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WO2025196209A1 - Appareils pour stimuler le système vestibulaire d'un utilisateur - Google Patents

Appareils pour stimuler le système vestibulaire d'un utilisateur

Info

Publication number
WO2025196209A1
WO2025196209A1 PCT/EP2025/057681 EP2025057681W WO2025196209A1 WO 2025196209 A1 WO2025196209 A1 WO 2025196209A1 EP 2025057681 W EP2025057681 W EP 2025057681W WO 2025196209 A1 WO2025196209 A1 WO 2025196209A1
Authority
WO
WIPO (PCT)
Prior art keywords
user
vestibular system
electrical potentials
motion
vestibular
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2025/057681
Other languages
English (en)
Inventor
Stefan Uhlich
Diederik Paul MOEYS
Dunai FUENTES HITOS
Justinas Miseikis
Lev Markhasin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sony Europe Bv
Sony Group Corp
Original Assignee
Sony Europe Bv
Sony Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sony Europe Bv, Sony Group Corp filed Critical Sony Europe Bv
Publication of WO2025196209A1 publication Critical patent/WO2025196209A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

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    • A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
    • A61N1/36036—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of the outer, middle or inner ear
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Definitions

  • the present disclosure relates to vestibular stimulation.
  • examples of the present disclosure relate to apparatuses and methods for stimulating the vestibular system of a user, a wearable device, an implant, a hearing aid, a method for a hearing aid, a method for training a machine-learning model and a method for calibrating a vestibular stimulation device.
  • the vestibular system of a human being is a sensory system that creates the sense of balance and spatial orientation for the purpose of coordinating movement with balance. Together with the respective cochlea, a part of the auditory system, the vestibular apparatuses of the vestibular system constitute the labyrinths of the inner ears.
  • the vestibular system serves as an organ that detects acceleration along all three axes on both sides of the head through its semicircular canals.
  • the semicircular canals are filled with fluid.
  • the fluid moves with inertia as the head changes position.
  • the movement of fluid pushes on a structure called the cupula which contains hair cells that transduce the mechanical movement to electrical signals.
  • the electrical signals activate the vestibular nerve. This, in turn, stimulates various regions of the brain, including the vestibular cortex, to recognize and respond to the interpreted motion.
  • the vestibular system of a person may get sick from movement. That is, the person may feel nausea due to the difference between perceived and observed motion.
  • a person may feel sick on a moving boat (seasickness) when their eyes observe an object inside the boat which appears to be still, but their vestibular system perceives the movement of the boat.
  • a person may feel sick when wearing a Virtual Reality (VR) apparatus if there is a time delay between a motion of the person’s head, which is perceived by the vestibular system, and a corresponding change in viewing angle that is displayed to the person’s eyes.
  • VR Virtual Reality
  • the present disclosure provides an apparatus for stimulating the vestibular system of a user.
  • the apparatus comprises a stimulator configured to stimulate the vestibular system and processing circuitry.
  • the processing circuitry is configured to receive sensor data indicating measured electrical potentials in the vestibular system. Further, the processing circuitry is configured to determine, based on the measured electrical potentials, target electrical potentials for the vestibular system.
  • the processing circuitry is additionally configured to control, based on the target electrical potentials, stimulation of the vestibular system by the stimulator.
  • the present disclosure provides an apparatus for stimulating the vestibular system of a user.
  • the apparatus comprises a stimulator configured to stimulate the vestibular system and processing circuitry.
  • the processing circuitry is configured to receive sensor data indicating a measured motion of the user. Further, the processing circuitry is configured to determine, based on the measured motion of the user, a target directional motion to be perceived by the vestibular system at a future time instant.
  • the processing circuitry is additionally configured to control, based on the target directional motion, stimulation of the vestibular system by the stimulator.
  • the present disclosure provides an apparatus for stimulating the vestibular system of a user.
  • the apparatus comprises a stimulator configured to stimulate the vestibular system and processing circuitry.
  • the processing circuitry is configured to receive sensor data indicating a measured motion of the user. Further, the processing circuitry is configured to determine, based on the measured motion of the user, a target directional motion to be perceived by the vestibular system. The target directional motion counteracts the measured motion of the user.
  • the processing circuitry is additionally configured to control, based on the target directional motion, stimulation of the vestibular system by the stimulator.
  • the present disclosure provides a wearable device comprising the apparatus for stimulating the vestibular system of a user according to any one of the first aspect, the second aspect and the third aspect.
  • the present disclosure provides an implant comprising the apparatus for stimulating the vestibular system of a user according to any one of the first aspect, the second aspect and the third aspect.
  • the present disclosure provides a hearing aid.
  • the hearing aid comprises a stimulator configured to stimulate the vestibular system of a user and processing circuitry.
  • the processing circuitry is configured to receive sensor data indicating a measured motion of the user. Further, the processing circuitry is configured to determine, based on the measured motion of the user, a target directional motion to be perceived by the vestibular system.
  • the processing circuitry is additionally configured to control, based on the target directional motion, stimulation of the vestibular system by the stimulator.
  • the present disclosure provides a method for stimulating the vestibular system of a user.
  • the method comprises determining, based on measured electrical potentials in the vestibular system, target electrical potentials for the vestibular system. Additionally, the method comprises controlling, based on the target electrical potentials, stimulation of the vestibular system by a stimulator.
  • the present disclosure provides a method for stimulating the vestibular system of a user.
  • the method comprises determining, based on a measured motion of the user, a target directional motion to be perceived by the vestibular system at a future time instant. Further, the method comprises controlling, based on the target directional motion, stimulation of the vestibular system by a stimulator.
  • the present disclosure provides a method for stimulating the vestibular system of a user. The method comprises determining, based on a measured motion of the user, a target directional motion to be perceived by the vestibular system. The target directional motion counteracts the measured motion of the user. Additionally, the method comprises controlling, based on the target directional motion, stimulation of the vestibular system by a stimulator.
  • the present disclosure provides a method for a hearing aid.
  • the method comprises determining, based on a measured motion of the user, a target directional motion to be perceived by the vestibular system of the user. Additionally, the method comprises controlling, based on the target directional motion, stimulation of the vestibular system by a stimulator of the hearing aid.
  • the present disclosure provides a method for training a machine-learning model.
  • the machine-learning model is for predicting future electrical potentials in the vestibular system of a user based on measured electrical potentials in the vestibular system of the user.
  • the method comprises determining pairs of input training samples and output training samples from a training dataset, wherein the training dataset comprises measurement values for measured electrical potentials in the vestibular system of at least one human being.
  • the respective input training sample comprises the measurement values for a respective first time window.
  • the respective output training sample comprises the measurement values for a respective second time window.
  • the respective first time window ends before the respective second time window starts.
  • the method comprises performing training of the machine-learning model using the determined pairs of input training samples and output training samples.
  • the present disclosure provides a method for calibrating a vestibular stimulation device.
  • the method comprises collecting feedback on the performance of a physical exercise by a user.
  • the user wears the vestibular stimulation device while performing the physical exercise.
  • the vestibular stimulation device stimulates the vestibular system of the user while performing the physical exercise based on measured electrical potentials in the vestibular system or based on measured motions of the user.
  • the method further comprises adjusting, based on the collected feedback, one or more parameters of the vestibular stimulation device.
  • the one or more parameters control the stimulation of the vestibular system by the vestibular stimulation device based on the one of the measured electrical potentials in the vestibular system and the measured motions of the user.
  • the present disclosure provides a non-transitory machine- readable medium having stored thereon a program having a program code for performing the method according to any one of the seventh to twelfth aspect, when the program is executed on a processor or a programmable hardware.
  • the present disclosure provides a program having a program code for performing the method according to any one of the seventh to twelfth aspect, when the program is executed on a processor or a programmable hardware.
  • Fig. 1 illustrates a first exemplary apparatus for stimulating the vestibular system of a user
  • Fig. 2 illustrates a second exemplary apparatus for stimulating the vestibular system of a user
  • Fig. 3 illustrates a third exemplary apparatus for stimulating the vestibular system of a user
  • Fig. 4 illustrates an example of a hearing aid
  • Fig. 5 illustrates a flowchart of a first example of a method for stimulating the vestibular system of a user
  • Fig. 6 illustrates a flowchart of a second example of a method for stimulating the vestibular system of a user
  • Fig. 7 illustrates a flowchart of a third example of a method for stimulating the vestibular system of a user
  • Fig. 8 illustrates a flowchart of an example of a method for a hearing aid
  • Fig. 9 illustrates a flowchart of an example of a method for training a machine-learning model
  • Fig. 10 illustrates a flowchart of an example of a method for calibrating a vestibular stimulation device.
  • Fig- 1 illustrates a first exemplary apparatus 100 for stimulating the vestibular system of a user.
  • the vestibular system of the user comprises the central system in the brain and the brainstem as well as the peripheral system in the inner ears (and the pathways to the brainstem).
  • the apparatus 100 comprises a stimulator (stimulation device) 110 configured to stimulate (capable of stimulating, able to stimulate) the vestibular system.
  • the stimulator 110 is configured to affect (influence) the vestibular system of the user such that the perception of motion is manipulated or induced.
  • the stimulator 110 is configured to affect (influence) the vestibular system of the user such that electrical potentials in the vestibular system are altered or manipulated.
  • the stimulator 110 may be configured to stimulate the vestibular system by one or more of electrical (vestibular) stimulation, vibrational (vestibular) stimulation, magnetic (vestibular) stimulation, thermal (vestibular) stimulation and acoustic (vestibular) stimulation.
  • Electrical (vestibular) stimulation refers to the application of controlled (predetermined) electrical power or currents to the user’ s vestibular system.
  • the applied electrical power or currents modulate or manipulate the electrical signals within the vestibular system and, hence, to manipulate or induce the perception of motion in the vestibular system of the user.
  • the amplitude of the applied currents may, e.g., range from 0.1 mA to 2 mA.
  • the stimulator 110 may comprise one or more electrodes configured to selectively apply electrical power or an electrical current to the user’ s skull, scalp or head for modulating or manipulating the electrical signals or potentials within the vestibular system of the user.
  • Galvanic Vestibular Stimulation is a special type of electrical (vestibular) stimulation that utilizes direct current (galvanic current).
  • Vibrational (vestibular) stimulation refers to the application of (mechanical) vibrations to the user’s vestibular system.
  • Vibrations output by the stimulator 110 are transmitted through the bones of the user’s skull (e.g., the cheekbones or the temporal bones, in particular the mastoid parts of the temporal bones) to the inner ear.
  • the organs in the inner ear such as the vestibular apparatuses or the respective cochlea translate these vibrations into electrical signals or potentials that the brain interprets.
  • the vestibular system of the user is stimulated by the vibrations rather than the auditory systems.
  • the stimulator 110 is configured to emit the vibrations for the purpose of stimulating the vestibular system of the user rather than the auditory systems.
  • the frequencies of the vibrations emitted by the stimulator 110 may be such that the vestibular apparatuses can recognize the vibrations.
  • the frequencies of the vibrations 111 emitted by the stimulator 110 may be such that the electrical potentials in the vestibular system and, hence, perception of motion in the vestibular system is manipulated or induced when the vestibular apparatuses translate these vibrations.
  • the vestibular apparatuses are particularly sensitive for vibrations at a frequency of approx. 250 Hz.
  • the frequency or frequencies of the vibrations emitted by the stimulator 110 may be at least 10 Hz, 20 Hz or 50 Hz.
  • the frequency or frequencies of the vibrations emitted by the stimulator 110 may be at maximum 1000 Hz, 750 Hz or 500 Hz. In some examples, the frequency or frequencies of the vibrations emitted by the stimulator 110 may be between 50 Hz and 500 Hz, and in particular between 200 Hz and 300 Hz.
  • the stimulator 110 may comprise one or more bone conduction transducers (e.g., arranged in a respective array) configured to emit the vibrations for stimulating the user’s vestibular system.
  • a bone conduction transducer may comprise one or more electromagnets attracting and repelling one or more vibration plates for emitting vibrations.
  • a bone conduction transducer may comprise one or more piezoelectric vibrators for emitting vibrations.
  • a bone conduction transducer may capacitively attract and repel one or more vibration plates for emitting vibrations.
  • a bone conduction transducer may be a Micro-ElectroMechanical Systems (MEMS) device.
  • MEMS Micro-ElectroMechanical Systems
  • Magnetic (vestibular) stimulation refers to the application of magnetic fields to the user’s vestibular system.
  • the applied magnetic fields induce electrical currents (signals) in the vestibular system by electromagnetic induction.
  • the induced electrical currents (signals) modulate or manipulate the electrical signals or potentials within the vestibular system and, hence, to manipulate or induce the perception of motion in the vestibular system of the user.
  • the amplitude of the applied magnetic fields may, e.g., range from micro Tesla to milli Tesla.
  • the frequencies of the applied magnetic fields may, e.g., range from below 1 Hz to several hundred Hertz.
  • the stimulator 110 may comprise one or more magnetic coils configured to selectively apply a respective magnetic field to the user’s head for inducing electrical currents (signals) in the vestibular system of the user.
  • Thermal (vestibular) stimulation also known as caloric vestibular stimulation
  • the thermal stimuli lead to alterations in the fluid dynamics within the semicircular canals of the vestibular apparatuses. This, in turn, affects the firing patterns of vestibular nerve fibers, influencing the signals sent to the brain about the body's position and motion.
  • the induced thermal stimuli modulate or manipulate the electrical signals or potentials within the vestibular system and, hence, to manipulate or induce the perception of motion in the vestibular system of the user.
  • the stimulator 110 may comprise means for delivering warm or cool air, water, or other thermal agents to the ear canals or other areas around the vestibular apparatuses.
  • Acoustic (vestibular) stimulation refers to the application of sound or acoustic stimuli to the user’s vestibular system.
  • the characteristics of the sound or acoustic stimuli may influence the vestibular system.
  • the sound waves transmitted through the auditory system can lead to vibrations in the inner ear structures, including the fluid-filled semicircular canals. These vibrations, in turn, affect the firing patterns of vestibular nerve fibers, influencing the signals sent to the brain about the body's position and motion.
  • the induced acoustic stimuli modulate or manipulate the electrical signals or potentials within the vestibular system and, hence, to manipulate or induce the perception of motion in the vestibular system of the user.
  • the stimulator 110 may, e.g., comprise one or more electroacoustic transducers such as one or more speakers (sound output devices) configured to selectively output sound or acoustic stimuli for inducing vibrations in the vestibular apparatuses.
  • the sound or acoustic stimuli used for acoustic (vestibular) stimulation may exhibit frequencies in the hearing range (i.e., between 20 Hz and 20 kHz).
  • the present disclosure is not limited to the aforementioned types of vestibular stimulation.
  • Other types of vestibular stimulation may be used additionally or alternatively.
  • the stimulator 110 may be configured to contact the user’s skull, scalp or head for stimulating the vestibular system.
  • the stimulator 110 may be configured to contact the mastoid part of one of the temporal bones of the user’s head (such as the mastoid part of the left temporal bone of the user’s head).
  • the stimulator 110 may be configured to contact the user’ s ear or parts thereof such as the inner ear or outer ear of the user.
  • the present disclosure is not limited thereto. Other parts/areas of the skull, scalp or head may be used as well (e.g., the parietal bones or a region around the user’s ear).
  • the stimulator 110 may be configured for directly contacting the user’s head (e.g., contacting the user’s scalp).
  • a contact material may be provided between the user’s head and at least part of the stimulator 110.
  • the contact material is a material enabling transmission of various or selected types of energy from the stimulator 110 into the user’s skull or head.
  • the contact material may be a skin-compatible material (a material that is comfortable to the user and does not irritate the skin) such as leather or cloth.
  • the contact material may be part of the apparatus 100 or be part of a device (e.g., a head-mounted equipment) comprising the apparatus 100.
  • the apparatus 100 further comprises processing circuitry 120 coupled to the stimulator 110.
  • the processing circuitry 120 may be a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which or all of which may be shared, a digital signal processor (DSP) hardware, an application specific integrated circuit (ASIC), a system-on-a-chip (SoC) a neuromorphic processor or a field programmable gate array (FPGA).
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • SoC system-on-a-chip
  • FPGA field programmable gate array
  • the processing circuitry 120 may optionally be coupled to, e.g., memory such as read only memory (ROM) for storing software, random access memory (RAM) and/or nonvolatile memory.
  • the apparatus 100 may comprise memory configured to store instructions, which when executed by the processing circuitry 120, cause the processing circuitry 120 to perform the steps and methods described herein.
  • the processing circuitry 120 is configured to receive sensor data 101 indicating measured electrical potentials in the vestibular system.
  • the sensor data 101 may, e.g., indicate a continuous stream of measured electrical potentials, i.e., a series of measured electrical potential for consecutive time instants.
  • the electrical potentials may be measured by a Elec- troVestibuloGraphy (EVestG) sensor 130.
  • the EVestG sensor 130 is configured to measure an electrovestibulogram of the user.
  • An electrovestibulogram is a recording of electrical signals or potentials generated by the vestibular system.
  • the EVestG sensor 130 is configured to measure the electrical potentials in the user’s vestibular system and generate the sensor data 101.
  • the EVestG sensor 130 may comprise one or more electrodes adapted for placement on the user’s scalp (e.g., around an ear of the user) and configured to measure (pick up) electrical signals in (generated by) the vestibular system.
  • the EVestG sensor 130 may be part of the apparatus 100 or be an external sensor, i.e., a sensor not part of the apparatus 100.
  • an ElectroCochleoGraphy (ECoG) sensor may be used instead of the EVestG sensor 130.
  • the processing circuitry 120 is configured to process the sensor data 101.
  • the processing circuitry 120 is configured to determine target (desired) electrical potentials for the vestibular system based on the measured electrical potentials indicated by the sensor data 101.
  • the target electrical potentials are electrical potentials that the vestibular system of the user is (supposed) to perceive.
  • the target electrical potentials may be for perception by the vestibular system at a current time instant (i.e., immediately) or for perception by the vestibular system at a future time instant.
  • the target electrical potentials for the vestibular system may be determined in various ways based on the measured electrical potentials. A few examples will be described below. However, it is to be noted that the present disclosure is not limited thereto.
  • the processing circuitry 120 is configured to control, based on the target electrical potentials, stimulation of the vestibular system by the stimulator 110. For example, the processing circuitry 120 may generate a control signal for the stimulator 110 according to the target electrical potentials. The processing circuitry 120 may further supply the control signal to the stimulator 110. Based on the control signal, the stimulator 110 stimulates the vestibular system (e.g., by one or more of the types of vestibular stimulation described above). For example, one or more parameters for the vestibular stimulation by the stimulator 110 may be determined by the processing circuitry 120 based on the target electrical potentials that the vestibular system of the user is (supposed) to perceive.
  • the one or more parameters for the vestibular stimulation by the stimulator 110 may be determined by the processing circuitry 120 according to predetermined criteria, rules or rule sets.
  • the one or more parameters may determine the type(s) of vestibular stimulation used by the stimulator 110 for stimulating the vestibular system of the user. For example, in case the stimulator 110 uses electrical (vestibular) stimulation, one or more of the respective amplitude, phase, frequency, duty cycle and pulse width of the currents applied to the user’s scalp via the one or more electrodes of the stimulator 110 may be adjusted (modulated) according to the target electrical potentials.
  • the stimulator 110 uses vibrational (vestibular) stimulation, one or more of the respective amplitude, phase and frequency of the emitted vibrations may be adjusted (modulated) according to the target electrical potentials.
  • the stimulator 110 uses magnetic (vestibular) stimulation, one or more of the respective amplitude, phase and frequency of the applied magnetic fields may be adjusted (modulated) according to the target electrical potentials.
  • the stimulator 110 uses thermal (vestibular) stimulation, one or more of the respective duration and temperature of the thermal stimuli may be adjusted (modulated) according to the target electrical potentials.
  • acoustic (vestibular) stimulation one or more of the respective frequency (pitch) and duration of the acoustic stimuli may be adjusted (modulated) according to the target electrical potentials.
  • the vestibular stimulation according to the target electrical potentials allows to manipulate the motion perceived by the vestibular system.
  • the vestibular stimulation according to the target electrical potentials may create the impression in the user’s vestibular system that the user performs a certain directional motion. This may, e.g., be used to increase the feeling of motion for the user. For example, the motion felt by the user during a sports activity, during a car drive (e.g., while driving slowly) or a roller coaster ride may be increased to help the user enjoy the sports activity, car drive or roller coaster ride more.
  • the vestibular stimulation according to the target electrical potentials may compensate degenerations of the user’s vestibular structures at least partly. Hence, effects like a reduced sensitivity of the user's vestibular system to balance and motion may be compensated at least in part. For example, the risk of stumbling or even falling of elderly people with an aged vestibular system may be reduced with the proposed technology.
  • the target electrical potentials may be determined by the processing circuitry 120 in various ways.
  • the processing circuitry 120 may be configured to determine the target electrical potentials by amplifying the measured electrical potentials.
  • the measured electrical potentials may be multiplied with an amplification value.
  • the amplification value may be greater than one.
  • the amplification value may be a fixed value or a value determined in a calibration procedure such as the method described with reference to Fig. 10 below. Due to the vestibular stimulation according to the target electrical potentials, the vestibular system of the user observes amplified electrical potentials compared to a situation without the proposed vestibular stimulation. In other words, the apparatus 100 acts as an enhancer for the electrical potentials in the vestibular system of the user.
  • the processing circuitry 130 may be configured to determine the target electrical potentials such that the target electrical potentials destructively interfere with the measured electrical potentials.
  • the processing circuitry 130 may determine the target electrical potentials with a phase (e.g., substantially) opposite to the phase of the measured electrical potentials.
  • the target electrical potentials may be determined to be antiphase with the measured electrical potentials.
  • the target electrical potentials may be determined to exhibit (substantially) the same amplitude but reversed polarity compared to the measured electrical potentials.
  • the processing circuitry 130 may phase shift or time shift the measured electrical potentials until they are of opposite phase to obtain the target electrical potentials.
  • the present disclosure is not limited thereto.
  • Other techniques may be used as well for the determination of the target electrical potentials such that the target electrical potentials destructively interfere with the measured electrical potentials. Since the target electrical potentials are determined such that they destructively interfere with the measured electrical potentials, the electrical potentials observed by the vestibular system of the user are reduced compared to a situation without the proposed vestibular stimulation.
  • the electrical potentials observed by the vestibular system of the user are dampened by the apparatus 100. Accordingly, the motion perceived by the vestibular system is reduced. As the target electrical potentials effectively counteract the measured electrical potentials in the user’s vestibular system, the motion felt by the user may be reduced. In case the user gets sick from motion (e.g., seasick on a moving boat), the reduction of the felt motion may increase the comfort for the user while being exposed to the motion.
  • the target electrical potentials in the two above examples are to be perceived by the user’s vestibular system immediately.
  • the processing circuitry 130 may be configured to continuously receive the sensor data 101 and to continuously determine the target electrical potentials for consecutive time instants while receiving the sensor data 101.
  • the target electrical potentials may be for perception by the vestibular system at a future time instant. In the following, determining of target electrical potentials for future perception will be described in greater detail.
  • the processing circuitry 130 may be configured to predict future electrical potentials in the vestibular system based on the measured electrical potentials and determine the target electrical potentials based on the predicted future electrical potentials.
  • the processing circuitry 120 may, e.g., be configured to predict future electrical potentials in the vestibular system using a mechanistic (i.e., rule-based) model, a trained machine-learning model or a combination thereof, which receives the measured motion of the user as input.
  • the processing circuitry 120 may, e.g., be configured to predict future electrical potentials in the vestibular system using a trained machinelearning model.
  • the trained machine-learning model receives the measured electrical potentials as input.
  • the machine-learning model is a data structure and/or set of rules representing a statistical model that the processing circuitry 120 uses to determine the future electrical potentials in the vestibular system based on the measured electrical potentials in the vestibular system without using explicit instructions or rules, instead relying on models and inference.
  • the data structure and/or set of rules represents learned knowledge (e.g., based on training performed by a machine-learning algorithm).
  • a transformation of data may be used, that is inferred from an analysis of training data.
  • the machine-learning model is trained by a machine-learning algorithm.
  • the term "machinelearning algorithm” denotes a set of instructions that are used to create, train or use a machinelearning model.
  • the machine-learning model may be trained using training data indicative of measured electrical potentials in the vestibular system as input and predefined (known) future electrical potentials in the vestibular system (i.e., electrical potentials in the vestibular system for/at a time instant later in time than the time instant at/for which the electrical potentials used as input are measured) as target output for the training data
  • the machine-learning model By training the machine-learning model with a large set of training data and associated training content information, the machine-learning model "learns" how to determine the future electrical potentials in the vestibular system based on measured electrical potentials in the vestibular system so that the future electrical potentials in the vestibular system can be obtained using the machine-learning model.
  • the machine-learning model may be trained using training input data (e.g., the training data described in the foregoing paragraph).
  • the machine-learning model may be trained using a training method called "supervised learning".
  • supervised learning the machine-learning model is trained using a plurality of training samples, wherein each sample may comprise a plurality of input data values, and a plurality of desired output values, i.e., each training sample is associated with a desired output value.
  • the machine-learning model "learns" which output value to provide based on an input sample that is similar to the samples provided during the training.
  • a training sample may comprise measured electrical potentials in the vestibular system as input data and the related future electrical potentials in the vestibular system as desired output data.
  • semi-supervised learning may be used.
  • semi-supervised learning some of the training samples lack a corresponding desired output value.
  • Supervised learning may be based on a supervised learning algorithm (e.g., a classification algorithm or a similarity learning algorithm).
  • Classification algorithms may be used as the desired outputs of the trained machine-learning model are restricted to a limited set of values (categorical variables), i.e., the input is classified to one of the limited set of values (e.g., certain value ranges for the electrical potentials).
  • Similarity learning algorithms are similar to classification algorithms but are based on learning from examples using a similarity function that measures how similar or related two objects are.
  • unsupervised learning may be used to train the machine-learning model.
  • unsupervised learning (only) input data are supplied and an unsupervised learning algorithm is used to find structure in the input data such as measured electrical potentials in the vestibular system.
  • Reinforcement learning is a third group of machine-learning algorithms.
  • reinforcement learning may be used to train the machine-learning model.
  • one or more software actors (called “software agents") are trained to take actions in an environment. Based on the taken actions, a reward is calculated.
  • Reinforcement learning is based on training the one or more software agents to choose the actions such that the cumulative reward is increased, leading to software agents that become better at the task they are given (as evidenced by increasing rewards).
  • additional techniques may be applied to some of the machine-learning algorithms.
  • feature learning may be used.
  • the machine-learning model may at least partially be trained using feature learning, and/or the machine-learning algorithm may comprise a feature learning component.
  • Feature learning algorithms which may be called representation learning algorithms, may preserve the information in their input but also transform it in a way that makes it useful, often as a pre-processing step before performing classification or predictions.
  • Feature learning may be based on principal components analysis or cluster analysis, for example.
  • the machine-learning model may be an Artificial Neural Network (ANN).
  • ANNs are systems that are inspired by biological neural networks, such as can be found in a retina or a brain.
  • ANNs comprise a plurality of interconnected nodes and a plurality of connections, so- called edges, between the nodes.
  • input nodes that are receiving input values (e.g., measured electrical potentials in the vestibular system)
  • hidden nodes that are (only) connected to other nodes
  • output nodes that provide output values (e.g., future electrical potentials in the vestibular system).
  • Each node may represent an artificial neuron.
  • Each edge may transmit information from one node to another.
  • the output of a node may be defined as a (non-linear) function of its inputs (e.g., of the sum of its inputs).
  • the inputs of a node may be used in the function based on a "weight" of the edge or of the node that provides the input.
  • the weight of nodes and/or of edges may be adjusted in the learning process.
  • the training of an ANN may comprise adjusting the weights of the nodes and/or edges of the ANN, i.e., to achieve a desired output for a given input.
  • the ANN may be a Deep Neural Network (DNN) such as a Convolutional Neural Network (CNN), a Transformer architecture or a Recurrent Neural Network (RNN).
  • DNN Deep Neural Network
  • CNN Convolutional Neural Network
  • RNN Recurrent Neural Network
  • the machine-learning model may be a support vector machine, a random forest model or a gradient boosting model.
  • Support vector machines i.e., support vector networks
  • Support vector machines are supervised learning models with associated learning algorithms that may be used to analyze data (e.g., in classification or regression analysis).
  • Support vector machines may be trained by providing an input with a plurality of training input values (e.g., measured electrical potentials in the vestibular system) that belong to one of two categories (e.g., different types or directions of motion).
  • the support vector machine may be trained to assign a new input value to one of the two categories.
  • the machine-learning model may be a Bayesian network, which is a probabilistic directed acyclic graphical model.
  • a Bayesian network may represent a set of random variables and their conditional dependencies using a directed acyclic graph.
  • the machine-learning model may be based on a genetic algorithm, which is a search algorithm and heuristic technique that mimics the process of natural selection.
  • the machine-learning model may be a combination of the above examples.
  • the outputs of the trained machine-learning model are the predicted future electrical potentials in the vestibular system of the user.
  • the processing circuitry 120 may be configured to modify the predicted future electrical potentials to obtain the target electrical potentials.
  • the processing circuitry 120 may be configured to determine the target electrical potentials by amplifying the predicted future electrical potentials. The amplification of the predicted future electrical potentials may be analogously to what is described above.
  • the processing circuitry 120 may be configured to determine the target electrical potentials by modifying the predicted future electrical potentials such that the target electrical potentials destructively interfere with the predicted future electrical potentials. The destructively interfering target electrical potentials may be determined analogously to what is described above.
  • Determining the target electrical potentials based on the predicted future electrical potentials rather than on the measured electrical potentials may compensate for various delays such as signal run-times and processing times. Hence, the manipulation of the motion perceived by the vestibular system may be enhanced compared to examples in which the target electrical potentials are derived directly from the measured electrical potentials.
  • the future time instant may be a time instant which is at least 5 ms (milliseconds), 10 ms, 50 ms, 100 ms, 250 ms, 500 ms, 1 s (second), 2 s, 3 s, 4 s or 5 s later in time than the time instant at/for which the measured electrical potentials input to the machine-learning model are measured.
  • the time difference between the future time instant and the time instant at/for which the measured electrical potentials input to the machine-learning model are measured may, e.g., be selected (determined) based on the application for which the apparatus 100 is used.
  • the target electrical potentials are determined based on measured electrical potentials in the user’s vestibular system.
  • the present technology is not limited thereto.
  • measured motions may be used instead of the measured electrical potentials in the user’s vestibular system.
  • two exemplary apparatuses for stimulating the vestibular system of a user based on measured motions will be described with reference to Fig. 2 and Fig. 3.
  • Fig- 2 illustrates a second exemplary apparatus 200 for stimulating the vestibular system of a user.
  • the apparatus 200 comprises a stimulator 210 configured to stimulate (capable of stimulating) the vestibular system.
  • the stimulator 210 is identical to the stimulator 110 described above.
  • the stimulator 210 may be configured to contact the user’s skull, scalp or head for stimulating the vestibular system.
  • the stimulator 210 may be configured to contact the mastoid part of one of the temporal bones of the user’s head (such as the mastoid part of the left temporal bone of the user’s head).
  • the stimulator 210 may be configured to contact the user’ s ear or parts thereof such as the inner ear or outer ear of the user.
  • the present disclosure is not limited thereto.
  • the stimulator 210 may be configured for directly contacting the user’s head (e.g., contacting the user’s scalp).
  • a contact material e.g., as described above may be provided between the user’s head and at least part of the stimulator 210.
  • the apparatus 200 further comprises processing circuitry 220 coupled to the stimulator 210.
  • the processing circuitry 220 may be implemented like the processing circuitry 120 described above.
  • the processing circuitry 220 may optionally be coupled to, e.g., memory such as ROM for storing software, RAM and/or non-volatile memory.
  • the apparatus 200 may comprise memory configured to store instructions, which when executed by the processing circuitry 220, cause the processing circuitry 220 to perform the steps and methods described herein.
  • the processing circuitry 220 is configured to receive sensor data 201 indicating a measured motion (movement) of the user.
  • the sensor data 201 may, e.g., indicate a continuous stream of measurement values indicating the motion (movement) of the user, i.e., a series of measurement values for consecutive time instants.
  • a sensor 230 may be configured to measure a motion of the user and generate the sensor data 201.
  • the sensor 230 may be or comprise one or more of an acceleration sensor, a gyroscope, a magnetometer or an Inertial Measurement Unit (IMU).
  • IMU Inertial Measurement Unit
  • the sensor 230 may be configured to measure various linear and/or rotational motions of the user.
  • the measured motion may be motion of any body part of the user such as a motion of the user’s head, a motion of a limb (e.g., arm or leg) of the user or a motion of the user’ s upper body.
  • the measured motion may be a rotation of the user’s head, a linear movement of the user’s head without rotation of the head or any combination thereof.
  • the rotation of the user’s head may be along any (suitable) axis of rotation.
  • the sensor 230 may be wearable on any body part of the user (e.g., on the head, the upper body or a limb of the user).
  • the sensor 230 may be part of the apparatus 200 or be an external sensor, i.e., a sensor not part of the apparatus 200.
  • the processing circuitry 220 is configured to process the sensor data 201.
  • the processing circuitry 220 is configured to determine a target directional motion to be perceived by the vestibular system at a future time instant based on the measured motion of the user.
  • the target directional motion is motion in a specific direction that the vestibular system of the user is (supposed) to perceive.
  • the target directional motion is a change in position and/or orientation along a particular path or trajectory that the vestibular system of the user is (supposed) to perceive.
  • target directional motions may be a rotation of the user’s head (e.g., a rotation of the whole body of the user, a motion of the user’s head from left to right, from right to left, from bottom to top, head from top to bottom, a tilt of the user’s head to the left, a tilt of the user’s head to the right, or any combination thereof), a linear movement of the user’s head without rotation of the head (as the whole body of the user moves; e.g., sideways, frontwards or backwards), or any combination thereof.
  • the rotation of the user’s head may be along any (suitable) axis of rotation.
  • the target directional motion is to be perceived by the vestibular system at a future time instant.
  • the target directional motion is to be perceived by the vestibular system at time instant that is later in time than the time instant at/for which the measured motion of the user was measured.
  • the future time instant may be a time instant which is at least 5 ms, 10 ms, 50 ms, 100 ms, 250 ms, 500 ms, 1 s, 2 s, 3 s, 4 s or 5 s later in time than the time instant at/for which the measured motion of the user is measured.
  • the time difference between the future time instant and the time instant at/for which the measured motion of the user is measured may, e.g., be selected (determined) based on the application for which the apparatus 200 is used.
  • the target directional motion to be perceived by the vestibular system at the future time instant may be determined in various ways based on the measured motion of the user. A few examples will be described below. However, it is to be noted that the present disclosure is not limited thereto.
  • the processing circuitry 220 is configured to control, based on the target directional motion, stimulation of the vestibular system by the stimulator 210. For example, the processing circuitry 220 may generate a control signal for the stimulator 210 according to the target directional motion. The processing circuitry 220 may further supply the control signal to the stimulator 210. Based on the control signal, the stimulator 210 stimulates the vestibular system (e.g., by one or more of the types of vestibular stimulation described above).
  • one or more parameters for the vestibular stimulation by the stimulator 210 may be determined by the processing circuitry 220 based on the target directional motion that the vestibular system of the user is (supposed) to perceive.
  • the one or more parameters for the vestibular stimulation by the stimulator 210 may be determined by the processing circuitry 220 according to predetermined criteria, rules or rule sets.
  • the one or more parameters may determine the type(s) of vestibular stimulation used by the stimulator 210 for stimulating the vestibular system of the user.
  • the stimulator 210 uses electrical (vestibular) stimulation, one or more of the respective amplitude, phase frequency, duty cycle and pulse width of the currents applied to the user’s scalp via the one or more electrodes of the stimulator 210 may be adjusted (modulated) according to the target directional motion.
  • the stimulator 210 uses vibrational (vestibular) stimulation, one or more of the respective amplitude, phase and frequency of the emitted vibrations may be adjusted (modulated) according to the target directional motion.
  • the stimulator 210 uses magnetic (vestibular) stimulation, one or more of the respective amplitude, phase and frequency of the applied magnetic fields may be adjusted (modulated) according to the target directional motion.
  • the stimulator 210 uses thermal (vestibular) stimulation, one or more of the respective duration and temperature of the thermal stimuli may be adjusted (modulated) according to the target directional motion.
  • the stimulator 210 uses acoustic (vestibular) stimulation, one or more of the respective frequency (pitch) and duration of the acoustic stimuli may be adjusted (modulated) according to the target directional motion.
  • the vestibular stimulation according to the target directional motion allows to manipulate the motion perceived by the vestibular system.
  • the vestibular stimulation according to the target directional motion may create the impression in the user’s vestibular system that the user performs the target directional motion. This may, e.g., be used to increase the feeling of motion for the user. For example, the motion felt by the user during a sports activity or during a car drive (e.g., while driving slowly) may be increased to help the user enjoy the sports activity or car drive more.
  • the vestibular stimulation according to the target directional motion may compensate degenerations of the user’s vestibular structures at least partly. Hence, effects like a reduced sensitivity of the user's vestibular system to balance and motion may be compensated at least in part. For example, the risk of stumbling or even falling of elderly people with an aged vestibular system may be reduced with the proposed technology.
  • the manipulation of the motion perceived by the vestibular system may be enhanced compared to examples in which the vestibular stimulation is controlled based on target directional motions determined for the time instant at/for which the measured motion of the user is measured.
  • the target directional motion may be determined by the processing circuitry 220 in various ways.
  • the processing circuitry 220 may be configured to determine the target directional motion such that it follows the measured motion of the user.
  • the target directional motion adjusts or aligns with the measured motion or movement direction. Due to the vestibular stimulation according to the target directional motion, the vestibular system of the user observes an amplified or stronger motion compared to a situation without the proposed vestibular stimulation.
  • the apparatus 200 acts as an enhancer for the motion observed the vestibular system of the user. If the sensitivity of the user's vestibular system is reduced due to degeneration or aging, the amplified motion allows to compensate for the reduced sensitivity.
  • the user may experience the same perception of motion like a person with a healthy (fully functional) vestibular system.
  • the risk of stumbling or even falling of elderly people with an aged vestibular system may be reduced due to the amplification of the actually perceived motion.
  • the processing circuitry 220 may be configured to determine the target directional motion such that it counteracts the measured motion of the user.
  • the target directional motion is a deliberate opposite of the measured motion of the user. That is, the target directional motion is opposition to or against the measured motion of the user. Since the target directional motion is determined such that it counteracts the measured motion of the user, the electric potentials generated in the user’s vestibular system due to the user’s actual motion destructively interfere with the electric potentials generated in the user’s vestibular system due to the vestibular stimulation. In other words, the electrical potentials observed by the vestibular system of the user are dampened by the apparatus 200.
  • the motion perceived by the vestibular system and, hence, the motion felt by the user may be reduced.
  • the reduction of the felt motion may increase the comfort for the user while being exposed to the motion.
  • the processing circuitry 120 may be configured to determine the target directional motion using a mechanistic (i.e., rule-based) model, a trained machine-learning model or a combination thereof, which receives the measured motion of the user as input.
  • the processing circuitry 220 may be configured to determine the target directional motion using a trained machine-learning model receiving the measured motion of the user as input.
  • the trained machine-learning model may, e.g., be trained as described above for the machinelearning model for predicting the future electrical potentials in the vestibular system.
  • the machine-learning model may be trained using training data indicative of measured motion of the user as input and predefined (known) directional motion at future time instants (i.e., a directional motion for/at a time instant later in time than the time instant at/for which the measured motion of the user used as input is measured) as target output for the training data.
  • predefined (known) directional motion at future time instants i.e., a directional motion for/at a time instant later in time than the time instant at/for which the measured motion of the user used as input is measured
  • FIG. 3 An alternative third exemplary apparatus 300 for stimulating the vestibular system of a user is illustrated in Fig. 3.
  • the apparatus 300 comprises a stimulator 310 capable of stimulating the vestibular system.
  • the stimulator 310 is identical to the stimulator 110 described above.
  • the stimulator 310 may be configured to contact the user’s skull, scalp or head for stimulating the vestibular system.
  • the stimulator 310 may be configured to contact the mastoid part of one of the temporal bones of the user’s head (such as the mastoid part of the left temporal bone of the user’s head).
  • the stimulator 310 may be configured to contact the user’s ear or parts thereof such as the inner ear or outer ear of the user.
  • the present disclosure is not limited thereto.
  • the stimulator 310 may be configured for directly contacting the user’s head (e.g., contacting the user’s scalp). In other examples, a contact material (e.g., as described above) may be provided between the user’s head and at least part of the stimulator 310.
  • the apparatus 300 further comprises processing circuitry 320 coupled to the stimulator 310.
  • the processing circuitry 320 may be implemented like the processing circuitry 120 described above.
  • the processing circuitry 320 may optionally be coupled to, e.g., memory such as ROM for storing software, RAM and/or non-volatile memory.
  • the apparatus 300 may comprise memory configured to store instructions, which when executed by the processing circuitry 320, cause the processing circuitry 320 to perform the steps and methods described herein.
  • the processing circuitry 320 is configured to receive sensor data 301 indicating a measured motion (movement) of the user.
  • a sensor 330 may be configured to measure a motion of the user and generate the sensor data 301.
  • the sensor 330 may be part of the apparatus 300 or be an external sensor, i.e., a sensor not part of the apparatus 300.
  • the sensor 330 and the sensor data 301 are identical to the sensor 230 and the sensor data 201 described above.
  • the processing circuitry 320 is configured to process the sensor data 301.
  • the processing circuitry 320 is configured to determine a target directional motion to be perceived by the user’s vestibular system based on the measured motion of the user.
  • the target directional motion counteracts the measured motion of the user.
  • the target directional motion is a deliberate opposite of the measured motion of the user. That is, the target directional motion is opposition to or against the measured motion of the user. Further details of the target directional motion are described above with respect to Fig. 2.
  • the processing circuitry 320 is configured to control, based on the target directional motion, stimulation of the vestibular system by the stimulator 310. For example, the processing circuitry 320 may generate a control signal for the stimulator 310 according to the target directional motion. The processing circuitry 320 may further supply the control signal to the stimulator 310. Based on the control signal, the stimulator 310 stimulates the vestibular system (e.g., by one or more of the types of vestibular stimulation described above). For example, one or more parameters for the vestibular stimulation by the stimulator 310 may be determined by the processing circuitry 320 based on the target directional motion that the vestibular system of the user is (supposed) to perceive.
  • the one or more parameters for the vestibular stimulation by the stimulator 310 may be determined by the processing circuitry 320 according to predetermined criteria, rules or rule sets.
  • the one or more parameters may determine the type(s) of vestibular stimulation used by the stimulator 310 for stimulating the vestibular system of the user. Further details of how to control vestibular system by the stimulator 310 based on the target directional motion are described above with respect to Fig. 2.
  • the vestibular stimulation according to the target directional motion which counteracts the measured motion of the user allows to manipulate the motion perceived by the vestibular system. Since the target directional motion is determined such that it counteracts the measured motion of the user, the electric potentials generated in the user’s vestibular system due to the user’s actual motion destructively interfere with the electric potentials generated in the user’s vestibular system due to the vestibular stimulation. In other words, the electrical potentials observed by the vestibular system of the user are dampened by the apparatus 300. Accordingly, the motion perceived by the vestibular system and, hence, the motion felt by the user may be reduced. In case the user gets sick from motion (e.g., seasick on a moving boat), the reduction of the felt motion may increase the comfort for the user while being exposed to the motion.
  • the target directional motion is determined such that it counteracts the measured motion of the user, the electric potentials generated in the user’s vestibular system due to the user’s actual motion destructively interfere with the electric potentials generated in the
  • the target directional motion may be for perception by the vestibular system at a current time instant (i.e., immediately) or for perception by the vestibular system at a future time instant.
  • the processing circuitry 320 may be configured to determine the target directional motion using a mechanistic (i.e., rule-based) model, a trained machine-learning model or a combination thereof, which receives the measured motion of the user as input.
  • the processing circuitry 320 may be configured to determine the target directional motion using a trained machine-learning model receiving the measured motion of the user as input.
  • the trained machine-learning model may, e.g., be trained as described above for the machinelearning model for predicting the future electrical potentials in the vestibular system.
  • the machine-learning model may be trained using training data indicative of measured motion of the user as input and predefined (known) directional motion (i.e., a directional motion for/at the same time instant at/for which the measured motion of the user used as input is measured or a directional motion for/at a time instant later in time than the time instant at/for which the measured motion of the user used as input is measured) as target output for the training data.
  • predefined (known) directional motion i.e., a directional motion for/at the same time instant at/for which the measured motion of the user used as input is measured or a directional motion for/at a time instant later in time than the time instant at/for which the measured motion of the user used as input is measured
  • a wearable device may comprise an apparatus for stimulating the vestibular system of a user according to the present disclosure (e.g., one of the apparatuses 100, 200 and 300 described above).
  • the wearable device is a device arranged (adapted) to be mounted to (worn on) the body of a user.
  • the wearable device may be arranged to be mounted to (worn on) a head of a user.
  • the wearable device may, e.g., be one of an earbud, an in-ear phone or a headphone.
  • the wearable device may be glasses (spectacles).
  • the wearable device may be a hearing aid.
  • the proposed technology may be implemented into a hearing aid.
  • the wearable device is not only able to amplify sound and improve hearing for individuals with hearing loss but further allows to enhance their motion perception.
  • the hearing aid may, e.g., be a Behind-The-Ear (BTE) hearing aid, an In-The-Ear (ITE) hearing aid, a Receiver-In-Canal (RIC) or Receiver-In-The-Ear (RITE) hearing aid or an Invisible-In-Canal (IIC) hearing aid.
  • BTE Behind-The-Ear
  • ITE In-The-Ear
  • RIC Receiver-In-Canal
  • RITE Receiver-In-The-Ear
  • IIC Invisible-In-Canal
  • the wearable device may comprise further elements than those of the apparatus for stimulating the vestibular system of the user.
  • the wearable device may further comprise an electroacoustic transducer for outputting sound to be played, noise-cancellation sound for cancelling measured ambient sound in the ambience of the wearable device or the amplified ambient sound to improve hearing.
  • the wearable device may comprise a microphone for measuring the ambient sound.
  • an implant may comprise an apparatus for stimulating the vestibular system of a user according to the present disclosure (e.g., one of the apparatuses 100, 200 and 300 described above).
  • the implant is a device for placement inside the body of the user, either temporarily or permanently.
  • the implant may, e.g., be arranged to be placed inside the user’s head.
  • the implant may comprise a housing made from biocompatible material such as one or more of metals, ceramics, polymers, or biological tissues.
  • the apparatus for stimulating the vestibular system of the user may be arranged within the housing.
  • the implant may further comprise sensors such as the sensors 130, 230 and 330 described above to provide the sensor data for the processing circuitry of the apparatus for stimulating the vestibular system of the user.
  • the implant may comprise further elements such as a (re-chargeable) battery or circuitry for wirelessly charging the battery.
  • Fig. 4 illustrates another exemplary hearing aid 400 according to the present technology.
  • the hearing aid may, e.g., be a BTE hearing aid, an ITE hearing aid, a RIC or RITE hearing aid or an IIC hearing aid.
  • the hearing aid 400 comprises a stimulator 410 capable of stimulating the vestibular system.
  • the stimulator 410 is identical to the stimulator 110 described above.
  • the stimulator 410 may be configured to contact the user’s skull, scalp or head for stimulating the vestibular system.
  • the stimulator 410 may be configured to contact the inner ear or outer ear of the user.
  • the present disclosure is not limited thereto. Other parts/ar- eas of the ear may be used as well.
  • the stimulator 410 may be configured for directly contacting the user’s ears.
  • a contact material e.g., as described above
  • the hearing aid 400 further comprises processing circuitry 420 coupled to the stimulator 410.
  • the processing circuitry 420 may be implemented like the processing circuitry 120 described above.
  • the processing circuitry 420 may optionally be coupled to, e.g., memory such as ROM for storing software, RAM and/or non-volatile memory.
  • the hearing aid 400 may comprise memory configured to store instructions, which when executed by the processing circuitry 420, cause the processing circuitry 420 to perform the steps and methods described herein.
  • the processing circuitry 420 is configured to receive sensor data 401 indicating a measured motion (movement) of the user.
  • a sensor 430 may be configured to measure a motion of the user and generate the sensor data 401.
  • the sensor 430 may be part of the hearing aid 400 or be an external sensor, i.e., a sensor not part of the hearing aid 400.
  • the sensor 430 and the sensor data 401 are identical to the sensor 230 and the sensor data 201 described above.
  • the processing circuitry 420 is configured to process the sensor data 401.
  • the processing circuitry 420 is configured to determine a target directional motion to be perceived by the user’s vestibular system based on the measured motion of the user - analogously to what is described above with reference to Fig. 2.
  • the target directional motion may follow the measured motion of the user.
  • the target directional motion may counteract the measured motion of the user.
  • the processing circuitry 420 may be configured to determine the target directional motion using a mechanistic (i.e., rule-based) model, a trained machine-learning model or a combination thereof, which receives the measured motion of the user as input.
  • the processing circuitry 420 may be configured to determine the target directional motion using a trained machine-learning model receiving the measured motion of the user as input like the processing circuitries described above with reference to Fig. 2 and Fig. 3.
  • the processing circuitry 420 is configured to control, based on the target directional motion, stimulation of the vestibular system by the stimulator 410. For example, the processing circuitry 420 may generate a control signal for the stimulator 410 according to the target directional motion. The processing circuitry 420 may further supply the control signal to the stimulator 410. Based on the control signal, the stimulator 410 stimulates the vestibular system (e.g., by one or more of the types of vestibular stimulation described above). For example, one or more parameters for the vestibular stimulation by the stimulator 410 may be determined by the processing circuitry 420 based on the target directional motion that the vestibular system of the user is (supposed) to perceive.
  • the one or more parameters for the vestibular stimulation by the stimulator 410 may be determined by the processing circuitry 420 according to predetermined criteria, rules or rule sets.
  • the one or more parameters may determine the type(s) of vestibular stimulation used by the stimulator 410 for stimulating the vestibular system of the user. Further details of how to control vestibular system by the stimulator 410 based on the target directional motion are described above with respect to Fig. 2.
  • the vestibular stimulation according to the target directional motion allows to manipulate the motion perceived by the vestibular system.
  • the vestibular stimulation according to the target directional motion may create the impression in the user’s vestibular system that the user performs the target directional motion.
  • the vestibular stimulation according to the target directional motion may compensate degenerations of the user’s vestibular structures at least partly.
  • effects like a reduced sensitivity of the user's vestibular system to balance and motion may be compensated at least in part. For example, the risk of stumbling or even falling of elderly people with an aged vestibular system may be reduced with the proposed technology.
  • the hearing aid 400 may further comprise a microphone 440 configured to measure ambient (environmental) sound 402 in an ambience (environment) of the hearing aid.
  • the microphone may, e.g., be a MEMS device.
  • the hearing aid 400 may comprise an electroacoustic transducer 450, i.e., a device that converts an electrical audio signal (electrical energy) into a corresponding sound (acoustic energy).
  • the electroacoustic transducer comprises an electromechanical drive system configured to cause an attached diaphragm to move in accordance with the electrical audio signal. This movement creates pressure variations in the air, producing sound waves which carry the sound encoded to the electrical audio signal.
  • the electromechanical drive system may, e.g., be or comprise a piezoelectric actuator and/or a moving coil.
  • the electroacoustic transducer may be a MEMS device.
  • the processing circuitry 420 may generate the electrical audio signal (as a control signal) and supply it to the electroacoustic transducer to control output by the electroacoustic transducer 450.
  • the processing circuitry 420 may be configured to amplify the measured ambient sound 402 and control the electroacoustic transducer 450 to output the amplified ambient sound to improve hearing for the user.
  • the hearing aid 400 may optionally comprise further components such as a battery.
  • the hearing aid 400 is not only able to amplify ambient sound and improve hearing for the user but further allows to enhance the user’s motion perception.
  • Fig- 5 illustrates a flowchart of a method 500 for stimulating the vestibular system of a user.
  • the method 500 comprises determining 502, based on measured electrical potentials in the vestibular system, target electrical potentials for the vestibular system. Additionally, the method 500 comprises controlling 504, based on the target electrical potentials, stimulation of the vestibular system by a stimulator.
  • the method 500 allows to manipulate the motion perceived by the vestibular system.
  • the method 500 may comprise one or more additional optional features corresponding to one or more aspects of the proposed technique or one or more examples described above.
  • Fig- 6 illustrates a flowchart of another method 600 for stimulating the vestibular system of a user.
  • the method 600 comprises determining 602, based on a measured motion of the user, a target directional motion to be perceived by the vestibular system at a future time instant. Further, the method 600 comprises controlling 604, based on the target directional motion, stimulation of the vestibular system by a stimulator.
  • the method 600 allows to manipulate the motion perceived by the vestibular system and to compensate for delays such as signal run-times and processing times.
  • the method 600 may comprise one or more additional optional features corresponding to one or more aspects of the proposed technique or one or more examples described above.
  • Fig- 7 illustrates a flowchart of still another method 700 for stimulating the vestibular system of a user.
  • the method 700 comprises determining 702, based on a measured motion of the user, a target directional motion to be perceived by the vestibular system.
  • the target directional motion counteracts the measured motion of the user.
  • the method 700 comprises controlling 704, based on the target directional motion, stimulation of the vestibular system by a stimulator.
  • the method 700 allows to reduce the motion felt by the user.
  • Fig- 8 illustrates a flowchart of a method 800 for a hearing aid.
  • the method 800 comprises determining 802, based on a measured motion of the user, a target directional motion to be perceived by the vestibular system of the user. Additionally, the method 800 comprises controlling 804, based on the target directional motion, stimulation of the vestibular system by a stimulator of the hearing aid.
  • the method 800 allows not only to improve hearing for the user but further allows to enhance the user’s motion perception.
  • the method 800 may comprise one or more additional optional features corresponding to one or more aspects of the proposed technique or one or more examples described above.
  • the machine-learning model for predicting the future electrical potentials in the user’s vestibular system may be trained in various ways.
  • a specific method for training such a machine-learning model will be described with reference to Fig. 9.
  • the training method is based on self-supervised training.
  • Fig. 9 illustrates a flowchart of a method 900 for training a machine-learning model.
  • the machine-learning model is for predicting future electrical potentials in the vestibular system of a user based on measured electrical potentials in the vestibular system of the user.
  • the machine-learning model may exhibit any suitable topology such as one of the topologies described above.
  • the machine-learning model may be an ANN, in particular a DNN such as a CNN, a Transformer architecture or a RNN.
  • the method 900 comprises determining 902 pairs of input training samples and output training samples from a training dataset.
  • the training dataset comprises measurement values for measured electrical potentials in the vestibular system of at least one human being.
  • the electrical potentials may be measured on one or more human beings.
  • the electrical potentials data may be measured for different instants or periods of time.
  • the training data may be collected by measuring the vestibular signals for many users over an extended period of time.
  • the respective input training sample comprises the measurement values for a respective first time window.
  • the respective output training sample comprises the measurement values for a respective second time window.
  • the respective first time window ends before the respective second time window starts.
  • the lengths of the first and second time windows may be selected as appropriate.
  • the length of the first time window may be at least five seconds.
  • the length of the first time window may, e.g., be 15 to 20 seconds.
  • the length of the second window may, e.g., be at least one second.
  • the length of the second time window may be two seconds.
  • the first and second time windows may be of the same length.
  • the time offset between the end of the first window and the beginning of the second time window may be selected as appropriate.
  • the time offset may be selected such that various delays like data processing times of processing circuitry running the trained machine-learning model or signal run times may be considered or compensated.
  • the time offset may, e.g., be 5 ms, 10 ms, 50 ms, 100 ms, 250 ms, 500 ms, 1 s, 2 s, 3 s, 4 s or 5 s.
  • the time offset may, e.g., be selected (determined) based on the application for which the trained machine-learning model is used.
  • the method 900 additionally comprises performing 904 training of the machine-learning model using the determined pairs of input training samples and output training samples.
  • the training of the machine-learning model may be according to one of the training approaches described above (e.g., supervised learning or semi-supervised learning).
  • the machine-learning model By training the machine-learning model based on the measured electrical potentials in both time windows, the machine-learning model is able to "learn" how to predict the future electrical potentials based on measured electrical potentials. Accordingly, the method 900 allows to train a machine learning model suitable for predicting the electrical potentials in the vestibular system of a user.
  • the machine-learning model trained according to the method 900 may be used in one of the examples described above (e.g., the apparatus 100 or the method 500).
  • the dataset may comprise measurement values for measured electrical potentials in the vestibular system of the user.
  • the training data of the user may be measured while the user is moving and going after his daily work. Using training data measured on the user may provide personalized training of the machine-learning model and, hence, improve the accuracy of the machine-learning model.
  • Fig. 10 illustrates a flowchart of an exemplary method 1000 for calibrating a vestibular stimulation device.
  • the vestibular stimulation device may, e.g., be or comprise an apparatus for stimulating the vestibular system of a user as described herein (e.g., one the apparatuses 100, 200 and 300) or be a hearing aid as described herein (e.g., the hearing aid 400).
  • the method 1000 comprises collecting 1002 feedback on the performance of a physical exercise by a user.
  • the user wears the vestibular stimulation device while performing the physical exercise.
  • the vestibular stimulation device stimulates the vestibular system of the user while performing the physical exercise based on measured electrical potentials in the vestibular system or based on measured motions of the user - for example as described above.
  • the physical exercise may be manifold.
  • the user may try to balance on a stability ball in order to learn to make use of the signal that the user receives from the vestibular stimulation device.
  • the user may try to balance on a steerable platform which may be tilted in all directions and may, hence, allow for a more controlled setup.
  • the feedback on the performance of the physical exercise by the user may be manifold.
  • feedback may be user feedback.
  • the user may feedback whether the vestibular stimulation is too much, too little, too late, to early, etc.
  • the feedback may be feedback of a person monitoring the performance of the physical exercise by the user.
  • the person monitoring the performance of the physical exercise by the user may, e.g., be trained person such as an instructor or a coach.
  • the person may, e.g., feedback how the user performs for different settings of the vestibular stimulation device.
  • the feedback may be sensor data of a sensor measuring motion of the user while performing the physical exercise.
  • the sensor may, e.g., be a camera recording the user while performing the physical exercise.
  • the method 1000 further comprises adjusting, based on the collected feedback, one or more parameters of the vestibular stimulation device.
  • the one or more parameters control the stimulation of the vestibular system by the vestibular stimulation device based on the one of the measured electrical potentials in the vestibular system and the measured motions of the user.
  • the method 1000 allows to calibrate the vestibular stimulation device and adapt to the individual needs and preferences of the user. Similarly, the user is familiarized with the vestibular stimulation support by the vestibular stimulation device.
  • the one or more parameters may be manifold.
  • one or more parameters may be amplitudes, phases or frequencies of physical properties used for the vestibular stimulation by the vestibular stimulation device or parameters in mathematical expressions used for determining the amplitudes, phases or frequencies of physical properties.
  • the one or more parameters may be parameters of a trained machine-learning model (e.g., one of the trained machine-learning models described above).
  • adjusting 1004 the one or more parameters may comprise training (fine-tuning) the trained machine-learning model based on the collected feedback.
  • a training method such as reinforcement learning may be used to further train (fine-tune) the trained machine-learning model based on the collected feedback.
  • a human operator may adjust the one or more parameters.
  • An apparatus for stimulating the vestibular system of a user comprising: a stimulator configured to stimulate the vestibular system; and processing circuitry configured to: receive sensor data indicating measured electrical potentials in the vestibular system; determine, based on the measured electrical potentials, target electrical potentials for the vestibular system; and control, based on the target electrical potentials, stimulation of the vestibular system by the stimulator.
  • the apparatus of (1) further comprising: an ElectroVestibuloGraphy, EVestG, sensor configured to measure the measured electrical potentials in the vestibular system and generate the sensor data.
  • the processing circuitry is configured to determine the target electrical potentials by amplifying the measured electrical potentials.
  • the processing circuitry is configured to: predict future electrical potentials in the vestibular system based on the measured electrical potentials as input; and determine the target electrical potentials based on the predicted future electrical potentials.
  • An apparatus for stimulating the vestibular system of a user comprising: a stimulator configured to stimulate the vestibular system; and processing circuitry configured to: receive sensor data indicating a measured motion of the user; determine, based on the measured motion of the user, a target directional motion to be perceived by the vestibular system at a future time instant; and control, based on the target directional motion, stimulation of the vestibular system by the stimulator.
  • a stimulator configured to stimulate the vestibular system
  • processing circuitry configured to: receive sensor data indicating a measured motion of the user; determine, based on the measured motion of the user, a target directional motion to be perceived by the vestibular system at a future time instant; and control, based on the target directional motion, stimulation of the vestibular system by the stimulator.
  • An apparatus for stimulating the vestibular system of a user comprising: a stimulator configured to stimulate the vestibular system; and processing circuitry configured to: receive sensor data indicating a measured motion of the user; determine, based on the measured motion of the user, a target directional motion to be perceived by the vestibular system, wherein the target directional motion counteracts the measured motion of the user; and control, based on the target directional motion, stimulation of the vestibular system by the stimulator.
  • a wearable device comprising the apparatus for stimulating the vestibular system of a user according to any one of (1) to (17).
  • An implant comprising the apparatus for stimulating the vestibular system of a user according to any one of (1) to (17).
  • a hearing aid comprising: a stimulator configured to stimulate the vestibular system of a user; and processing circuitry configured to: receive sensor data indicating a measured motion of the user; determine, based on the measured motion of the user, a target directional motion to be perceived by the vestibular system; and control, based on the target directional motion, stimulation of the vestibular system by the stimulator.
  • processing circuitry is configured to determine the target directional motion using a trained machine-learning model receiving the measured motion of the user as input.
  • a method for stimulating the vestibular system of a user comprising: determining, based on measured electrical potentials in the vestibular system, target electrical potentials for the vestibular system; and controlling, based on the target electrical potentials, stimulation of the vestibular system by a stimulator.
  • a method for stimulating the vestibular system of a user comprising: determining, based on a measured motion of the user, a target directional motion to be perceived by the vestibular system at a future time instant; and controlling, based on the target directional motion, stimulation of the vestibular system by a stimulator.
  • a method for stimulating the vestibular system of a user comprising: determining, based on a measured motion of the user, a target directional motion to be perceived by the vestibular system, wherein the target directional motion counteracts the measured motion of the user; and controlling, based on the target directional motion, stimulation of the vestibular system by a stimulator.
  • a method for a hearing aid comprising: determining, based on a measured motion of the user, a target directional motion to be perceived by the vestibular system of the user; and controlling, based on the target directional motion, stimulation of the vestibular system by a stimulator of the hearing aid.
  • a method for training a machine-learning model wherein the machine-learning model is for predicting future electrical potentials in the vestibular system of a user based on measured electrical potentials in the vestibular system of the user, the method comprising: determining pairs of input training samples and output training samples from a training dataset, wherein the training dataset comprises measurement values for measured electrical potentials in the vestibular system of a least one human being, wherein the respective input training sample comprises the measurement values for a respective first time window, wherein the respective output training sample comprises the measurement values for a respective second time window, and wherein the respective first time window ends before the respective second time window starts; and performing training of the machine-learning model using the determined pairs of input training samples and output training samples.
  • a method for calibrating a vestibular stimulation device comprising: collecting feedback on the performance of a physical exercise by a user, wherein the user wears the vestibular stimulation device while performing the physical exercise, and wherein the vestibular stimulation device stimulates the vestibular system of the user while performing the physical exercise based on measured electrical potentials in the vestibular system or based on measured motions of the user; and adjusting, based on the collected feedback, one or more parameters of the vestibular stimulation device, wherein the one or more parameters control the stimulation of the vestibular system by the vestibular stimulation device based on the one of the measured electrical potentials in the vestibular system and the measured motions of the user.
  • a non-transitory machine-readable medium having stored thereon a program having a program code for performing the method according to any one of (28) to (36), when the program is executed on a processor or a programmable hardware.
  • Examples may further be or relate to a (computer) program including a program code to execute one or more of the above methods when the program is executed on a computer, processor or other programmable hardware component.
  • steps, operations or processes of different ones of the methods described above may also be executed by programmed computers, processors or other programmable hardware components.
  • Examples may also cover program storage devices, such as digital data storage media, which are machine-, processor- or computer- readable and encode and/or contain machine-executable, processor-executable or computerexecutable programs and instructions.
  • Program storage devices may include or be digital storage devices, magnetic storage media such as magnetic disks and magnetic tapes, hard disk drives, or optically readable digital data storage media, for example.
  • Other examples may also include computers, processors, control units, (field) programmable logic arrays ((F)PLAs), (field) programmable gate arrays ((F)PGAs), graphics processor units (GPU), application-specific integrated circuits (ASICs), integrated circuits (ICs) or system-on-a-chip (SoCs) systems programmed to execute the steps of the methods described above.
  • FPLAs field programmable logic arrays
  • F field) programmable gate arrays
  • GPU graphics processor units
  • ASICs application-specific integrated circuits
  • ICs integrated circuits
  • SoCs system-on-a-chip
  • aspects described in relation to a device or system should also be understood as a description of the corresponding method.
  • a block, device or functional aspect of the device or system may correspond to a feature, such as a method step, of the corresponding method.
  • aspects described in relation to a method shall also be understood as a description of a corresponding block, a corresponding element, a property or a functional feature of a corresponding device or a corresponding system.

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Abstract

L'invention concerne un appareil pour stimuler le système vestibulaire d'un utilisateur. L'appareil inclut un stimulateur configuré pour stimuler le système vestibulaire et les circuits de traitement. Le circuit de traitement est configuré pour recevoir des données de capteur indiquant des potentiels électriques mesurés dans le système vestibulaire. En outre, le circuit de traitement est configuré pour déterminer, sur la base des potentiels électriques mesurés, des potentiels électriques cibles pour le système vestibulaire. Les circuits de traitement sont en outre configurés pour commander, sur la base des potentiels électriques cibles, la stimulation du système vestibulaire par le stimulateur.
PCT/EP2025/057681 2024-03-22 2025-03-20 Appareils pour stimuler le système vestibulaire d'un utilisateur Pending WO2025196209A1 (fr)

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EP24165686 2024-03-22
EP24165686.7 2024-03-22

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WO2025196209A1 true WO2025196209A1 (fr) 2025-09-25

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101564964B1 (ko) * 2015-02-05 2015-11-02 계명대학교 산학협력단 가상현실 멀미를 감소시키는 전기 자극 헤드 마운트 디스플레이 장치
US20210023370A1 (en) * 2019-07-24 2021-01-28 Universidad De Las Palmas De Gran Canaria Vestibular nerve stimulation
EP3365755B1 (fr) * 2016-02-29 2021-06-30 Samsung Electronics Co., Ltd. Appareil d'affichage vidéo et procédé permettant de réduire le mal du virtuel
US20210361943A1 (en) * 2018-03-07 2021-11-25 Scion Neurostim, Llc Systems, devices and methods for neurostimulation
US20220233855A1 (en) * 2019-07-12 2022-07-28 Starkey Laboratories, Inc. Systems and devices for treating equilibrium disorders and improving gait and balance

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101564964B1 (ko) * 2015-02-05 2015-11-02 계명대학교 산학협력단 가상현실 멀미를 감소시키는 전기 자극 헤드 마운트 디스플레이 장치
EP3365755B1 (fr) * 2016-02-29 2021-06-30 Samsung Electronics Co., Ltd. Appareil d'affichage vidéo et procédé permettant de réduire le mal du virtuel
US20210361943A1 (en) * 2018-03-07 2021-11-25 Scion Neurostim, Llc Systems, devices and methods for neurostimulation
US20220233855A1 (en) * 2019-07-12 2022-07-28 Starkey Laboratories, Inc. Systems and devices for treating equilibrium disorders and improving gait and balance
US20210023370A1 (en) * 2019-07-24 2021-01-28 Universidad De Las Palmas De Gran Canaria Vestibular nerve stimulation

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