiments are recited in the dependent claims.

The various embodiments set forth a system that includes a first support frame; a first contact element coupled to the first support frame and configured to contact a first portion of a head of a user; a first actuator coupled to the first support frame and the first contact element; a first sensor; and a processor that is communicatively coupled to the first actuator and is configured to: generate a first actuator signal based on first information that is to be conveyed to the user; and transmit the first actuator signal to the first actuator, cause the first actuator to generate a first force on the first contact element based on the first actuator signal; cause, via the first force, a change in a shape of at least a portion of the first contact element, wherein the first force corresponds to the first information to be conveyed to the user, characterized in that the processer is further configured to: determine the first force to be exerted on the first contact element based on sensor data acquired via the first sensor, wherein the sensor data is indicative of a current shape of the first contact element.

At least one advantage of the disclosed embodiments is that a head-worn audio device can be adapted to the ear, scalp, or other surfaces of the head of a particular user in order to minimize or otherwise reduce leakage of the produced sound field, which in turn reduces the acoustic fidelity, as well as minimize or otherwise reduce leakage of ambient sound to the user. A further advantage is that information, such as navigation instructions, can be provided to the wearer of a head-worn audio device in a tactile way, without interrupting an audio and/or visual presentation to the user.

So that the manner in which the above recited features of the various embodiments can be understood in detail, a more particular description of the various embodiments, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments and are therefore not to be considered limiting of its scope, for the various embodiments may admit to other equally effective embodiments.

For clarity, identical reference numbers have been used, where applicable, to designate identical elements that are common between figures. It is contemplated that features of one embodiment may be incorporated in other embodiments without further recitation.

<FIG> is a schematic diagram illustrating a head-worn audio system <NUM>, configured to implement one or more aspects of the various embodiments of the present disclosure. Head-worn audio system <NUM> is configured to produce a superior and user-specific acoustic seal when worn, and/or to provide a communication channel for information to a wearer, such as navigation information. Specifically, elements of head-worn audio system <NUM> can change shape to form the acoustic seal and to communicate information, alerts, and notifications to the wearer of head-worn audio system <NUM>, hereinafter referred to as the "wearer. " Such shape changes direct physical forces to various parts of the wearer's ear, the entire ear, or the regions of the head proximal to the ear such that the ear feels surrounded and the forces feel directed relative to the ear. In embodiments in which head-worn audio system <NUM> is implemented as a headphone-based assembly, each earcup of the headphone based assembly can change shape and size independently from each other, providing a superior acoustic seal and/or communicating information to the wearer. These changes can occur inside the earcup, between the headphone casing and the wearer's ear, and/or along a headband of a headphone assembly. Because neither hearing nor vision is used to receive information provided in this way, receipt by the user of such information is unlikely to compete or interfere with audio or visual presentations to the wearer.

Head-worn audio system <NUM> includes at least one head-worn audio device <NUM>. In embodiments in which head-worn audio system <NUM> is implemented as a headphone based assembly, head-worn audio device <NUM> can be an earcup of the headphone-based assembly. In embodiments in which head-worn audio system <NUM> is implemented as an ear-worn audio device, such as a pair of stereo earbuds or an earpiece, head-worn audio device <NUM> can be a single earbud or earpiece. Head-worn audio device <NUM> includes a support frame <NUM> on which or within which are mounted one or more actuators <NUM>, contact elements <NUM>, sensors <NUM>, and a computing device <NUM>.

Head-worn audio device <NUM> can be any technically feasible head-worn or head-mountable device that includes an audio playback subsystem for reproducing recorded audio, such as a loud speaker or other sound-generating device. In some embodiments, head-worn audio device <NUM> also includes a microphone or other sound-receiving device. For example, in some embodiments, head-worn audio system <NUM> can be configured as a headphone-based assembly, such as supra-aural headphones, which rest directly on the wearer's outer ear, or circumaural headphones, which completely surround the ears. In other embodiments, head-worn audio system <NUM> can be configured as an earpiece/microphone assembly or as a single or a pair of earbuds.

Support frame <NUM> includes a rigid structure on which actuators <NUM> are mounted or within which actuators <NUM> are housed. Support frame <NUM> acts as a platform from which actuators <NUM> can cause movement of or change the shape of contact elements <NUM>. Support frame <NUM> can include, without limitation, one or more components of head-worn audio system <NUM> that are in-ear, over-ear, surround the wearer's ear, rest on the wearer's ear, and/or contact the top and/or sides of the wearer's head. In embodiments in which head-worn audio system <NUM> is implemented as a headphone based assembly, support frame <NUM> can be a housing of an earcup and/or a headband in the headphone-based assembly. In embodiments in which head-worn audio system <NUM> is implemented as an ear-worn audio device, such as a pair of stereo earbuds or an earpiece, support frame <NUM> can be a rigid structure within the earbud or earpiece and/or a portion of an external housing of the earbud or earpiece.

Actuators <NUM> are disposed between support frame <NUM> and a surface of the head of a wearer of head-worn audio system <NUM>, and are configured to drive motion and/or shape-changing of contact elements <NUM>. For example, in embodiments in which head-worn audio system <NUM> is implemented as a headphone-based assembly, actuators <NUM> can be disposed on each earcup of headphone-based assembly. Alternatively or additionally, actuators <NUM> can be disposed along the frame of the headphone-based assembly, allowing some or all of actuators <NUM> to apply physical pressure on the head of the wearer on, in, or around the ear and/or a surface of the head that comes in contact with the frame of the headphone-based assembly.

In some embodiments, each of actuators <NUM> is configured to cause the movement of one of contact elements <NUM>, deform the surface of a material included in one of contact elements <NUM>, and/or change the structure of the material included in one of contact elements <NUM> so that the contact element <NUM> is repositioned, deformed, or altered in shape. Thus, in some embodiment, actuators <NUM> cause contact elements <NUM> to achieve a specific intended shape. As a result, pressure distribution to the location on the wearer's head that corresponds to that contact element <NUM> is noticeably varied by the wearer. Locations on the wearer's head that correspond to one of contact elements <NUM> can be, for example, on, in, or around the ear and/or across the top of the head. Such changes in pressure to such locations on the wearer's head can generate a robust acoustic seal around the ear of the wearer and/or be employed to provide information non-visually and non-verbally to the wearer.

Actuators <NUM> may include, without limitation, a mechanical or electromagnetic actuator that exerts a force against one or more of contact elements <NUM> (e.g., an electric motor, a solenoid, a mechanical actuator, a piezoelectric actuator, a magnetic actuator, and the like); a pneumatic actuator and associated bladder that causes motion of one or more contact elements <NUM>; a hydraulic actuator or other fluid actuation device that causes motion of one or more contact elements <NUM>; and/or a compressed gas actuator that causes motion of or exerts a force against one or more contact elements <NUM>. Alternatively or additionally, in some embodiments, actuators <NUM> may include, without limitation, an apparatus that causes a "smart material" included in contact elements <NUM> to change to a specific target shape. Examples of such "smart materials" include, without limitation, one or more shape memory alloys (SMAs), (such as Nitinol, which is actuated using heat from electrical current), materials that are actuated using electric or magnetic fields (such as ferrofluids), and materials that are actuated using light (such as photomechanical materials). In such embodiments, actuators <NUM> may include, without limitation, a heating device configured to apply heat to a shape-memory alloy included in one or more contact elements <NUM>; a device configured to apply an electric field to a material in one or more contact elements <NUM> that is actuated via the electric field; a device configured to apply a magnetic field to a material in one or more contact elements <NUM> that is actuated via the magnetic field; and a device configured to apply light to a photomechanical material in one or more contact elements <NUM>.

In some embodiments, an actuator <NUM> exerts a force against a corresponding contact element <NUM> by displacing the contact element <NUM> or moving the contact element to a different position, and in other embodiments, an actuator <NUM> exerts a force against a corresponding contact element <NUM> by causing the corresponding contact element <NUM> to change shape, for example via pneumatic pressure, application of an electric or magnetic field, light, etc..

In some embodiments, a single actuator <NUM> corresponds to a single contact element <NUM>. In other embodiments, a single actuator <NUM> is configured to cause movement in and/or change the shape of multiple contact elements <NUM> included in head-worn audio device <NUM>, or in all of the contact elements <NUM> included in head-worn audio device <NUM>. For example, in one such embodiment, actuator <NUM> includes an air-filled bladder that, when inflated, repositions multiple contact elements <NUM>, such as the contact elements on an upper half of an earcup.

Contact elements <NUM> are disposed on or make up a surface of head-worn audio device <NUM> that contacts a surface of the ear and/or head of a wearer of head-worn audio system <NUM>. In embodiments in which head-worn audio system <NUM> is implemented as a headphone-based assembly, contact elements <NUM> can be incorporated into a cushion of an earcup and/or along a surface of a headband in the headphone-based assembly. In embodiments in which head-worn audio system <NUM> is implemented as an ear-worn audio device, contact elements <NUM> can be formed on an outer surface of the earbud or earpiece. Contact elements may include, without limitation, a smart material whose shape is controllable, a covering material that changes shape, an elastic material that encloses air or other fluid, and the like.

Sensors <NUM> are configured to monitor and provide feedback associated with the shape-changing progress of actuators <NUM> and contact elements <NUM>, to sense the environment around the wearer and/or receive signals from the environment around the wearer, and/or to sense contact surfaces of the head or ears of the wearer. Sensors <NUM> can include, without limitation, one or more of user sensors <NUM>, environment sensors <NUM>, and/or feedback sensors <NUM>.

User sensors <NUM> are configured to determine head and ear shape of the wearer and/or to detect failure of one or more contact elements <NUM> to contact a surface of the head or ears of the wearer and form an acoustic seal. User sensors <NUM> can be part of or mounted to support frame <NUM>, embedded within a corresponding contact element <NUM>, coupled to a corresponding actuator <NUM>, or positioned in any other suitable location on or within head-worn audio device <NUM>.

Sensor output <NUM> from user sensors <NUM> can be employed by computing device <NUM> (described below) to <NUM>) determine how to cause actuators <NUM> to move or change the shape of contact elements <NUM> so that head-worn audio device <NUM> is better sealed against ambient sound and/or to <NUM>) communicate information to the wearer. For example, in determining how to improve an acoustic seal of head-worn audio device <NUM>, a contact pressure between each contact element <NUM> and a corresponding surface on the head or ear of the user can be measured by a piezoelectric or other pressure sensor included in user sensors <NUM> and disposed on the surface of the contact element <NUM>. Similarly, light leakage into a sound cavity proximate an ear of the wearer can be measured by an optical sensor included in user sensors <NUM>, and sufficient contact between a contact element <NUM> and a corresponding surface on the head or ear of the user can be measured by a thermal sensor or other contact sensor included in user sensors <NUM> and disposed on the surface of the contact element <NUM>.

Environment sensors <NUM> are configured to determine when and how actuators <NUM> are to be employed to cause motion and/or changes in shape of contact elements <NUM> so that specific information is communicated to the wearer. Thus, in some embodiments, environment sensors <NUM> generate environmental inputs <NUM> that are recognized as triggers and/or information to be conveyed to the wearer by computing device <NUM>. For example, in some embodiments, environment sensors <NUM> include, without limitation, location sensors compatible with receiving signals from transmitters associated with a Global Navigation Satellite System (GNSS) (e.g., global positioning system (GPS), GLONASS, and Galileo), imaging sensors (such as digital cameras, depth cameras, and infrared cameras), rangefinders (such as ultrasonic rangefinders, infrared rangefinders, laser- and radar-based sensors), and the like. Alternatively or additionally, environment sensors <NUM> can include a sensor or wireless communication device operable to receive or request information from a database of map information.

In operation, environment sensors <NUM> are configured to receive and/or generate information that enables computing device <NUM> to determine that there is certain information to be conveyed to a wearer, such as navigation information, alerts to an event having occurred, an indication of a direction in which to move or look, and the like.

Feedback sensors <NUM> are configured to monitor and provide feedback associated with the shape-changing progress and/or motion of actuators <NUM> and contact elements <NUM>. For instance, when feedback sensors <NUM> include a strain gauge coupled to each of contact elements <NUM>, a feedback signal <NUM> is transmitted to computing device <NUM> indicating what displacement of or shape change by a particular contact element <NUM> has occurred. Similarly, when feedback sensors <NUM> include a pneumatic pressure sensor, feedback signal <NUM> indicates how much of an inflation process is complete. Other types of feedback sensor can also be included in feedback sensors <NUM>. Such sensors may include, without limitation, a resistive sensor such as a potentiometer that indicates a mechanical displacement of an actuator <NUM> or a contact element <NUM>, a fluid pressure sensor associated with an actuator <NUM>, a fluid flow sensor associated with an actuator <NUM>, a piezoelectric sensor disposed on one of contact elements <NUM>, and an acoustic sensor positioned to measure a sound volume of sound generated by head-worn audio device <NUM> that is leaking out of head-worn audio device <NUM>. For example, in determining how to improve an acoustic seal of head-worn audio device <NUM>, audio leaking from head-worn audio device <NUM> can be measured by an acoustic sensor included in feedback sensors <NUM>, such as a microphone included in head-worn audio device <NUM>. In some embodiments, feedback sensors <NUM> include at least one of an optical sensor exposed to a cavity between an ear of the wearer and head-worn audio device <NUM>, an optical sensor configured to measure a light source included in head-worn audio device <NUM>, an acoustic sensor included in head-worn audio device <NUM>, a thermal sensor in thermal contact with a contact element <NUM>, a strain gauge disposed on a contact element <NUM>, a fluid pressure sensor associated with an actuator <NUM>, a fluid flow sensor associated with an actuator <NUM>, and a piezoelectric sensor disposed on a contact element <NUM>.

In operation, feedback sensors <NUM> generate a feedback signal <NUM> for one or more actuators <NUM>, where feedback signal <NUM> indicates a current state of the one or more actuators <NUM>. In some embodiments, the current state of the one or more actuators <NUM> includes, without limitation, at least one of a current actuation position of the one or more actuators, a current pneumatic pressure applied to the one or more actuators, a current hydraulic pressure applied to the one or more actuators, a current contact pressure between a contact element <NUM> and a corresponding portion of the head of the wearer, a current temperature of a shape-memory alloy included in a contact element <NUM>, a current electric field strength applied to a material that is actuated via the electric field and included in a contact element <NUM>, a current magnetic field strength applied to a material that is actuated via the magnetic field and included in a contact element <NUM>, a current intensity of light applied to a photomechanical material included in a contact element <NUM>, and a current intensity of light entering a cavity between an ear of the wearer and head-worn audio device <NUM>.

Computing device <NUM> is configured to implement one or more aspects of the present disclosure described herein. More specifically, computing device <NUM> causes actuators <NUM> to move or change the shape of contact elements <NUM>, and makes determinations as to when and how actuators <NUM> implement such movement and shape-changing of contact elements <NUM>. Thus, in some embodiments, computing device <NUM> makes such determinations based on the current application or mode of head-worn audio device <NUM> and/or on feedback signal(s) <NUM> received from feedback sensors <NUM>. In some embodiments, computing device <NUM> transmits signals <NUM> to actuators <NUM> to cause actuators <NUM> to move or change the shape of contact elements <NUM>.

Computing device <NUM> may be any type of device capable of executing application programs including, without limitation, instructions associated with head-worn audio device <NUM>. For example, and without limitation, computing device <NUM> may be implemented as a standalone chip, such as a microprocessor, or as part of a more comprehensive solution that is implemented as an application-specific integrated circuit (ASIC), a system-on-a-chip (SoC), and so forth. Generally, computing device <NUM> may be configured to coordinate the overall operation of a computer-based system, such as head-worn audio system <NUM>.

In some embodiments, computing device <NUM> can be incorporated into head-worn audio device <NUM>. Alternatively, the functionality of computing device <NUM> can be incorporated into a mobile computing device, such as a suitably programmed smartphone, electronic tablet, smart watch, or other wearable that communicates with head-worn audio device <NUM>. One embodiment of computing device <NUM> is described below in conjunction with <FIG>.

<FIG> is a more detailed illustration of computing device <NUM>, according to various embodiments of the present disclosure. Computing device <NUM> may be any type of device capable of executing application programs including, without limitation, instructions associated with an acoustic seal application <NUM> and/or wearer notification application <NUM>. Generally, computing device <NUM> may be configured to coordinate the overall operation of a computer-based system, such as head-worn audio system <NUM>. In some embodiments, computing device <NUM> may be coupled to, but separate from, such a computer-based system. In such embodiments, the computer-based system may include a separate processor that transmits data to computing device <NUM>, such as sensor output <NUM>, environmental inputs <NUM>, and/or feedback signal <NUM>, and may be included in a consumer electronic device, such as a personal computer, smartphone, or headphone-based device. As shown, computing device <NUM> includes, without limitation, a processor <NUM>, input/output (I/O) devices <NUM>, and a memory <NUM>.

Processor <NUM> may be implemented as a central processing unit (CPU), a graphics processing unit (GPU), an ASIC, a field programmable gate array (FPGA), any other type of processing unit, or a combination of different processing units. In general, processor <NUM> may be any technically feasible hardware unit capable of processing data and/or executing software applications to facilitate operation of head-worn audio system <NUM> of <FIG>, as described herein. Among other things, and without limitation, processor <NUM> may be configured to execute instructions associated with acoustic seal application <NUM> and/or wearer notification application <NUM>.

Memory <NUM> may include a random access memory (RAM) module, a flash memory unit, or any other type of memory unit or combination thereof, and may include a single memory module or a collection of memory modules. As shown, in some embodiments, acoustic seal application <NUM> and/or wearer notification application <NUM> may reside in memory <NUM> during operation. Acoustic seal application <NUM> receives feedback signal <NUM> from feedback sensors <NUM>, determines whether changes can be made via actuator(s) <NUM> to improve an acoustic seal for head-worn audio device <NUM>, and causes actuator(s) <NUM> to move and/or change the shape of contact elements <NUM> to improve the acoustic seal. Wearer notification application <NUM> determines that there is information to be conveyed to the wearer, determines in what way actuator(s) <NUM> can be employed to convey the information to the user, and causes actuator(s) <NUM> to move and/or change the shape of contact elements <NUM> to convey the information to the user.

I/O devices <NUM> includes one or more devices capable of receiving input, such as a keyboard, a mouse, a touch-sensitive screen, a microphone (including an acoustic sensor included in head-worn audio device <NUM>) and so forth, as well as devices capable of providing output, such as a display screen, loudspeakers (including a loudspeaker included in head-worn audio device <NUM>), and the like. The display screen may be incorporated in head-worn audio system <NUM> or may be external to head-worn audio system <NUM>, such as a computer monitor, a video display screen, a display apparatus incorporated into a separate hand held device, or any other technically feasible display screen.

Returning to <FIG>, in some embodiments, computing device <NUM> can be configured to operate in one or more different modes of controlling actuators <NUM>. In some embodiments, computing device <NUM> is configured to operate in a binary actuation mode, and in other embodiments, computing device <NUM> is configured to operate in a variable actuation mode.

When operating in a binary actuation mode, computing device <NUM> is configured to cause each actuator <NUM> to exert a target force of a specific fixed magnitude against a respective contact element <NUM> in a binary (or "on/off") actuation mode. That is, a particular actuator <NUM> either exerts the target force of the specific fixed magnitude against the respective contact element <NUM> or exerts no force against that contact element. Thus, in binary actuation mode, actuators <NUM> are generally operated to move between two positions, which effects a change in a contact element from a default or un-changed shape (or unchanged position) to a fully deformed shape (or fully changed positioned). For example, in one embodiment, in binary actuation mode computing device <NUM> either continuously provides electrical current at a certain rate to an actuator <NUM> or provides no current to the actuator <NUM>.

When operating in a variable actuation mode, computing device <NUM> is configured to cause each actuator <NUM> to exert a target force of any suitable magnitude against a respective contact element <NUM>. Thus, in the variable actuation mode, computing device <NUM> determines a suitable magnitude for the target force and then causes the actuator <NUM> to exert the target force at the suitable magnitude against the contact element <NUM>. In some embodiments, computing device <NUM> determines the suitable magnitude for the target force based on one or more of a targeted displacement or movement of a contact element <NUM>, a targeted volume of a contact element <NUM>, and/or a targeted surface area of a contact element <NUM>. Alternatively or additionally, computing device <NUM> determines the suitable magnitude for the target force based on a speed of movement or change in shape of a contact element <NUM> and/or a frequency of actuation of the contact element <NUM>. Alternatively or additionally, in some embodiments, computing device <NUM> determines a suitable excursion amount for actuators <NUM>. That is, instead of setting a force, computing device <NUM> sets a target position, such as a percentage of actuation or equivalent displacement distance (e.g., in millimeters). In such embodiments, feedback signal <NUM> from feedback sensors <NUM> can provide the current excursion amount and/or position of each actuator <NUM>.

In some embodiments, when operating in a variable actuation mode, computing device <NUM> determines the suitable magnitude for the target force based on sensor output <NUM> or feedback signal <NUM>. For example, feedback signal <NUM> from a particular feedback sensor <NUM> can indicate that a corresponding actuator <NUM> has not changed a shape of a contact element <NUM> so that the contact element <NUM> has changed to a targeted shape, and therefore the actuator <NUM> should exert a different force on the contact element <NUM> that is based on information included in the feedback signal <NUM>. Thus, in variable actuation mode, actuators <NUM> are generally operated to move between various positions and/or exert variable forces against corresponding contact elements <NUM>.

In some embodiments, head-worn audio system <NUM> is implemented in a headphone-based assembly. One such embodiment is illustrated in <FIG> and <FIG>. <FIG> is a schematic diagram illustrating a headphone system <NUM> configured to implement one or more aspects of the present disclosure, and <FIG> is a more detailed illustration of an earcup <NUM> of <FIG>, according to one or more aspects of the present disclosure. Headphone system <NUM> may include, without limitation, two earcups <NUM> coupled to a headband <NUM> via a respective arm <NUM>. Each earcup <NUM> is configured to fit over the outer ear of a wearer, and includes, among other things, a loudspeaker <NUM> and an ear-surround cushion <NUM> coupled to a housing <NUM>. Headband <NUM> and earcups <NUM> each act as a respective portion of support frame <NUM> of headphone system <NUM>. In some embodiments, headphone system <NUM> may be configured with a single earcup <NUM>. Furthermore, in some embodiments, headphone system <NUM> may be configured as a supra-aural headphone system, while, in other embodiments, headphone system <NUM> may be configured as a circumaural headphone system. In the embodiment illustrated in <FIG>, headphone system <NUM> is configured as a circumaural headphone system.

As shown, head-worn audio device <NUM> is incorporated into headphone system <NUM>. Thus, included in earcups <NUM> are one or more actuators <NUM> that are coupled to a portion of housing <NUM>/support frame <NUM>, and corresponding contact elements <NUM> that are disposed on or included in a surface of ear-surround cushion <NUM>. Alternatively or additionally, in some embodiments, one or more contact elements <NUM> and corresponding actuators <NUM> are also included in headband <NUM> (actuators <NUM> in headband <NUM> are omitted in <FIG> for clarity). In the embodiment illustrated in <FIG> and <FIG>, computing device <NUM> and one or more sensors are included in one or both of earcups <NUM>. For example, in some embodiments, a user sensor <NUM> (e.g., a piezoelectric pressure gauge) and/or a feedback sensor <NUM> (e.g., a piezoelectric pressure gauge or a strain gauge) can be disposed on or proximate to each of contact elements <NUM>. In such embodiments, the piezoelectric pressure gauge can generate sensor output <NUM> or feedback signal <NUM> (shown in <FIG>) indicating a contact pressure between a corresponding contact element and a portion of a surface of the wearer's head, while the strain gauge can generate feedback signal <NUM> indicating a displacement of the corresponding actuator <NUM> or contact element <NUM>. Alternatively or additionally, in some embodiments, an acoustic sensor <NUM> can be included in one or both of earcups <NUM> (facing outwards) to generate feedback signal <NUM> indicating a sound energy level of sound leaking from a particular earcup. Alternatively or additionally, in some embodiments, an acoustic sensor <NUM> and/or optical sensor <NUM> can be included in each earcup <NUM> (facing inwards) and exposed to a cavity <NUM> disposed between an ear (not shown) of the wearer and the earcup <NUM>. In such embodiments, optical sensor <NUM> can generate feedback signal <NUM> indicating a current intensity of light entering cavity <NUM> and acoustic sensor <NUM> can generate feedback signal <NUM> indicating a current sound energy level of ambient sound leaking into cavity <NUM>. Earcups <NUM> can further include, without limitation, one or more additional sensors <NUM>, described above in conjunction with <FIG>, to generate one or more of sensor output <NUM>, environmental inputs <NUM>, and/or feedback signals <NUM>.

When headphone system <NUM> is worn by a user, portions of ear-surround cushion <NUM> seal against the wearer's head, so that each earcup <NUM> forms an acoustic cavity around one of the user's ears. Ideally, ear-surround cushion <NUM> conforms closely to the shape of the wearer's head and forms an acoustic cavity proximate the ear of the wearer that is acoustically isolated from the surroundings for enhanced listening. In practice, because the ear-surround cushions of a conventional headphone system do not perfectly conform to the shape of each wearer's head, ambient sound can mix with sound reproduced by the headphone system, and sound reproduced by the headphone system leaks out and decreases the acoustic fidelity for the wearer, as shown in <FIG> schematically illustrates an earcup <NUM> of a conventional headphone system positioned on a head <NUM> of a wearer. As shown, an ear-surround cushion <NUM> of earcup <NUM> seals against some surfaces <NUM> of head <NUM>. However, because earcup <NUM> and ear-surround cushion <NUM> do not completely conform to the shape of head <NUM>, one or more gaps <NUM> are present between ear-surround cushion <NUM> and a surface <NUM> of head <NUM>. As a result, ambient sound can enter an acoustic cavity <NUM> that is formed when earcup <NUM> is worn by the wearer, and sound reproduced by the headphone system leaks out and decreases the acoustic fidelity for the wearer. According to embodiments of the present disclosure, a more robust seal can be formed between contact elements of an ear-surround cushion (and/or a headband) of a head-worn audio device and a wearer's head than in a conventional head-worn audio device. One such embodiment is illustrated in <FIG>.

<FIG> schematically illustrates an earcup <NUM> of a headphone system positioned on a head <NUM> of a wearer, according to various embodiments of the present disclosure. As shown, earcup <NUM> includes an ear-surround cushion <NUM> that seals against surfaces <NUM> of head <NUM>. Because actuators <NUM> (not shown) can move and/or change the shape of contact elements (not shown) disposed on ear-surround cushion <NUM>, ear-surround cushion <NUM> conforms to the shape of head <NUM>, and no or very few gaps are present between ear-surround cushion <NUM> and surfaces <NUM>. As a result, the ambient sound that can enter an acoustic cavity <NUM> that is formed when earcup <NUM> is worn by the wearer is greatly reduced or minimized, and the overall acoustic fidelity of the system is increased because the headphone produced sound is not leaking out. In some embodiments, contact elements disposed on ear-surround cushion <NUM> are caused to form a non-uniform profile to better conform to the shape of head <NUM>. One such embodiment is illustrated in <FIG>.

<FIG> schematically illustrates earcup <NUM> when actuators in earcup <NUM> cause contact elements disposed on ear-surround cushion <NUM> to form a non-uniform profile, according to various embodiments of the present disclosure. As shown, a contact surface <NUM> of ear-surround cushion <NUM> has a non-uniform profile <NUM> that varies from a default profile <NUM>. Non-uniform profile <NUM> is generated when each of a plurality of actuators included in earcup <NUM> exerts a targeted force against a respective contact element (not shown for clarity) disposed on contact surface <NUM>.

In the embodiment illustrated in <FIG>, non-uniform profile <NUM> is employed to improve an acoustic seal and/or to change the overall acoustics of a head-worn audio device, and is implemented by non-uniform changes in the shape of ear-surround cushion <NUM>. In other embodiments, physical pressure is asymmetrically applied to the head of the wearer, either over time or across different portions of an ear-surround cushion, to convey information to a user. One such embodiment is illustrated in <FIG>.

<FIG> schematically illustrates a plan view of an earcup <NUM> of a head-worn audio device, configured according to the various embodiments. As shown, an acoustic cavity <NUM> is disposed within the confines of an ear-surround cushion <NUM>, so that a user's outer ear (not shown) is contained within acoustic cavity <NUM>. It is noted that in embodiments in which earcup <NUM> is included in a headphone system configured as a supra-aural headphone system, a user's outer ear is disposed adjacent to, rather within, acoustic cavity <NUM>. In either case, changes in position or shape of contact elements <NUM> disposed on a contact surface <NUM> of ear-surround cushion <NUM> can be employed by computing device <NUM> to convey information to a wearer. Specifically, the wearer is provided with information through physical pressure that is asymmetrically applied to the head of the wearer via actuators (not shown for clarity) and contact elements <NUM>. For instance, in one embodiment, to notify the wearer to move to the left or to direct his or her attention to the left, contact elements <NUM> included in the ear-surround cushion of a left earcup <NUM> can be controlled to move and/or change shape to direct the attention of the wearer to the left. Alternatively, in some embodiments, directional and/or navigation information is conveyed to a user by moving and/or changing the shape of contact elements <NUM> in both the left and right earcup <NUM> of the headphone system. For example, to generate the perception of the wearer's head being pushed in a desired direction, contact elements <NUM> in, for example, the left earcup <NUM>, can be controlled to increase in size and/or to move away from a support frame included in the left earcup <NUM>, while contact elements <NUM> in, for example, the right earcup <NUM>, can be controlled to decrease in size and/or to move toward a support frame included in the right earcup <NUM>. As a result, the wearer can have the perception that the head is being urged toward the right, as shown in <FIG>.

<FIG> schematically illustrates wearer <NUM> wearing headphone system <NUM> that is configured to provide directional and/or navigational information to wearer <NUM>, according to various embodiments of the present disclosure. As shown, headphone system <NUM> includes earcups <NUM>, and is therefore configured to direct attention of wearer <NUM> to the right or the left via asymmetrical application of pressure to head <NUM> of wearer <NUM>. In the embodiment illustrated in <FIG>, wearer <NUM> is notified to focus his or her attention to the right by an increase in pressure of ear-surround cushion <NUM> in earcup 801A against head <NUM>, which can create the perception of head <NUM> being pushed to the right. In some embodiments, a corresponding decrease in pressure of ear-surround cushion <NUM> in earcup 801B against head <NUM> also occurs, to magnify the perceived "push" to the right. Alternatively or additionally, headphone system <NUM> is configured to interact with wearer <NUM> to direct the attention of wearer <NUM> in a particular direction by generating a different tactile input via one of earcups 801A or 801B. For example, to direct the attention of wearer <NUM> to the left, headphone system <NUM> may cause a tap, vibration, or the like to be generated by earcup 801A.

In some embodiments, the above described asymmetrical application of pressure against the head of a wearer is implemented in response to an environment sensor <NUM> in headphone system <NUM> receiving a signal <NUM> associated with a GNSS. In one such embodiment, environment sensor <NUM> receives location information from signal <NUM> and transmits the location information to computing device <NUM> via environmental input <NUM> (not shown). In response, computing device <NUM> determines that there is information to be conveyed to the wearer, based on the location information included in environmental input <NUM>. For example, in one such embodiment, computing device <NUM> determines that there is navigation information to be conveyed to the wearer, such as an indication that a targeted destination is to the right of the wearer. Computing device <NUM> then conveys that the targeted destination is to the right of the wearer by causing actuators and contact elements (not shown) to generate asymmetrically applied pressure to head <NUM> as described above in conjunction with <FIG>.

Alternatively or additionally, in some embodiments, asymmetrical application of pressure against head <NUM> is implemented in response to other inputs from environment sensors. In one such embodiment, an environment sensor included in headphone system <NUM> detects motion out of the line of sight of the wearer, and transmits a notification of such motion to computing device <NUM>. For example, a motion detector may detect that a large object, such as a person or vehicle, is moving toward the wearer along a path that intersects with the current or predicted position of the wearer. In response, computing device <NUM> alerts the wearer to look in a certain direction via the above-described asymmetrical application of pressure against head <NUM>. In another such embodiment, an environment sensor included in headphone system <NUM> receives a notification indicating that a particular wireless device in an Internet of Things (IoT) environment has a low battery. In response, computing device <NUM> alerts the wearer with, for example, an auditory notification, such as "The battery needs to be changed in one of your window security sensors. " Alternatively, a tactile alert notification can be provided to the user via a vibration, pulsing, or other pressure-based input via actuators <NUM>. When the wearer asks "Which one?" or "Where is it," computing device <NUM> encourages the wearer to look in a certain direction via the above-described asymmetrical application of pressure against head <NUM>. When the wearer has oriented his or her head appropriately, each of earcups <NUM> returns to a default shape.

In some embodiments, the physical pressure employed to convey information to the wearer is applied on the ear, in the ear, around the ear, and/or anywhere on the head along the frame of the headphone system. Additionally or alternatively, in some embodiments, the physical pressure is applied in a time-varying fashion, for example, to indicate a particular direction. One such embodiment is illustrated in <FIG>.

<FIG> schematically illustrate a headband <NUM> of a headphone system at various times during the process of conveying navigation information to a wearer, according to an embodiment of the present disclosure. Headband <NUM> includes a plurality of contact elements <NUM> that may be substantially similar to contact elements <NUM> in <FIG> and are configured to move and/or change shape. In <FIG>, headband <NUM> is in a default state, and contacts a head <NUM> of a wearer in a limited region <NUM>. In <FIG>, a controller (not shown) associated with the headphone system begins to convey navigation information over time to the wearer via headband <NUM> by causing a first portion <NUM> of contact elements <NUM> to change shape and begin contacting head <NUM> over a larger region <NUM> on the left side of head <NUM>. Alternatively, if first portion <NUM> of contact elements <NUM> are already in contact with head <NUM>, the contact elements <NUM> of first portion <NUM> increase pressure on head <NUM> in larger region <NUM>. In <FIG>, the controller continues to convey navigation information over time to the wearer via headband <NUM> by causing a second portion <NUM> of contact elements <NUM> to change shape and begin contacting head <NUM> over a larger region <NUM> on the left side of head <NUM>. Alternatively, if second portion <NUM> of contact elements <NUM> are already in contact with head <NUM>, the contact elements <NUM> of second portion <NUM> increase pressure on head <NUM> in a larger region <NUM>. In <FIG>, the controller continues to convey navigation information over time to the wearer via headband <NUM> by causing a third portion <NUM> of contact elements <NUM> to change shape and begin contacting head <NUM> over a still larger region <NUM>, or, if already in contact with head <NUM>, increasing pressure on head <NUM>. Because contact or pressure is applied to the wearer's head across the left side of head <NUM> over time, the wearer is prompted to look or move to the left. In some embodiments, the above sequence is repeated until the wearer performs the prompted action.

<FIG> sets forth a flowchart of method steps for tactile communication, according to various embodiments of the present disclosure. Although the method steps are described with respect to the systems of <FIG>, persons skilled in the art will understand that any system configured to perform the method steps, in any order, falls within the scope of the various embodiments.

As shown, a method <NUM> begins at step <NUM>, in which computing device <NUM> receives environmental input <NUM> from one or more environment sensors <NUM>. Environment sensor <NUM> can generate environmental input <NUM> in response to receiving information from a device external to head-worn audio system <NUM>, such as information data from a GPS transmitter or a notification from a wireless device. In such embodiments, environment sensor <NUM> includes location information, such as proximity and orientation to a target destination, in environment input <NUM>. Alternatively or additionally, in some embodiments, environment sensor <NUM> is a location-indicating sensor included in head-worn audio system <NUM>, such as a rangefinder, imaging sensor, radar-based sensor, and the like. In such embodiments, environment sensor <NUM> includes location information of one or more objects relative to head-worn audio system <NUM> in environment input <NUM>. Alternatively or additionally, in some embodiments, environment sensor <NUM> determines heading angle, such as which direction the wearer is facing. In such embodiments, the environment sensor <NUM> can include a magnetometer in combination with an inertial measurement unit (IMU), such as a set of accelerometers and/or gyroscopic sensors.

In step <NUM>, computing device <NUM> determines that there is information to be conveyed to the wearer, based on environment input <NUM>. For example, environment input <NUM> may include a notification for the wearer from a device external to head-worn audio system <NUM> or location information indicating that the wearer should change direction to reach a target destination.

In step <NUM>, computing device <NUM> determines a suitable force to be exerted against one or more contact element <NUM> by actuators <NUM>. In some embodiments, the suitable force to be exerted on each of the one or more contact elements <NUM> by actuators <NUM> is based on the information to be conveyed to the user. When such information includes navigation information, the suitable forces can include forces that cause a perceived push of the wearer's head in a certain direction. When such information includes a notification for the wearer, the suitable forces can include forces that cause a particular series of pulses or other changes in pressure on the head of the wearer.

In step <NUM>, computing device <NUM> causes the suitable forces determined in step <NUM> to be exerted against the appropriate contact elements <NUM> via actuator <NUM>. In step <NUM>, computing device <NUM> determines whether the information should continue to be conveyed to the wearer. If yes, method <NUM> proceeds back to step <NUM>; if no, method <NUM> proceeds to step <NUM>.

In step <NUM>, computing device <NUM> causes the contact elements <NUM> to return to a default state, such as an unmodified shape. In some embodiments, method <NUM> terminates, and in other embodiments, method <NUM> proceeds back to step <NUM>.

In some embodiments, the fit of a headphone system is improved by changing the shape of contact elements in a headband of the headphone system. One such embodiment is illustrated in <FIG> schematically illustrates a headband <NUM> of a conventional headphone system positioned on a head <NUM> of a wearer. As shown, headband <NUM> does not conform well to the shape of head <NUM>, only contacting head <NUM> in a limited area <NUM>. Thus, a headphone system that includes headband <NUM> can be unstable and uncomfortable, and potentially contributes to impaired acoustic performance because one or both earcups could be positioned suboptimally causing acoustic leakage. <FIG> schematically illustrates a headband <NUM> of a headphone system <NUM> positioned on a head <NUM> of a wearer, according to various embodiments of the present disclosure. As shown, headband <NUM> contacts head <NUM> across the length of headband <NUM>, since contact elements <NUM> have moved or changed shape to conform to head <NUM>. As a result, regardless of the shape of head <NUM>, headphone system <NUM> has a better fit than a conventional headphone system. As a result, a headphone system that includes headband <NUM> better fits head <NUM>, is more comfortable and less likely to slip or fall off than a headphone system that includes headband <NUM>, and typically has improved acoustical performance.

In some embodiments, head-worn audio system <NUM> is implemented in an ear-mounted device, such as an earbud system or earpiece or hearable. One such embodiment is illustrated in <FIG> is a schematic diagram illustrating an ear-mounted device <NUM> configured to implement various aspects of the present disclosure. Ear-mounted device <NUM> includes, without limitation, a left earbud <NUM> and a right earbud <NUM>, each coupled to a plug assembly <NUM> via a wired connection <NUM>. Alternatively, left earbud <NUM> and right earbud <NUM> may be configured as wireless earbuds. Ear-mounted device <NUM> may further include, without limitation, a volume control module <NUM> coupled to left earbud <NUM>, right earbud <NUM>, and plug assembly <NUM> as shown. Stereo earbud system <NUM> further includes, without limitation, contact elements <NUM> disposed on a surface of left earbud <NUM> and right earbud <NUM>. Thus, when a wearer has inserted left earbud <NUM> and right earbud <NUM>, contact elements <NUM> are positioned in contact with respective locations within an ear canal of the wearer. When contact elements <NUM> are caused to change shape or otherwise move against a surface within the ear canal of the wearer, a robust acoustic seal is formed and/or information is communicated to the wearer.

As shown, a method <NUM> begins at step <NUM>, in which computing device <NUM> determines a target state for one or more contact elements <NUM>. The target state for a particular contact element <NUM> can include, without limitation, a target position of the contact element <NUM> or corresponding actuator <NUM>, a target shape, a target threshold contact pressure between the contact element <NUM> and a corresponding surface of the head of the wearer, etc. In some embodiments, the target state for each of the contact elements is based on a current mode of head-worn audio system <NUM>. For example, in one such embodiment, head-worn audio system <NUM> operates in a unique mode for each different wearer. In another embodiment, the current mode is selected by the wearer. In such an embodiment, the wearer may select between a mode in which an acoustic seal is to be formed by computing device <NUM> when head-worn audio system <NUM> is worn and a mode in which an acoustic seal is broken to allow ambient sound, such as a voice, to be heard by the wearer. In yet another embodiment, the current mode is based on feedback signal <NUM> from one or more feedback sensors <NUM>.

In step <NUM>, computing device <NUM> determines a current state for each of the one or more contact elements <NUM>. In some embodiments, the current state of each contact element <NUM> can be based on a feedback signal <NUM> from a feedback sensor <NUM> associated with that specific contact element <NUM>.

In step <NUM>, computing device <NUM> determines whether the current state for any contact elements <NUM> is a different state than the target state. If no, method <NUM> proceeds back to step <NUM>; if yes, method proceeds to step <NUM>.

In step <NUM>, for each contact element that is in a different state than the target state, computing device <NUM> determines a force to be exerted against contact element <NUM> by an actuator <NUM> associated with that contact element. In some embodiments, computing device <NUM> determines the force to be exerted based on a feedback signal <NUM> from a feedback sensor <NUM> associated with that specific contact element <NUM>.

In step <NUM>, for each contact element that is in a different state than the target state, computing device <NUM> causes the force determined in step <NUM> to be exerted against that contact element <NUM> by an actuator <NUM> associated with that contact element. Method <NUM> then proceeds back to step <NUM>.

In sum, various embodiments set forth systems and techniques for providing high-fidelity sound reproduction in a head-worn audio device. Various embodiments further set forth systems and techniques for receiving information while using a head-worn audio device. One or more actuator(s) are controlled in response to feedback signal(s) to effect motion and/or changes in the shape(s) of one or more contact elements in the head-worn audio device. As a result, the contact elements can each be positioned in contact with a surface of the head of a wearer, which enables an acoustic seal to be generated. Additionally or alternatively, the contact elements can be moved in order to communicate information to the wearer.

At least one advantage of the disclosed embodiments is that a head-worn audio device can be adapted to the ear, scalp, or other surfaces of the head of a particular user in order to minimize or otherwise reduce leakage of ambient sound. A further advantage is that information, such as navigation instructions, can be provided to the wearer of a head-worn audio device in a tactile way, without interrupting an audio and/or visual presentation to the user.

Aspects of the present embodiments may be embodied as a system, method or computer program product. Accordingly, aspects of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a "module" or "system. " In addition, any hardware and/or software technique, process, function, component, engine, module, or system described in the present disclosure may be implemented as a circuit or set of circuits. Furthermore, aspects of the present disclosure may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon.

These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such processors may be, without limitation, general purpose processors, special-purpose processors, application-specific processors, or field-programmable processors or gate arrays.

Claim 1:
A head-worn audio system (<NUM>), comprising:
a first support frame (<NUM>);
a first contact element (<NUM>) coupled to the first support frame (<NUM>) and configured to contact a first portion of a head of a user;
a first actuator (<NUM>) coupled to the first support frame and the first contact element;
a first sensor (<NUM>); and
a processor that is communicatively coupled to the first actuator and the first sensor and is configured to:
generate a first actuator signal based on first information that is to be conveyed to the user;
transmit the first actuator signal to the first actuator;
cause the first actuator to generate a first force on the first contact element based on the first actuator signal;
cause, via the first force, a change in a shape of at least a portion of the first contact element (<NUM>), wherein the first force corresponds to the first information to be conveyed to the user;
characterized in that the processer is further configured to:
determine the first force to be exerted on the first contact element based on sensor data acquired via the first sensor, wherein the sensor data is indicative of a current shape of the first contact element.