WO2025117178A1 - Actuator driver delivering high voltage with capacitance sensing and feedback control - Google Patents

Abstract

An integrated circuit may be adapted to control a piezoelectrically-driven actuator and may include (a) a voltage driver configured to generate a bidirectional output voltage of at least approximately ±50 V, (b) a capacitance sensing element configured to detect a sub-micro-Farad scale capacitance, and (c) a computing unit configured to execute a control algorithm to generate the output voltage based on the detected capacitance.

Description

ACTUATOR DRIVER DELIVERING HIGH VOLTAGE

WITH CAPACITANCE SENSING AND FEEDBACK CONTROL

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of priority under 35 U.S.C. §119(e) of U.S. Provisional Application Ser. No. 63/598,964, filed November 15, 2023, and U.S. nonprovisional patent application Ser. No. 18/932,045 filed October 30, 2024.

FIELD OF THE DISCLOSURE

[0002] The present disclosure relates generally to optical elements such as tunable lenses.

BACKGROUND OF THE DISCLOSURE

[0003] There is a growing demand for optical systems having tunable focal lengths, including adaptive optics. For instance, adaptive optics technology may be incorporated into wearable devices such as augmented reality and virtual reality devices and headsets. Example architectures for actively changing the focal length of an optical system include large-scale deformable-optics devices, macro- and MEMS-scale translatable lenses, and electrostatically actuated devices.

[0004] In comparative open-loop control systems, the actuator driver operates without knowledge of the state of the lens due to a lack of sensing and control computation capabilities, which typically results in longer focus times and poor image quality. There remains a need for high speed and consistent tuning of focal lengths over a wide tuning range, which has not been adequately addressed by the foregoing platforms.

SUMMARY OF THE DISCLOSURE

[0005] According to a first aspect of the present disclosure there is provided an integrated circuit comprising: a voltage driver configured to generate a bidirectional output voltage of at least approximately ±50 V; a capacitance sensing circuit configured to detect a sub-micro-Farad scale capacitance; and a computing unit configured to execute a control algorithm to generate the output voltage based on the detected capacitance.

[0006] In some embodiments, the voltage driver may be configured to generate the output voltage from an input voltage of less than approximately 5 V.

[0007] In some embodiments, the voltage driver may comprise a pair of differential outputs. [0008] In some embodiments, the capacitance sensing circuit may comprise a closed-loop current control circuit.

[0009] In some embodiments, the sub-micro-Farad scale capacitance may comprise a nanoscale capacitance.

[0010] In some embodiments, the computing unit may comprise a micro-control unit.

[0011] In some embodiments, the computing unit may comprise a digital-to- analog converter and an analog-to-digital converter.

[0012] According to a second aspect of the present disclosure there is provided a control system comprising: a voltage driver integrated circuit configured to generate a bidirectional output voltage of at least approximately ±50 V; a sensing integrated circuit comprising a capacitance sensing circuit configured to detect a nano-Farad scale capacitance; and a controller integrated circuit comprising a computing unit configured to execute a control algorithm to generate the output voltage based on the detected capacitance.

[0013] In some embodiments, the voltage driver integrated circuit, the sensing integrated circuit, and the controller integrated circuit may be integrated onto a single chip.

[0014] In some embodiments, the voltage driver may be configured to generate the output voltage from an input voltage of less than approximately 5 V.

[0015] In some embodiments, the voltage driver may comprise a pair of differential outputs.

[0016] In some embodiments, the sensing integrated circuit may comprise a closed-loop current control circuit.

[0017] In some embodiments, the controller integrated circuit may comprise a micro-control unit.

[0018] In some embodiments, the controller integrated circuit may comprise a digital-to-analog converter and an analog-to-digital converter.

[0019] According to a third aspect of the present disclosure there is provided a control system comprising: a first integrated circuit comprising: a voltage driver configured to generate a bidirectional output voltage of at least approximately ±50 V; and a capacitance sensing circuit configured to detect a nano-Farad scale capacitance; and a second integrated circuit comprising: a computing unit configured to execute a control algorithm to generate the output voltage based on the detected capacitance. [0020] In some embodiments, the voltage driver may be configured to generate the output voltage from an input voltage of less than approximately 5 V.

[0021] In some embodiments, the voltage driver may comprise a pair of differential outputs.

[0022] In some embodiments, the capacitance sensing circuit may comprise a closed-loop current control circuit.

[0023] In some embodiments, the computing unit may comprise a micro-control unit.

[0024] In some embodiments, the computing unit may comprise a digital-to- analog converter and an analog-to-digital converter.

[0025] It will be appreciated that any features described herein as being suitable for incorporation into one or more aspects or embodiments of the present disclosure are intended to be generalizable across any and all aspects and embodiments of the present disclosure. Other aspects of the present disclosure can be understood by those skilled in the art in light of the description, the claims, and the drawings of the present disclosure. The foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings illustrate a number of exemplary embodiments and are a part of the specification. Together with the following description, these drawings demonstrate and explain various principles of the present disclosure.

[0027] FIG. 1 illustrates various sources of non-linearity in the operation of a lens driven by a piezoelectric actuator according to one or more embodiments of the present disclosure.

[0028] FIG. 2 is an outline of an optical model for determining a voltage profile for generating a target optical power in a lens controlled by a piezoelectric actuator according to one or more embodiments of the present disclosure.

[0029] FIG. 3 depicts example closed loop control architectures for operating a tunable lens in accordance with one or more embodiments of the present disclosure.

[0030] FIG. 4 is a schematic diagram showing a lens module and a co-integrated tunable lens according to one or more embodiments of the present disclosure.

[0031] FIG. 5 is an illustration of the architecture of an example tunable lens driver integrated circuit with a co-integrated feedback control loop according to one or more embodiments of the present disclosure.

[0032] FIG. 6 is an illustration of a further example architecture of a tunable lens driver integrated circuit with a co-integrated feedback control loop according to one or more embodiments of the present disclosure.

[0033] FIG. 7 is a diagram showing the structure and operation of a circuit design for capacitance sensing during the operation of a tunable lens according to one or more embodiments of the present disclosure.

[0034] FIG. 8 is a diagram showing the structures of a further example circuit design for capacitance sensing according to one or more embodiments of the present disclosure.

[0035] FIG. 9 is a diagram showing still further example circuit design architectures for capacitance sensing according to one or more embodiments of the present disclosure.

[0036] FIG. 10 is a diagram showing the co-integration of capacitance sensing with a differential output driver according to one or more embodiments of the present disclosure.

[0037] FIG. 11 is a diagram of a closed-loop current control circuit including an operational amplifier according to one or more embodiments of the present disclosure.

[0038] FIG. 12 is a diagram of a closed-loop current control circuit operable as a constant current sink path according to one or more embodiments of the present disclosure.

[0039] FIG. 13 is a diagram of a closed-loop current control circuit including a fixed resistor according to one or more embodiments of the present disclosure.

[0040] FIG. 14 is a schematic diagram of a bi-directional high voltage range voltage driver according to one or more embodiments of the present disclosure.

[0041] FIG. 15 is a schematic diagram of a uni-directional high voltage range voltage driver according to one or more embodiments of the present disclosure.

[0042] FIG. 16 depicts an exemplary voltage driver integrated circuit architecture according to one or more embodiments of the present disclosure.

[0043] FIG. 17 depicts further exemplary voltage driver integrated circuit architectures and their principles of operation according to one or more embodiments of the present disclosure.

[0044] FIG. 18 illustrates an example computing configuration for controlling a piezoelectric actuator with integrated capacitance sensing according to one or more embodiments of the present disclosure.

[0045] FIG. 19 shows an example circuit design according to one or more embodiments of the present disclosure.

[0046] FIG. 20 is an illustration of an example artificial-reality system according to one or more embodiments of the present disclosure.

[0047] FIG. 21 is an illustration of an example artificial-reality system with a handheld device according to one or more embodiments of the present disclosure.

[0048] FIG. 22A is an illustration of example user interactions within an artificialreality system according to one or more embodiments of the present disclosure.

[0049] FIG. 22B is an illustration of example user interactions within an artificialreality system according to one or more embodiments of the present disclosure.

[0050] FIG. 23A is an illustration of example user interactions within an artificialreality system according to one or more embodiments of the present disclosure.

[0051] FIG. 23B is an illustration of example user interactions within an artificialreality system according to one or more embodiments of the present disclosure.

[0052] FIG. 24 is an illustration of an example wrist-wearable device of an artificialreality system according to one or more embodiments of the present disclosure.

[0053] FIG. 25 is an illustration of an example wearable artificial-reality system according to one or more embodiments of the present disclosure.

[0054] FIG. 26 is an illustration of an example augmented-reality system according to one or more embodiments of the present disclosure.

[0055] FIG. 27A is an illustration of an example virtual-reality system according to one or more embodiments of the present disclosure.

[0056] FIG. 27B is an illustration of another perspective of the virtual-reality system shown in FIG. 27A according to one or more embodiments of the present disclosure.

[0057] FIG. 28 is a block diagram showing system components of example artificial- and virtual-reality systems according to one or more embodiments of the present disclosure.

[0058] FIG. 29A is a front view of an example haptic feedback device according to one or more embodiments of the present disclosure.

[0059] FIG. 29B is a back view of the example haptic feedback device shown in FIG. FIG. 29A according to one or more embodiments of the present disclosure. [0060] FIG. 30 is a block diagram of example components of a haptic feedback device according to one or more embodiments of the present disclosure.

[0061] Throughout the drawings, identical reference characters and descriptions indicate similar, but not necessarily identical, elements. While the exemplary embodiments described herein are susceptible to various modifications and alternative forms, specific embodiments have been shown by way of example in the drawings and will be described in detail herein. However, the exemplary embodiments described herein are not intended to be limited to the particular forms disclosed. Rather, the present disclosure covers all modifications, equivalents, and alternatives falling within the scope of the appended claims.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS

[0062] There is a growing demand for optical systems having tunable focal lengths, including adaptive optics. For instance, adaptive optics technology may be incorporated into wearable devices such as augmented reality and virtual reality devices and headsets. Example architectures for actively changing the focal length of an optical system include large-scale deformable-optics devices, macro- and MEMS-scale translatable lenses, and electrostatically actuated devices.

[0063] In comparative open-loop control systems, the actuator driver operates without knowledge of the state of the lens due to a lack of sensing and control computation capabilities, which typically results in longer focus times and poor image quality. There remains a need for high speed and consistent tuning of focal lengths over a wide tuning range, which has not been adequately addressed by the foregoing platforms.

[0064] Notwithstanding recent developments, it would be advantageous to provide an auto-focusing solution having a commercially-relevant response time and power consumption profile. The present disclosure relates generally to optical elements such as tunable lenses, and more specifically to a closed-loop control paradigm for predictably and reproducibly manipulating the optical power of a lens through capacitance sensing of an associated piezoelectric element.

[0065] An example closed-loop control system includes a voltage driver, a capacitance sensor, and a controller. An example driver integrated circuit includes a voltage driver configured to deliver a high voltage (>50 V) output, nano-Farad range capacitance sensing, and feedback control having computational power effective to execute actuator control algorithms at a high sampling frequency. In some embodiments, the voltage driver may be adapted to generate a configurable bipolar and wide-ranging high voltage (e.g., > 50 V) from a 2.8 to 3.3 V input.

[0066] For a tunable lens operable using a piezoelectrically-driven actuator, an optical model establishes a relationship between the optical power of the lens and the capacitance of the piezoelectric element. The model is configured to dynamically apply a waveform to the piezoelectric element in a manner effective to account for thermal and temporal variations in both optical power and capacitance to achieve a targeted focus condition. Accordingly, the system optical power can be tuned real-time via closed-loop control using the capacitance of the piezoelectric element. The closed-loop control can provide rapid and accurate focusing. This allows for the generation and maintenance of a high quality image in an associated display. Using the disclosed model, a relationship between system optical power and component optical power may be utilized to determine a reference capacitance for a specified focal condition.

[0067] In some approaches, an electronic circuit may be used to actively measure the capacitance of the piezoelectric element during use. A sensing excitation waveform and sampling frequency may be superimposed on the driving voltage in a non-interfering manner to enable closed-loop control. The driving voltage waveform may control the focal condition of the lens while avoiding overshoot and the creation of excessive stresses on the lens components, including its deformable glass membrane.

[0068] In accordance with various embodiments, an actuator driver circuit may be co-integrated with a capacitive sensing module to provide closed loop control of a tunable lens using, for example, a uni-directional or bi-directional actuator voltage (e.g., -50V to 50V), optical power sensing, and a high-bandwidth control circuit or control algorithm configured to regulate actuator voltage with optical power sensing feedback.

[0069] The following will provide, with reference to FIGS. 1-30, detailed descriptions of devices and related methods associated with the operation of a tunable lens. The discussion associated with FIG. 1 includes a description of various sources of optical power non-linearity in piezoelectrically driven lenses. The discussion associated with FIG. 2 includes a description of an optical model for accurate and precise control of a tunable lens. The discussion associated with FIG. 3 includes a description of actuation and sensing architectures for controlling a piezoelectrically driven tunable lens. The discussion associated with FIG. 4 includes a description of an example lens module with a co-integrated tunable lens. The discussion associated with FIGS. 5-19 depicts example driver, sensor, and control circuitry for the closed-loop operation of a piezoelectrically driven tunable lens. The discussion associated with FIGS. 20-28 relates to exemplary virtual reality and augmented reality devices that may include one or more piezoelectrically actuated tunable lenses as disclosed herein. The discussion associated with FIGS. 29 and 30 relates to haptics systems operable using an actuator control system having co-integrated capacitive sensing.

[0070] As will be appreciated, accurate and precise control of a piezoelectrically- actuated tunable lens may be complicated by a variety of effects. Sources of non-linearity are illustrated schematically in FIG. 1 and may include (A) piezoelectric hysteresis, (B) thermal drift, (C) creep, and (D) indigenous surface deformation, which may vary from lens to lens due to residual internal stresses and variability in manufacture. For example, piezoelectric hysteresis may contribute to optical power non-linearity when an increasing electric field is changed to a decreasing electric field, or vice versa. Disclosed herein is an optical model that may be implemented to consistently tune the optical power of a lens notwithstanding the foregoing challenges.

[0071] Referring to FIG. 2, an optical model uses capacitance sensing and incorporates various sources of non-linearity, including native optical power, to determine the driving waveform needed to induce the deformation required to generate a desired optical power in a tunable lens. For instance, a driving voltage profile (P) may be represented as a linear and weighted combination of terms related to native optical power (P0), piezoelectric hysteresis (H(V)), thermal drift (P1(V,T)), and viscoelastic creep C(V,T,t).

[0072] In various embodiments, the model may (i) determine a desired optical power from one or more of an applied voltage, operating time, and operating temperature, (ii) determine and evaluate a relationship between the actual optical power of the lens and the capacitance of the piezoelectric element, and (iii) measure the capacitance of the piezoelectric element to determine and apply a driving voltage effective to create the desired optical power.

[0073] Example closed-loop control architectures are depicted in FIG. 3. As illustrated in FIG. 3A, a closed-loop system may include a single integrated circuit having separate driver, sensing, and computing functions. Referring to FIG. 3B, a further closed-loop system may include a pair of integrated circuits that collectively provide voltage driver, capacitance sensing, and computing functionality. According to further embodiments and referringto FIG. 3C, a closed-loop control architecture may include discrete integrated circuits that independently provide voltage driver, capacitance sensing, and computing functions.

[0074] A variety of lens architectures having a piezoelectrically tunable lens are contemplated. One example "add-in" camera module configuration is shown schematically in FIG. 4 and includes a tunable lens disposed between upper and lower lens elements, which collectively overlie a color filter, such as an infrared color filter ( I RCF), and an image sensor.

[0075] Separating fixed focus lens components into discrete upper and lower elements can enhance manufacturing yield. By splitting the fixed-focus elements into two or more components, each element can be optimized individually for quality control, reducing defects associated with the entire assembly. This modular approach allows for more straightforward adjustments in production processes, improving alignment and decreasing the risk of contamination during assembly. Additionally, if one element is defective only that component would need to be replaced rather than the whole lens further minimizing waste and cost. Overall, this separation can lead to greater consistency and performance and better overall product quality.

[0076] In alternate embodiments, the upper lens element may be omitted to form an "add-on" camera module configuration, where the tunable lens is disposed over a lower lens element. The integration of a tunable lens may be used to impart auto-focus functionality to a fixed-focus camera lens.

[0077] Referring to FIG. 5, shown is a schematic diagram outlining closed-loop control of a piezoelectric actuator-driven lens (FIG. 5A). Included is a tunable lens driver integrated circuit and an associated feedback control loop for actuation, capacitance sensing, and computation. Such a control system may be configured with dual feedback functionality, including an assessment and utilization of a relationship between a focal condition and lens optical power on the one hand and an assessment and utilization of a relationship between optical power and capacitance on the other. Shown in FIG. 5B is a non-linear but monotonic relationship between optical power and capacitance for an example piezoelectrically-driven tunable lens. Such a relationship may be used to control the lens optical power through capacitance sensing. An isometric view of an example tunable lens is shown in FIG. 5C. A further example closed-loop architecture is shown in FIG. 6 where the computing unit is a micro-control unit (MCU). As disclosed further herein, a variety of approaches may be used for capacitance sensing. [0078] Various circuit designs for capacitance sensing, including exemplary principles of operation, are shown in FIGS. 7-10. In an example implementation, and with reference to FIG. 7, a method includes discharging the capacitor of a tunable lens using an applied current, measuring a voltage drop, converting the current and the voltage drop to a digital domain, and calculating a capacitance in the digital domain using the following vIN~^vRef , . , . CAI , ^v Act~ hips: - = i_R = -^V Ref = - ^vlN ~^vRef . , elations , with _r > Kl „ r C - - . Ref _r erring to the

At R 1 7? 1 _

At configuration of FIG. 8, in some embodiments the reference voltage source may be located proximate to the tunable lens.

[0079] To balance measurement accuracy, sensing speed, and injected ripple, a circuit design may be expanded to include selectable discharge resistors having adjustable discharge time and configurable reference voltage, as depicted in FIG. 9A. According to further embodiments, one or more resistors may be replaced with a configurable current sink Ic design, as shown in FIG. 9B, where C = _Ay . Turning to FIG. 10, according to still further embodiments, capacitance sensing may be integrated with a differential output driver.

[0080] The circuit designs disclosed herein support a wide capacitance range and a wide (including negative) range of output voltages. Moreover, capacitance sensing may be integrated with existing as well as future developed driver integrated circuits without the need for additional voltage or current injection circuitry.

[0081] A driver circuit with capacitance sensing may include various current sink source architectures, as depicted in FIGS. 11-13, including a closed-loop current control circuit using an operational amplifier, as shown in FIG. 11, a current mirror circuit operative as a constant current sink path, as shown in FIG. 12, or with a fixed resistor operative as a constant current sink path, as shown in FIG. 13. With particular reference to FIG. 12, by changing the reference capacitance (C_ref) and the current sink source (IDAC), the sensing range of the capacitance may be adjusted for different types of tunable lenses or piezoelectric-based actuators.

[0082] The architecture of a bi-directional high voltage-range voltage driver is shown in FIG. 14. The bi-directional voltage driver includes a voltage booster configured to provide a high output voltage range and includes two differential outputs (VOUTP and VOUTN) to support bi-directional output, e.g., to operate the actuator of a tunable lens.

[0083] Example uni-directional voltage driver architectures are shown in FIG. 15. Each example configuration includes boost converter to generate a high voltage output at VOUTP- VOUTN may be connected to Vcc or ground to provide high voltage to a tunable lens. For the circuit design illustrated in FIG. 15A, the driver output voltage is equal to VBOOST-VIN. For the circuit design illustrated in FIG. 15B, the driver output voltage is equal to VIN-VBUCK.

[0084] Example voltage driver integrated circuit configurations, including their principles of operation, are shown in FIGS. 16 and 17. According to some embodiments, a voltage driver may be configured to generate an output voltage ranging from approximately -50 V to approximately 50 V, and deliver a desired voltage to the piezoelectric element of a tunable lens. The voltage driver may provide a configurable output voltage from a low voltage input with wide-range and high voltage capability.

[0085] Referring to FIG. 16, a driver integrated circuit (IC) may include an H-bridge configured to support differential drive, i.e., delivery of both positive and negative voltages to the piezoelectric load, CLO D- The driver IC of FIG. 16 may include a boost switching topology that is configured to output as much as 50 V DC from a system voltage rail VIN of less than 5 V, e.g., approximately 3.3 V. A high voltage capacitor CHV may be adapted for energy storage.

[0086] The foregoing switching topology may be reversed to decrease voltage from CH and recover energy to VIN, such as when the piezoelectric driver requires lower driving voltage or ceases operation, which may improve operational efficiency.

[0087] The operation of an exemplary voltage driver circuit is illustrated in FIG. 17. Referring initially to FIG. 17A, if a positive driving voltage is requested from I2C command, IN is triggered to generate a high positive voltage output that may be temporarily stored at CHV. A high positive voltage may be provided to a piezoelectric load through FET1 and FET4. On the other hand, if a negative driving voltage is requested from I2C command, VIN is triggered to generate a high negative voltage output that may be temporarily stored at CHV- A high negative voltage may be provided to a piezoelectric load through FET2 and FET3, as shown in FIG. 17B. Referring to FIG. 17C, if a lower driving voltage (including 0 V) than the voltage stored at CHV is requested, FET 5 and FET 6 may perform as a buck regulator to return energy to VIN.

[0088] An example computing unit and circuit design for controlling a piezoelectric element with integrated capacitance sensing are shown in FIGS. 18 and 19, respectively. The MCU may be configured for logic implementation, data processing, control algorithm execution, etc. The MCU may be adapted to integrate peripherals, including timers, analog-to-digital converters (ADCs), digital-to-analog converters (DACs), and serial communication interfaces, e.g., I2C, SPI, PMBus, and the like. A control algorithm may be configured as a software or firmware component for processing input data and providing output regulation. Software/firmware may be stored in memory.

[0089] Disclosed is a system and method for the controllable and reproducible operation of a tunable lens, and more specifically to the implementation of a unified model for addressing various sources of non-linearity with such operation, including hysteresis, thermal drift, creep, and inter device variability in as-manufactured optical power. The capacitance of a piezoelectric actuator may be measured real-time to provide closed-loop control of the optical power of the lens. Control circuitry may include a high voltage driver, nano-Farad sensor, and an actuator feedback control loop operable to execute actuator control algorithms at a commercially-relevant sampling frequency.

[0090] In exemplary embodiments, a control system includes an actuator driver circuit with co-integrated capacitance sensing. The control system is compatible with a multitude of voltage driver integrated circuit configurations, including single-ended-output voltage drivers and differential-output voltage drivers and may be used to manipulate a tunable lens biased with a uni-directional or bi-directional bias. Because the driving voltage is independent of the sensing platform, a wide drive voltage range is supported.

[0091] Embodiments of the present disclosure may include or be implemented in conjunction with various types of Artificial-Reality (AR) systems. AR may be any superimposed functionality and/or sensory-detectable content presented by an artificial-reality system within a user's physical surroundings. In other words, AR is a form of reality that has been adjusted in some manner before presentation to a user. AR can include and/or represent virtual reality (VR), augmented reality, mixed AR (MAR), or some combination and/or variation of these types of realities. Similarly, AR environments may include VR environments (including non-immersive, semi-immersive, and fully immersive VR environments), augmented-reality environments (including marker-based augmented-reality environments, markerless augmented-reality environments, location-based augmented-reality environments, and projection-based augmented-reality environments), hybrid-reality environments, and/or any other type or form of mixed- or alternative-reality environments. [0092] AR content may include completely computer-generated content or computer-generated content combined with captured (e.g., real-world) content. Such AR content may include video, audio, haptic feedback, or some combination thereof, any of which may be presented in a single channel or in multiple channels (such as stereo video that produces a three-dimensional (3D) effect to the viewer). Additionally, in some embodiments, AR may also be associated with applications, products, accessories, services, or some combination thereof, that are used to, for example, create content in an artificial reality and/or are otherwise used in (e.g., to perform activities in) an artificial reality.

[0093] AR systems may be implemented in a variety of different form factors and configurations. Some AR systems may be designed to work without near-eye displays (NEDs). Other AR systems may include a NED that also provides visibility into the real world (such as, e.g., VR system 2700 in FIGS. 27A and 27B). While some AR devices may be self-contained systems, other AR devices may communicate and/or coordinate with external devices to provide an AR experience to a user. Examples of such external devices include handheld controllers, mobile devices, desktop computers, devices worn by a user, devices worn by one or more other users, and/or any other suitable external system.

[0094] FIGS. 20-23B illustrate example artificial-reality (AR) systems in accordance with some embodiments. FIG. 20 shows a first AR system 2000 and first example user interactions using a wrist-wearable device 2002, a head-wearable device (e.g., AR system 2600), and/or a handheld intermediary processing device (HIPD) 2006. FIG. 21 shows a second AR system 2100 and second example user interactions using a wrist-wearable device 2102, AR glasses 2104, and/or an HIPD 2106. FIGS. 22A and 22B show a third AR system 2200 and third example user 2208 interactions using a wrist-wearable device 2202, a head-wearable device (e.g., VR headset 2250), and/or an HIPD 2206. FIGS. 23A and 23B show a fourth AR system 2300 and fourth example user 2308 interactions using a wrist-wearable device 2330, VR headset 2320, and/or a haptic device 2360 (e.g., wearable gloves).

[0095] A wrist -wearable device 2400, which can be used for wrist-wearable device 2002, 2102, 2202, 2330, and one or more of its components, are described below in reference to FIGS. 24 and 25, AR system 2600 and VR system 2700, which can respectively be used for AR glasses 2004, 2104 or VR headset 2250, 2320, and their one or more components are described below in reference to FIGS. 26-28.

[0096] Referring to FIG. 20, wrist-wearable device 2002, AR glasses 2004, and/or HIPD 2006 can communicatively couple via a network 2025 (e.g., cellular, near field, Wi-Fi, personal area network, wireless LAN, etc.). Additionally, wrist-wearable device 2002, AR glasses 2004, and/or HIPD 2006 can also communicatively couple with one or more servers 2030, computers 2040 (e.g., laptops, computers, etc.), mobile devices 2050 (e.g., smartphones, tablets, etc.), and/or other electronic devices via network 2025 (e.g., cellular, near field, Wi-Fi, personal area network, wireless LAN, etc.).

[0097] In FIG. 20, a user 2008 is shown wearing wrist-wearable device 2002 and AR glasses 2004 and having HIPD 2006 on their desk. The wrist-wearable device 2002, AR glasses 2004, and HIPD 2006 facilitate user interaction with an AR environment. In particular, as shown by first AR system 2000, wrist-wearable device 2002, AR glasses 2004, and/or HIPD 2006 cause presentation of one or more avatars 2010, digital representations of contacts 2012, and virtual objects 2014. As discussed below, user 2008 can interact with one or more avatars 2010, digital representations of contacts 2012, and virtual objects 2014 via wristwearable device 2002, AR glasses 2004, and/or HIPD 2006.

[0098] User 2008 can use any of wrist-wearable device 2002, AR glasses 2004, and/or HIPD 2006 to provide user inputs. For example, user 2008 can perform one or more hand gestures that are detected by wrist-wearable device 2002 (e.g., using one or more EMG sensors and/or IMUs, described below in reference to FIGS. 24 and 25) and/or AR glasses 2004 (e.g., using one or more image sensor or camera, described below in reference to FIGS. 26- 28) to provide a user input. Alternatively, or additionally, user 2008 can provide a user input via one or more touch surfaces of wrist-wearable device 2002, AR glasses 2004, HIPD 2006, and/orvoice commands captured by a microphone of wrist-wearable device 2002, AR glasses 2004, and/or HIPD 2006. In some embodiments, wrist-wearable device 2002, AR glasses 2004, and/or HIPD 2006 include a digital assistant to help user 2008 in providing a user input (e.g., completing a sequence of operations, suggesting different operations or commands, providing reminders, confirming a command, etc.). In some embodiments, user 2008 can provide a user input via one or more facial gestures and/or facial expressions. For example, cameras of wrist-wearable device 2002, AR glasses 2004, and/or HIPD 2006 can track eyes of user 2008 for navigating a user interface.

[0099] Wrist-wearable device 2002, AR glasses 2004, and/or HIPD 2006 can operate alone or in conjunction to allow user 2008 to interact with the AR environment. In some embodiments, HIPD 2006 is configured to operate as a central hub or control center for the wrist-wearable device 2002, AR glasses 2004, and/or another communicatively coupled device. For example, user 2008 can provide an input to interact with the AR environment at any of wrist-wearable device 2002, AR glasses 2004, and/or HIPD 2006, and HIPD 2006 can identify one or more back-end and front-end tasks to cause the performance of the requested interaction and distribute instructions to cause the performance of the one or more back-end and front-end tasks at wrist-wearable device 2002, AR glasses 2004, and/or HIPD 2006. In some embodiments, a back-end task is a background processing task that is not perceptible by the user (e.g., rendering content, decompression, compression, etc.), and a front-end task is a user-facing task that is perceptible to the user (e.g., presenting information to the user, providing feedback to the user, etc.). As described below in reference to FIGS. 20-22, HIPD 2006 can perform the back-end tasks and provide wrist-wearable device 2002 and/or AR glasses 2004 operational data corresponding to the performed back-end tasks such that wristwearable device 2002 and/or AR glasses 2004 can perform the front-end tasks. In this way, HIPD 2006, which has more computational resources and greater thermal headroom than wrist-wearable device 2002 and/or AR glasses 2004, performs computationally intensive tasks and reduces the computer resource utilization and/or power usage of wrist-wearable device 2002 and/or AR glasses 2004.

[0100] In the example shown by first AR system 2000, HIPD 2006 identifies one or more back-end tasks and front-end tasks associated with a user request to initiate an AR video call with one or more other users (represented by avatar 2010 and the digital representation of contact 2012) and distributes instructions to cause the performance of the one or more back-end tasks and front-end tasks. In particular, HIPD 2006 performs back-end tasks for processing and/or rendering image data (and other data) associated with the AR video call and provides operational data associated with the performed back-end tasks to AR glasses 2004 such that the AR glasses 2004 perform front-end tasks for presenting the AR video call (e.g., presenting avatar 2010 and digital representation of contact 2012).

[0101] In some embodiments, HIPD 2006 can operate as a focal or anchor point for causing the presentation of information. This allows user 2008 to be generally aware of where information is presented. For example, as shown in first AR system 2000, avatar 2010 and the digital representation of contact 2012 are presented above HIPD 2006. In particular, HIPD 2006 and AR glasses 2004 operate in conjunction to determine a location for presenting avatar 2010 and the digital representation of contact 2012. In some embodiments, information can be presented a predetermined distance from HIPD 2006 (e.g., within 5 meters). For example, as shown in first AR system 2000, virtual object 2014 is presented on the desk some distance from HIPD 2006. Similar to the above example, HIPD 2006 and AR glasses 2004 can operate in conjunction to determine a location for presenting virtual object 2014. Alternatively, in some embodiments, presentation of information is not bound by HIPD 2006. More specifically, avatar 2010, digital representation of contact 2012, and virtual object 2014 do not have to be presented within a predetermined distance of HIPD 2006.

[0102] User inputs provided at wrist-wearable device 2002, AR glasses 2004, and/or HIPD 2006 are coordinated such that the user can use any device to initiate, continue, and/or complete an operation. For example, user 2008 can provide a user input to AR glasses 2004 to cause AR glasses 2004 to present virtual object 2014 and, while virtual object 2014 is presented by AR glasses 2004, user 2008 can provide one or more hand gestures via wristwearable device 2002 to interact and/or manipulate virtual object 2014.

[0103] FIG. 21 shows a user 2108 wearing a wrist-wearable device 2102 and AR glasses 2104, and holding an HIPD 2106. In second AR system 2100, the wrist-wearable device 2102, AR glasses 2104, and/or HIPD 2106 are used to receive and/or provide one or more messages to a contact of user 2108. In particular, wrist-wearable device 2102, AR glasses 2104, and/or HIPD 2106 detect and coordinate one or more user inputs to initiate a messaging application and prepare a response to a received message via the messaging application.

[0104] In some embodiments, user 2108 initiates, via a user input, an application on wrist-wearable device 2102, AR glasses 2104, and/or HIPD 2106 that causes the application to initiate on at least one device. For example, in second AR system 2100, user 2108 performs a hand gesture associated with a command for initiating a messaging application (represented by messaging user interface 2116), wrist-wearable device 2102 detects the hand gesture and, based on a determination that user 2108 is wearing AR glasses 2104, causes AR glasses 2104 to present a messaging user interface 2116 of the messaging application. AR glasses 2104 can present messaging user interface 2116 to user 2108 via its display (e.g., as shown by a field of view 2118 of user 2108). In some embodiments, the application is initiated and executed on the device (e.g., wrist-wearable device 2102, AR glasses 2104, and/or HIPD 2106) that detects the user input to initiate the application, and the device provides another device operational data to cause the presentation of the messaging application. For example, wrist-wearable device 2102 can detect the user input to initiate a messaging application, initiate and run the messaging application, and provide operational data to AR glasses 2104 and/or HIPD 2106 to cause presentation of the messaging application. Alternatively, the application can be initiated and executed at a device other than the device that detected the user input. For example, wrist-wearable device 2102 can detect the hand gesture associated with initiating the messaging application and cause HIPD 2106 to run the messaging application and coordinate the presentation of the messaging application.

[0105] Further, user 2108 can provide a user input provided at wrist-wearable device 2102, AR glasses 2104, and/or HIPD 2106 to continue and/or complete an operation initiated at another device. For example, after initiating the messaging application via wristwearable device 2102 and while AR glasses 2104 present messaging user interface 2116, user 2108 can provide an input at HIPD 2106 to prepare a response (e.g., shown by the swipe gesture performed on HIPD 2106). Gestures performed by user 2108 on HIPD 2106 can be provided and/or displayed on another device. For example, a swipe gestured performed on HIPD 2106 is displayed on a virtual keyboard of messaging user interface 2116 displayed by AR glasses 2104.

[0106] In some embodiments, wrist-wearable device 2102, AR glasses 2104, HIPD 2106, and/or any other communicatively coupled device can present one or more notifications to user 2108. The notification can be an indication of a new message, an incoming call, an application update, a status update, etc. User 2108 can select the notification via wrist-wearable device 2102, AR glasses 2104, and/or HIPD 2106 and can cause presentation of an application or operation associated with the notification on at least one device. For example, user 2108 can receive a notification that a message was received at wrist-wearable device 2102, AR glasses 2104, HIPD 2106, and/or any other communicatively coupled device and can then provide a user input at wrist-wearable device 2102, AR glasses 2104, and/or HIPD 2106 to review the notification, and the device detecting the user input can cause an application associated with the notification to be initiated and/or presented at wrist-wearable device 2102, AR glasses 2104, and/or HIPD 2106.

[0107] While the above example describes coordinated inputs used to interact with a messaging application, user inputs can be coordinated to interact with any number of applications including, but not limited to, gaming applications, social media applications, camera applications, web-based applications, financial applications, etc. For example, AR glasses 2104 can present to user 2108 game application data, and HIPD 2106 can be used as a controller to provide inputs to the game. Similarly, user 2108 can use wrist-wearable device 2102 to initiate a camera of AR glasses 2104, and user 308 can use wrist-wearable device 2102, AR glasses 2104, and/or HIPD 2106 to manipulate the image capture (e.g., zoom in or out, apply filters, etc.) and capture image data.

[0108] Users may interact with the devices disclosed herein in a variety of ways. For example, as shown in FIGS. 22A and 22B, a user 2208 may interact with an AR system 2200 by donning a VR headset 2250 while holding HIPD 2206 and wearing wrist-wearable device 2202. In this example, AR system 2200 may enable a user to interact with a game 2210 by swiping their arm. One or more of VR headset 2250, HIPD 2206, and wrist-wearable device 2202 may detect this gesture and, in response, may display a sword strike in game 2210. Similarly, in FIGS. 23A and 23B, a user 2308 may interact with an AR system 2300 by donning a VR headset 2320 while wearing haptic device 2360 and wrist-wearable device 2330. In this example, AR system 2300 may enable a user to interact with a game 2310 by swiping their arm. One or more of VR headset 2320, haptic device 2360, and wrist-wearable device 2330 may detect this gesture and, in response, may display a spell being cast in game 2210.

[0109] Having discussed example AR systems, devices for interacting with such AR systems and other computing systems more generally will now be discussed in greater detail. Some explanations of devices and components that can be included in some or all of the example devices discussed below are explained herein for ease of reference. Certain types of the components described below may be more suitable for a particular set of devices, and less suitable for a different set of devices. But subsequent reference to the components explained here should be considered to be encompassed by the descriptions provided.

[0110] In some embodiments discussed below, example devices and systems, including electronic devices and systems, will be addressed. Such example devices and systems are not intended to be limiting, and one of skill in the art will understand that alternative devices and systems to the example devices and systems described herein may be used to perform the operations and construct the systems and devices that are described herein.

[0111] An electronic device may be a device that uses electrical energy to perform a specific function. An electronic device can be any physical object that contains electronic components such as transistors, resistors, capacitors, diodes, and integrated circuits. Examples of electronic devices include smartphones, laptops, digital cameras, televisions, gaming consoles, and music players, as well as the example electronic devices discussed herein. As described herein, an intermediary electronic device may be a device that sits between two other electronic devices and/or a subset of components of one or more electronic devices and facilitates communication, data processing, and/or data transfer between the respective electronic devices and/or electronic components.

[0112] An integrated circuit may be an electronic device made up of multiple interconnected electronic components such as transistors, resistors, and capacitors. These components may be etched onto a small piece of semiconductor material, such as silicon. Integrated circuits may include analog integrated circuits, digital integrated circuits, mixed signal integrated circuits, and/or any other suitable type or form of integrated circuit. Examples of integrated circuits include application-specific integrated circuits (ASICs), processing units, central processing units (CPUs), co-processors, and accelerators.

[0113] Analog integrated circuits, such as sensors, power management circuits, and operational amplifiers, may process continuous signals and perform analog functions such as amplification, active filtering, demodulation, and mixing. Examples of analog integrated circuits include linear integrated circuits and radio frequency circuits.

[0114] Digital integrated circuits, which may be referred to as logic integrated circuits, may include microprocessors, microcontrollers, memory chips, interfaces, power management circuits, programmable devices, and/or any other suitable type or form of integrated circuit. In some embodiments, examples of integrated circuits include central processing units (CPUs),

[0115] P rocessing units, such as CPUs, may be electronic components that are responsible for executing instructions and controlling the operation of an electronic device (e.g., a computer). There are various types of processors that may be used interchangeably, or may be specifically required, by embodiments described herein. For example, a processor may be: (i) a general processor designed to perform a wide range of tasks, such as running software applications, managing operating systems, and performing arithmetic and logical operations; (ii) a microcontroller designed for specific tasks such as controlling electronic devices, sensors, and motors; (iii) an accelerator, such as a graphics processing unit (GPU), designed to accelerate the creation and rendering of images, videos, and animations (e.g., virtual-reality animations, such as three-dimensional modeling); (iv) a field-programmable gate array (FPGA) that can be programmed and reconfigured after manufacturing and/or can be customized to perform specific tasks, such as signal processing, cryptography, and machine learning; and/or (v) a digital signal processor (DSP) designed to perform mathematical operations on signals such as audio, video, and radio waves. One or more processors of one or more electronic devices may be used in various embodiments described herein.

[0116] Memory generally refers to electronic components in a computer or electronic device that store data and instructions for the processor to access and manipulate. Examples of memory can include: (i) random access memory (RAM) configured to store data and instructions temporarily; (ii) read-only memory (ROM) configured to store data and instructions permanently (e.g., one or more portions of system firmware, and/or boot loaders) and/or semi-permanently; (iii) flash memory, which can be configured to store data in electronic devices (e.g., USB drives, memory cards, and/or solid-state drives (SSDs)); and/or (iv) cache memory configured to temporarily store frequently accessed data and instructions. Memory, as described herein, can store structured data (e.g., SQL databases, MongoDB databases, GraphQL data, JSON data, etc.). Other examples of data stored in memory can include (i) profile data, including user account data, user settings, and/or other user data stored by the user, (ii) sensor data detected and/or otherwise obtained by one or more sensors, (iii) media content data including stored image data, audio data, documents, and the like, (iv) application data, which can include data collected and/or otherwise obtained and stored during use of an application, and/or any other types of data described herein.

[0117] Controllers may be electronic components that manage and coordinate the operation of other components within an electronic device (e.g., controlling inputs, processing data, and/or generating outputs). Examples of controllers can include: (i) microcontrollers, including small, low-power controllers that are commonly used in embedded systems and Internet of Things (loT) devices; (ii) programmable logic controllers (PLCs) that may be configured to be used in industrial automation systems to control and monitor manufacturing processes; (iii) system-on-a-chip (SoC) controllers that integrate multiple components such as processors, memory, I/O interfaces, and other peripherals into a single chip; and/or (iv) DSPs.

[0118] A power system of an electronic device may be configured to convert incoming electrical power into a form that can be used to operate the device. A power system can include various components, such as (i) a power source, which can be an alternating current (AC) adapter or a direct current (DC) adapter power supply, (ii) a charger input, which can be configured to use a wired and/or wireless connection (which may be part of a peripheral interface, such as a USB, micro-USB interface, near-field magnetic coupling, magnetic inductive and magnetic resonance charging, and/or radio frequency (RF) charging), (iii) a power-management integrated circuit, configured to distribute power to various components of the device and to ensure that the device operates within safe limits (e.g., regulating voltage, controlling current flow, and/or managing heat dissipation), and/or (iv) a battery configured to store power to provide usable power to components of one or more electronic devices.

[0119] Peripheral interfaces may be electronic components (e.g., of electronic devices) that allow electronic devices to communicate with other devices or peripherals and can provide the ability to input and output data and signals. Examples of peripheral interfaces can include (i) universal serial bus (USB) and/or micro-USB interfaces configured for connecting devices to an electronic device, (ii) Bluetooth interfaces configured to allow devices to communicate with each other, including Bluetooth low energy (BLE), (iii) near field communication (NFC) interfaces configured to be short-range wireless interfaces for operations such as access control, (iv) POGO pins, which may be small, spring-loaded pins configured to provide a charging interface, (v) wireless charging interfaces, (vi) GPS interfaces, (vii) Wi-Fi interfaces for providing a connection between a device and a wireless network, and/or (viii) sensor interfaces.

[0120] Sensors may be electronic components (e.g., in and/or otherwise in electronic communication with electronic devices, such as wearable devices) configured to detect physical and environmental changes and generate electrical signals. Examples of sensors can include (i) imaging sensors for collecting imaging data (e.g., including one or more cameras disposed on a respective electronic device), (ii) biopotential-signal sensors, (iii) inertial measurement units (e.g., IMUs) for detecting, for example, angular rate, force, magnetic field, and/or changes in acceleration, (iv) heart rate sensors for measuring a user's heart rate, (v) SpO2 sensors for measuring blood oxygen saturation and/or other biometric data of a user, (vi) capacitance sensors for detecting changes in potential at a portion of a user's body (e.g., a sensor-skin interface), and/or (vii) light sensors (e.g., time-of-flight sensors, infrared light sensors, visible light sensors, etc.).

[0121] Bi opotential-signal-sensing components may be devices used to measure electrical activity within the body (e.g., biopotential-signal sensors). Some types of biopotential-signal sensors include (i) electroencephalography (EEG) sensors configured to measure electrical activity in the brain to diagnose neurological disorders, (ii) electrocardiography (ECG or EKG) sensors configured to measure electrical activity of the heart to diagnose heart problems, (iii) electromyography (EMG) sensors configured to measure the electrical activity of muscles and to diagnose neuromuscular disorders, and (iv) electrooculography (EOG) sensors configure to measure the electrical activity of eye muscles to detect eye movement and diagnose eye disorders.

[0122] An application stored in memory of an electronic device (e.g., software) may include instructions stored in the memory. Examples of such applications include (i) games, (ii) word processors, (iii) messaging applications, (iv) media-streaming applications, (v) financial applications, (vi) calendars, (vii) clocks, and (viii) communication interface modules for enabling wired and/or wireless connections between different respective electronic devices (e.g., IEEE 2602.15.4, Wi-Fi, ZigBee, 6L0WPAN, Thread, Z-Wave, Bluetooth Smart, ISAlOO.lla, WirelessHART, or MiWi), custom or standard wired protocols (e.g., Ethernet or HomePlug), and/or any other suitable communication protocols).

[0123] A communication interface may be a mechanism that enables different systems or devices to exchange information and data with each other, including hardware, software, or a combination of both hardware and software. For example, a communication interface can refer to a physical connector and/or port on a device that enables communication with other devices (e.g., USB, Ethernet, HDMI, Bluetooth). In some embodiments, a communication interface can refer to a software layer that enables different software programs to communicate with each other (e.g., application programming interfaces (APIs), protocols like HTTP and TCP/IP, etc.).

[0124] A graphics module may be a component or software module that is designed to handle graphical operations and/or processes and can include a hardware module and/or a software module.

[0125] Non-transitory computer-readable storage media may be physical devices or storage media that can be used to store electronic data in a non-transitory form (e.g., such that the data is stored permanently until it is intentionally deleted or modified).

[0126] FIGS. 24 and 25 illustrate an example wrist-wearable device 2400 and an example computer system 2500, in accordance with some embodiments. Wrist-wearable device 2400 is an instance of wearable device 2002 described in FIG. 20 herein, such that the wearable device 2002 should be understood to have the features of the wrist-wearable device 2400 and vice versa. FIG. 25 illustrates components of the wrist-wearable device 2400, which can be used individually or in combination, including combinations that include other electronic devices and/or electronic components.

[0127] FIG. 24 shows a wearable band 2410 and a watch body 2420 (or capsule) being coupled, as discussed below, to form wrist-wearable device 2400. Wrist-wearable device 2400 can perform various functions and/or operations associated with navigating through user interfaces and selectively opening applications as well as the functions and/or operations described above with reference to FIGS. 20-23B.

[0128] As will be described in more detail below, operations executed by wristwearable device 2400 can include (i) presenting content to a user (e.g., displaying visual content via a display 2405), (ii) detecting (e.g., sensing) user input (e.g., sensing a touch on peripheral button 2423 and/or at a touch screen of the display 2405, a hand gesture detected by sensors (e.g., biopotential sensors)), (iii) sensing biometric data (e.g., neuromuscular signals, heart rate, temperature, sleep, etc.) via one or more sensors 2413, messaging (e.g., text, speech, video, etc.); image capture via one or more imaging devices or cameras 2425, wireless communications (e.g., cellular, near field, Wi-Fi, personal area network, etc.), location determination, financial transactions, providing haptic feedback, providing alarms, providing notifications, providing biometric authentication, providing health monitoring, providing sleep monitoring, etc.

[0129] The above-example functions can be executed independently in watch body 2420, independently in wearable band 2410, and/or via an electronic communication between watch body 2420 and wearable band 2410. In some embodiments, functions can be executed on wrist-wearable device 2400 while an AR environment is being presented (e.g., via one of AR systems 2000 to 2300). The wearable devices described herein can also be used with other types of AR environments.

[0130] Wearable band 2410 can be configured to be worn by a user such that an inner surface of a wearable structure 2411 of wearable band 2410 is in contact with the user's skin. In this example, when worn by a user, sensors 2413 may contact the user's skin. In some examples, one or more of sensors 2413 can sense biometric data such as a user's heart rate, a saturated oxygen level, temperature, sweat level, neuromuscular signals, or a combination thereof. One or more of sensors 2413 can also sense data about a user's environment including a user's motion, altitude, location, orientation, gait, acceleration, position, or a combination thereof. In some embodiment, one or more of sensors 2413 can be configured to track a position and/or motion of wearable band 2410. One or more of sensors 2413 can include any of the sensors defined above and/or discussed below with respect to FIG. 24.

[0131] One or more of sensors 2413 can be distributed on an inside and/or an outside surface of wearable band 2410. In some embodiments, one or more of sensors 2413 are uniformly spaced along wearable band 2410. Alternatively, in some embodiments, one or more of sensors 2413 are positioned at distinct points along wearable band 2410. As shown in FIG. 24, one or more of sensors 2413 can be the same or distinct. For example, in some embodiments, one or more of sensors 2413 can be shaped as a pill (e.g., sensor 2413a), an oval, a circle a square, an oblong (e.g., sensor 2413c) and/or any other shape that maintains contact with the user's skin (e.g., such that neuromuscular signal and/or other biometric data can be accurately measured at the user's skin). In some embodiments, one or more sensors of 2413 are aligned to form pairs of sensors (e.g., for sensing neuromuscular signals based on differential sensing within each respective sensor). For example, sensor 2413b may be aligned with an adjacent sensor to form sensor pair 2414a and sensor 2413d may be aligned with an adjacent sensor to form sensor pair 2414b. In some embodiments, wearable band 2410 does not have a sensor pair. Alternatively, in some embodiments, wearable band 2410 has a predetermined number of sensor pairs (one pair of sensors, three pairs of sensors, four pairs of sensors, six pairs of sensors, sixteen pairs of sensors, etc.).

[0132] Wearable band 2410 can include any suitable number of sensors 2413. In some embodiments, the number and arrangement of sensors 2413 depends on the particular application for which wearable band 2410 is used. For instance, wearable band 2410 can be configured as an armband, wristband, or chest-band that include a plurality of sensors 2413 with different number of sensors 2413, a variety of types of individual sensors with the plurality of sensors 2413, and different arrangements for each use case, such as medical use cases as compared to gaming or general day-to-day use cases.

[0133] In accordance with some embodiments, wearable band 2410 further includes an electrical ground electrode and a shielding electrode. The electrical ground and shielding electrodes, like the sensors 2413, can be distributed on the inside surface of the wearable band 2410 such that they contact a portion of the user's skin. For example, the electrical ground and shielding electrodes can be at an inside surface of a coupling mechanism 2416 or an inside surface of a wearable structure 2411. The electrical ground and shielding electrodes can be formed and/or use the same components as sensors 2413. In some embodiments, wearable band 2410 includes more than one electrical ground electrode and more than one shielding electrode.

[0134] Sensors 2413 can be formed as part of wearable structure 2411 of wearable band 2410. In some embodiments, sensors 2413 are flush or substantially flush with wearable structure 2411 such that they do not extend beyond the surface of wearable structure 2411. While flush with wearable structure 2411, sensors 2413 are still configured to contact the user's skin (e.g., via a skin-contacting surface). Alternatively, in some embodiments, sensors 2413 extend beyond wearable structure 2411 a predetermined distance (e.g., 0.1 - 2 mm) to make contact and depress into the user's skin. In some embodiment, sensors 2413 are coupled to an actuator (not shown) configured to adjust an extension height (e.g., a distance from the surface of wearable structure 2411) of sensors 2413 such that sensors 2413 make contact and depress into the user's skin. In some embodiments, the actuators adjust the extension height between 0.01 mm - 1.2 mm. This may allow a user to customize the positioning of sensors 2413 to improve the overall comfort of the wearable band 2410 when worn while still allowing sensors 2413 to contact the user's skin. In some embodiments, sensors 2413 are indistinguishable from wearable structure 2411 when worn by the user.

[0135] Wearable structure 2411 can be formed of an elastic material, elastomers, etc., configured to be stretched and fitted to be worn by the user. In some embodiments, wearable structure 2411 is a textile or woven fabric. As described above, sensors 2413 can be formed as part of a wearable structure 2411. For example, sensors 2413 can be molded into the wearable structure 2411, be integrated into a woven fabric (e.g., sensors 2413 can be sewn into the fabric and mimic the pliability of fabric and can and/or be constructed from a series woven strands of fabric).

[0136] Wearable structure 2411 can include flexible electronic connectors that interconnect sensors 2413, the electronic circuitry, and/or other electronic components (described below in reference to FIG. 25) that are enclosed in wearable band 2410. In some embodiments, the flexible electronic connectors are configured to interconnect sensors 2413, the electronic circuitry, and/or other electronic components of wearable band 2410 with respective sensors and/or other electronic components of another electronic device (e.g., watch body 2420). The flexible electronic connectors are configured to move with wearable structure 2411 such that the user adjustment to wearable structure 2411 (e.g., resizing, pulling, folding, etc.) does not stress or strain the electrical coupling of components of wearable band 2410.

[0137] As described above, wearable band 2410 is configured to be worn by a user. In particular, wearable band 2410 can be shaped or otherwise manipulated to be worn by a user. For example, wearable band 2410 can be shaped to have a substantially circular shape such that it can be configured to be worn on the user's lower arm or wrist. Alternatively, wearable band 2410 can be shaped to be worn on another body part of the user, such as the user's upper arm (e.g., around a bicep), forearm, chest, legs, etc. Wearable band 2410 can include a retaining mechanism 2412 (e.g., a buckle, a hook and loop fastener, etc.) for securing wearable band 2410 to the user's wrist or other body part. While wearable band 2410 is worn by the user, sensors 2413 sense data (referred to as sensor data) from the user's skin. In some examples, sensors 2413 of wearable band 2410 obtain (e.g., sense and record) neuromuscular signals.

[0138] The sensed data (e.g., sensed neuromuscular signals) can be used to detect and/or determine the user's intention to perform certain motor actions. In some examples, sensors 2413 may sense and record neuromuscular signals from the user as the user performs muscular activations (e.g., movements, gestures, etc.). The detected and/or determined motor actions (e.g., phalange (or digit) movements, wrist movements, hand movements, and/or other muscle intentions) can be used to determine control commands or control information (instructions to perform certain commands after the data is sensed) for causing a computing device to perform one or more input commands. For example, the sensed neuromuscular signals can be used to control certain user interfaces displayed on display 2405 of wrist-wearable device 2400 and/or can be transmitted to a device responsible for rendering an artificial-reality environment (e.g., a head-mounted display) to perform an action in an associated artificial-reality environment, such as to control the motion of a virtual device displayed to the user. The muscular activations performed by the user can include static gestures, such as placing the user's hand palm down on a table, dynamic gestures, such as grasping a physical or virtual object, and covert gestures that are imperceptible to another person, such as slightly tensing a joint by co-contracting opposing muscles or using sub- muscular activations. The muscular activations performed by the user can include symbolic gestures (e.g., gestures mapped to other gestures, interactions, or commands, for example, based on a gesture vocabulary that specifies the mapping of gestures to commands).

[0139] The sensor data sensed by sensors 2413 can be used to provide a user with an enhanced interaction with a physical object (e.g., devices communicatively coupled with wearable band 2410) and/or a virtual object in an artificial-reality application generated by an artificial-reality system (e.g., user interface objects presented on the display 2405, or another computing device (e.g., a smartphone)).

[0140] In some embodiments, wearable band 2410 includes one or more haptic devices 2546 (e.g., a vibratory haptic actuator) that are configured to provide haptic feedback (e.g., a cutaneous and/or kinesthetic sensation, etc.) to the user's skin. Sensors 2413 and/or haptic devices 2546 (shown in FIG. 25) can be configured to operate in conjunction with multiple applications including, without limitation, health monitoring, social media, games, and artificial reality (e.g., the applications associated with artificial reality).

[0141] Wearable band 2410 can also include coupling mechanism 2416 for detachably coupling a capsule (e.g., a computing unit) or watch body 2420 (via a coupling surface of the watch body 2420) to wearable band 2410. For example, a cradle or a shape of coupling mechanism 2416 can correspond to shape of watch body 2420 of wrist-wearable device 2400. In particular, coupling mechanism 2416 can be configured to receive a coupling surface proximate to the bottom side of watch body 2420 (e.g., a side opposite to a front side of watch body 2420 where display 2405 is located), such that a user can push watch body 2420 downward into coupling mechanism 2416 to attach watch body 2420 to coupling mechanism 2416. In some embodiments, coupling mechanism 2416 can be configured to receive a top side of the watch body 2420 (e.g., a side proximate to the front side of watch body 2420 where display 2405 is located) that is pushed upward into the cradle, as opposed to being pushed downward into coupling mechanism 2416. In some embodiments, coupling mechanism 2416 is an integrated component of wearable band 2410 such that wearable band 2410 and coupling mechanism 2416 are a single unitary structure. In some embodiments, coupling mechanism 2416 is a type of frame or shell that allows watch body 2420 coupling surface to be retained within or on wearable band 2410 coupling mechanism 2416 (e.g., a cradle, a tracker band, a support base, a clasp, etc.).

[0142] Coupling mechanism 2416 can allow for watch body 2420 to be detachably coupled to the wearable band 2410 through a friction fit, magnetic coupling, a rotation-based connector, a shear-pin coupler, a retention spring, one or more magnets, a clip, a pin shaft, a hook and loop fastener, or a combination thereof. A user can perform any type of motion to couple the watch body 2420 to wearable band 2410 and to decouple the watch body 2420 from the wearable band 2410. For example, a user can twist, slide, turn, push, pull, or rotate watch body 2420 relative to wearable band 2410, or a combination thereof, to attach watch body 2420 to wearable band 2410 and to detach watch body 2420 from wearable band 2410. Alternatively, as discussed below, in some embodiments, the watch body 2420 can be decoupled from the wearable band 2410 by actuation of a release mechanism 2429.

[0143] Wearable band 2410 can be coupled with watch body 2420 to increase the functionality of wearable band 2410 (e.g., converting wearable band 2410 into wrist-wearable device 2400, adding an additional computing unit and/or battery to increase computational resources and/or a battery life of wearable band 2410, adding additional sensors to improve sensed data, etc.). As described above, wearable band 2410 and coupling mechanism 2416 are configured to operate independently (e.g., execute functions independently) from watch body 2420. For example, coupling mechanism 2416 can include one or more sensors 2413 that contact a user's skin when wearable band 2410 is worn by the user, with or without watch body 2420 and can provide sensor data for determining control commands.

[0144] A user can detach watch body 2420 from wearable band 2410 to reduce the encumbrance of wrist-wearable device 2400 to the user. For embodiments in which watch body 2420 is removable, watch body 2420 can be referred to as a removable structure, such that in these embodiments wrist-wearable device 2400 includes a wearable portion (e.g., wearable band 2410) and a removable structure (e.g., watch body 2420).

[0145] Turning to watch body 2420, in some examples watch body 2420 can have a substantially rectangular or circular shape. Watch body 2420 is configured to be worn by the user on their wrist or on another body part. More specifically, watch body 2420 is sized to be easily carried by the user, attached on a portion of the user's clothing, and/or coupled to wearable band 2410 (forming the wrist-wearable device 2400). As described above, watch body 2420 can have a shape corresponding to coupling mechanism 2416 of wearable band 2410. In some embodiments, watch body 2420 includes a single release mechanism 2429 or multiple release mechanisms (e.g., two release mechanisms 2429 positioned on opposing sides of watch body 2420, such as spring-loaded buttons) for decoupling watch body 2420 from wearable band 2410. Release mechanism 2429 can include, without limitation, a button, a knob, a plunger, a handle, a lever, a fastener, a clasp, a dial, a latch, or a combination thereof.

[0146] A user can actuate release mechanism 2429 by pushing, turning, lifting, depressing, shifting, or performing other actions on release mechanism 2429. Actuation of release mechanism 2429 can release (e.g., decouple) watch body 2420 from coupling mechanism 2416 of wearable band 2410, allowing the user to use watch body 2420 independently from wearable band 2410 and vice versa. For example, decoupling watch body 2420 from wearable band 2410 can allow a user to capture images using rear-facing camera 2425b. Although release mechanism 2429 is shown positioned at a corner of watch body

2420, release mechanism 2429 can be positioned anywhere on watch body 2420 that is convenient for the user to actuate. In addition, in some embodiments, wearable band 2410 can also include a respective release mechanism for decoupling watch body 2420 from coupling mechanism 2416. In some embodiments, release mechanism 2429 is optional and watch body 2420 can be decoupled from coupling mechanism 2416 as described above (e.g., via twisting, rotating, etc.).

[0147] Watch body 2420 can include one or more peripheral buttons 2423 and 2427 for performing various operations at watch body 2420. For example, peripheral buttons 2423 and 2427 can be used to turn on or wake (e.g., transition from a sleep state to an active state) display 2405, unlock watch body 2420, increase or decrease a volume, increase or decrease a brightness, interact with one or more applications, interact with one or more user interfaces, etc. Additionally or alternatively, in some embodiments, display 2405 operates as a touch screen and allows the user to provide one or more inputs for interacting with watch body 2420.

[0148] In some embodiments, watch body 2420 includes one or more sensors

2421. Sensors 2421 of watch body 2420 can be the same or distinct from sensors 2413 of wearable band 2410. Sensors 2421 of watch body 2420 can be distributed on an inside and/or an outside surface of watch body 2420. In some embodiments, sensors 2421 are configured to contact a user's skin when watch body 2420 is worn by the user. For example, sensors 2421 can be placed on the bottom side of watch body 2420 and coupling mechanism 2416 can be a cradle with an opening that allows the bottom side of watch body 2420 to directly contact the user's skin. Alternatively, in some embodiments, watch body 2420 does not include sensors that are configured to contact the user's skin (e.g., including sensors internal and/or external to the watch body 2420 that are configured to sense data of watch body 2420 and the surrounding environment). In some embodiments, sensors 2421 are configured to track a position and/or motion of watch body 2420.

[0149] Watch body 2420 and wearable band 2410 can share data using a wired communication method (e.g., a Universal Asynchronous Receiver/Transmitter (UART), a USB transceiver, etc.) and/or a wireless communication method (e.g., near field communication, Bluetooth, etc.). For example, watch body 2420 and wearable band 2410 can share data sensed by sensors 2413 and 2421, as well as application and device specific information (e.g., active and/or available applications, output devices (e.g., displays, speakers, etc.), input devices (e.g., touch screens, microphones, imaging sensors, etc.).

[0150] In some embodiments, watch body 2420 can include, without limitation, a front-facing camera 2425a and/or a rear-facing camera 2425b, sensors 2421 (e.g., a biometric sensor, an IMU, a heart rate sensor, a saturated oxygen sensor, a neuromuscular signal sensor, an altimeter sensor, a temperature sensor, a bioimpedance sensor, a pedometer sensor, an optical sensor (e.g., imaging sensor 2563), a touch sensor, a sweat sensor, etc.). In some embodiments, watch body 2420 can include one or more haptic devices 2576 (e.g., a vibratory haptic actuator) that is configured to provide haptic feedback (e.g., a cutaneous and/or kinesthetic sensation, etc.) to the user. Sensors 2521 and/or haptic device 2576 can also be configured to operate in conjunction with multiple applications including, without limitation, health monitoring applications, social media applications, game applications, and artificial reality applications (e.g., the applications associated with artificial reality).

[0151] As described above, watch body 2420 and wearable band 2410, when coupled, can form wrist-wearable device 2400. When coupled, watch body 2420 and wearable band 2410 may operate as a single device to execute functions (operations, detections, communications, etc.) described herein. In some embodiments, each device may be provided with particular instructions for performing the one or more operations of wristwearable device 2400. For example, in accordance with a determination that watch body 2420 does not include neuromuscular signal sensors, wearable band 2410 can include alternative instructions for performing associated instructions (e.g., providing sensed neuromuscular signal data to watch body 2420 via a different electronic device). Operations of wrist-wearable device 2400 can be performed by watch body 2420 alone or in conjunction with wearable band 2410 (e.g., via respective processors and/or hardware components) and vice versa. In some embodiments, operations of wrist-wearable device 2400, watch body 2420, and/or wearable band 2410 can be performed in conjunction with one or more processors and/or hardware components.

[0152] As described below with reference to the block diagram of FIG. 25, wearable band 2410 and/or watch body 2420 can each include independent resources required to independently execute functions. For example, wearable band 2410 and/or watch body 2420 can each include a power source (e.g., a battery), a memory, data storage, a processor (e.g., a central processing unit (CPU)), communications, a light source, and/or input/output devices.

[0153] FIG. 25 shows block diagrams of a computing system 2530 corresponding to wearable band 2410 and a computing system 2560 corresponding to watch body 2420 according to some embodiments. Computing system 2500 of wrist-wearable device 2400 may include a combination of components of wearable band computing system 2530 and watch body computing system 2560, in accordance with some embodiments.

[0154] Watch body 2420 and/or wearable band 2410 can include one or more components shown in watch body computing system 2560. In some embodiments, a single integrated circuit may include all or a substantial portion of the components of watch body computing system 2560 included in a single integrated circuit. Alternatively, in some embodiments, components of the watch body computing system 2560 may be included in a plurality of integrated circuits that are communicatively coupled. In some embodiments, watch body computing system 2560 may be configured to couple (e.g., via a wired or wireless connection) with wearable band computing system 2530, which may allow the computing systems to share components, distribute tasks, and/or perform other operations described herein (individually or as a single device).

[0155] Watch body computing system 2560 can include one or more processors 2579, a controller 2577, a peripherals interface 2561, a power system 2595, and memory (e.g., a memory 2580).

[0156] Power system 2595 can include a charger input 2596, a powermanagement integrated circuit (PMIC) 2597, and a battery 2598. In some embodiments, a watch body 2420 and a wearable band 2410 can have respective batteries (e.g., battery 2598 and 2559) and can share power with each other. Watch body 2420 and wearable band 2410 can receive a charge using a variety of techniques. In some embodiments, watch body 2420 and wearable band 2410 can use a wired charging assembly (e.g., power cords) to receive the charge. Alternatively, or in addition, watch body 2420 and/or wearable band 2410 can be configured for wireless charging. For example, a portable charging device can be designed to mate with a portion of watch body 2420 and/or wearable band 2410 and wirelessly deliver usable power to battery 2598 of watch body 2420 and/or battery 2559 of wearable band 2410. Watch body 2420 and wearable band 2410 can have independent power systems (e.g., power system 2595 and 2556, respectively) to enable each to operate independently. Watch body 2420 and wearable band 2410 can also share power (e.g., one can charge the other) via respective PMICs (e.g., PMICs 2597 and 2558) and charger inputs (e.g., 2557 and 2596) that can share power over power and ground conductors and/or over wireless charging antennas.

[0157] In some embodiments, peripherals interface 2561 can include one or more sensors 2521. Sensors 2521 can include one or more coupling sensors 2562 for detecting when watch body 2420 is coupled with another electronic device (e.g., a wearable band 2410). Sensors 2521 can include one or more imaging sensors 2563 (e.g., one or more of cameras 2525, and/or separate imaging sensors 2563 (e.g., thermal-imaging sensors)). In some embodiments, sensors 2521 can include one or more SpO2 sensors 2564. In some embodiments, sensors 2521 can include one or more biopotential-signal sensors (e.g., EMG sensors 2565, which may be disposed on an interior, user-facing portion of watch body 2420 and/or wearable band 2410). In some embodiments, sensors 2521 may include one or more capacitive sensors 2566. In some embodiments, sensors 2521 may include one or more heart rate sensors 2567. In some embodiments, sensors 2521 may include one or more IMU sensors 2568. In some embodiments, one or more IMU sensors 2568 can be configured to detect movement of a user's hand or other location where watch body 2420 is placed or held.

[0158] In some embodiments, one or more of sensors 2521 may provide an example human-machine interface. For example, a set of neuromuscular sensors, such as EMG sensors 2565, may be arranged circumferentially around wearable band 2410 with an interior surface of EMG sensors 2565 being configured to contact a user's skin. Any suitable number of neuromuscular sensors may be used (e.g., between 2 and 20 sensors). The number and arrangement of neuromuscular sensors may depend on the particular application for which the wearable device is used. For example, wearable band 2410 can be used to generate control information for controlling an augmented reality system, a robot, controlling a vehicle, scrolling through text, controlling a virtual avatar, or any other suitable control task. [0159] In some embodiments, neuromuscular sensors may be coupled together using flexible electronics incorporated into the wireless device, and the output of one or more of the sensing components can be optionally processed using hardware signal processing circuitry (e.g., to perform amplification, filtering, and/or rectification). In other embodiments, at least some signal processing of the output of the sensing components can be performed in software such as processors 2579. Thus, signal processing of signals sampled by the sensors can be performed in hardware, software, or by any suitable combination of hardware and software, as aspects of the technology described herein are not limited in this respect.

[0160] N euromuscular signals may be processed in a variety of ways. For example, the output of EMG sensors 2565 may be provided to an analog front end, which may be configured to perform analog processing (e.g., amplification, noise reduction, filtering, etc.) on the recorded signals. The processed analog signals may then be provided to an analog-to- digital converter, which may convert the analog signals to digital signals that can be processed by one or more computer processors. Furthermore, although this example is as discussed in the context of interfaces with EMG sensors, the embodiments described herein can also be implemented in wearable interfaces with other types of sensors including, but not limited to, mechanomyography (MMG) sensors, sonomyography (SMG) sensors, and electrical impedance tomography (EIT) sensors.

[0161] In some embodiments, peripherals interface 2561 includes a near-field communication (NFC) component 2569, a global-position system (GPS) component 2570, a long-term evolution (LTE) component 2571, and/or a Wi-Fi and/or Bluetooth communication component 2572. In some embodiments, peripherals interface 2561 includes one or more buttons 2573 (e.g., peripheral buttons 2423 and 2427 in FIG. 24), which, when selected by a user, cause operation to be performed at watch body 2420. In some embodiments, the peripherals interface 2561 includes one or more indicators, such as a light emitting diode (LED), to provide a user with visual indicators (e.g., message received, low battery, active microphone and/or camera, etc.).

[0162] Watch body 2420 can include at least one display 2405 for displaying visual representations of information or data to a user, including user-interface elements and/or three-dimensional virtual objects. The display can also include a touch screen for inputting user inputs, such as touch gestures, swipe gestures, and the like. Watch body 2420 can include at least one speaker 2574 and at least one microphone 2575 for providing audio signals to the user and receiving audio input from the user. The user can provide user inputs through microphone 2575 and can also receive audio output from speaker 2574 as part of a haptic event provided by haptic controller 2578. Watch body 2420 can include at least one camera 2525, including a front camera 2525a and a rear camera 2525b. Cameras 2525 can include ultra-wide-angle cameras, wide angle cameras, fish-eye cameras, spherical cameras, telephoto cameras, depth-sensing cameras, or other types of cameras.

[0163] Watch body computing system 2560 can include one or more haptic controllers 2578 and associated componentry (e.g., haptic devices 2576) for providing haptic events at watch body 2420 (e.g., a vibrating sensation or audio output in response to an event at the watch body 2420). Haptic controllers 2578 can communicate with one or more haptic devices 2576, such as electroacoustic devices, including a speaker of the one or more speakers 2574 and/or other audio components and/or electromechanical devices that convert energy into linear motion such as a motor, solenoid, electroactive polymer, piezoelectric actuator, electrostatic actuator, or other tactile output generating components (e.g., a component that converts electrical signals into tactile outputs on the device). Haptic controller 2578 can provide haptic events to that are capable of being sensed by a user of watch body 2420. In some embodiments, one or more haptic controllers 2578 can receive input signals from an application of applications 2582.

[0164] In some embodiments, wearable band computing system 2530 and/or watch body computing system 2560 can include memory 2580, which can be controlled by one or more memory controllers of controllers 2577. In some embodiments, software components stored in memory 2580 include one or more applications 2582 configured to perform operations at the watch body 2420. In some embodiments, one or more applications 2582 may include games, word processors, messaging applications, calling applications, web browsers, social media applications, media streaming applications, financial applications, calendars, clocks, etc. In some embodiments, software components stored in memory 2580 include one or more communication interface modules 2583 as defined above. In some embodiments, software components stored in memory 2580 include one or more graphics modules 2584 for rendering, encoding, and/or decoding audio and/or visual data and one or more data management modules 2585 for collecting, organizing, and/or providing access to data 2587 stored in memory 2580. In some embodiments, one or more of applications 2582 and/or one or more modules can work in conjunction with one another to perform various tasks at the watch body 2420.

[0165] In some embodiments, software components stored in memory 2580 can include one or more operating systems 2581 (e.g., a Linux-based operating system, an Android operating system, etc.). Memory 2580 can also include data 2587. Data 2587 can include profile data 2588A, sensor data 2589A, media content data 2590, and application data 2591.

[0166] It should be appreciated that watch body computing system 2560 is an example of a computing system within watch body 2420, and that watch body 2420 can have more or fewer components than shown in watch body computing system 2560, can combine two or more components, and/or can have a different configuration and/or arrangement of the components. The various components shown in watch body computing system 2560 are implemented in hardware, software, firmware, or a combination thereof, including one or more signal processing and/or application-specific integrated circuits.

[0167] Turning to the wearable band computing system 2530, one or more components that can be included in wearable band 2410 are shown. Wearable band computing system 2530 can include more or fewer components than shown in watch body computing system 2560, can combine two or more components, and/or can have a different configuration and/or arrangement of some or all of the components. In some embodiments, all, or a substantial portion of the components of wearable band computing system 2530 are included in a single integrated circuit. Alternatively, in some embodiments, components of wearable band computing system 2530 are included in a plurality of integrated circuits that are communicatively coupled. As described above, in some embodiments, wearable band computing system 2530 is configured to couple (e.g., via a wired or wireless connection) with watch body computing system 2560, which allows the computing systems to share components, distribute tasks, and/or perform other operations described herein (individually or as a single device).

[0168] Wearable band computing system 2530, similar to watch body computing system 2560, can include one or more processors 2549, one or more controllers 2547 (including one or more haptics controllers 2548), a peripherals interface 2531 that can includes one or more sensors 2513 and other peripheral devices, a power source (e.g., a power system 2556), and memory (e.g., a memory 2550) that includes an operating system (e.g., an operating system 2551), data (e.g., data 2554 including profile data 2588B, sensor data 2589B, etc.), and one or more modules (e.g., a communications interface module 2552, a data management module 2553, etc.).

[0169] One or more of sensors 2513 can be analogous to sensors 2521 of watch body computing system 2560. For example, sensors 2513 can include one or more coupling sensors 2532, one or more SpO2 sensors 2534, one or more EMG sensors 2535, one or more capacitive sensors 2536, one or more heart rate sensors 2537, and one or more IMU sensors 2538.

[0170] Peripherals interface 2531 can also include other components analogous to those included in peripherals interface 2561 of watch body computing system 2560, including an NFC component 2539, a GPS component 2540, an LTE component 2541, a Wi-Fi and/or Bluetooth communication component 2542, and/or one or more haptic devices 2546 as described above in reference to peripherals interface 2561. In some embodiments, peripherals interface 2531 includes one or more buttons 2543, a display 2533, a speaker 2544, a microphone 2545, and a camera 2555. In some embodiments, peripherals interface 2531 includes one or more indicators, such as an LED.

[0171] It should be appreciated that wearable band computing system 2530 is an example of a computing system within wearable band 2410, and that wearable band 2410 can have more or fewer components than shown in wearable band computing system 2530, combine two or more components, and/or have a different configuration and/or arrangement of the components. The various components shown in wearable band computing system 2530 can be implemented in one or more of a combination of hardware, software, or firmware, including one or more signal processing and/or application-specific integrated circuits.

[0172] Wrist-wearable device 2400 with respect to FIG. 24 is an example of wearable band 2410 and watch body 2420 coupled together, so wrist-wearable device 2400 will be understood to include the components shown and described for wearable band computing system 2530 and watch body computing system 2560. In some embodiments, wrist-wearable device 2400 has a split architecture (e.g., a split mechanical architecture, a split electrical architecture, etc.) between watch body 2420 and wearable band 2410. In other words, all of the components shown in wearable band computing system 2530 and watch body computing system 2560 can be housed or otherwise disposed in a combined wristwearable device 2400 or within individual components of watch body 2420, wearable band 2410, and/or portions thereof (e.g., a coupling mechanism 2416 of wearable band 2410).

[0173] The techniques described above can be used with any device for sensing neuromuscular signals but could also be used with other types of wearable devices for sensing neuromuscular signals (such as body-wearable or head-wearable devices that might have neuromuscular sensors closer to the brain or spinal column).

[0174] In some embodiments, wrist-wearable device 2400 can be used in conjunction with a head-wearable device (e.g., AR system 2600 and VR system 2700) and/or an HIPD described below, and wrist-wearable device 2400 can also be configured to be used to allow a userto control any aspect of the artificial reality (e.g., by using EMG-based gestures to control user interface objects in the artificial reality and/or by allowing a user to interact with the touchscreen on the wrist-wearable device to also control aspects of the artificial reality). Having thus described example wrist-wearable devices, attention will now be turned to example head-wearable devices, such AR system 2600 and VR system 2700.

[0175] FIGS. 26 to 28 show example artificial-reality systems, which can be used as or in connection with wrist-wearable device 2400. In some embodiments, AR system 2600 includes an eyewear device 2602, as shown in FIG. 26. In some embodiments, VR system 2700 includes a head-mounted display (HMD) 2712, as shown in FIGS. 27A and 27B. In some embodiments, AR system 2600 and VR system 2700 can include one or more analogous components (e.g., components for presenting interactive artificial-reality environments, such as processors, memory, and/or presentation devices, including one or more displays and/or one or more waveguides), some of which are described in more detail with respect to FIG. 28. As described herein, a head-wearable device can include components of eyewear device 2602 and/or head-mounted display 2712. Some embodiments of head-wearable devices do not include any displays, including any of the displays described with respect to AR system 2600 and/or VR system 2700. While the example artificial-reality systems are respectively described herein as AR system 2600 and VR system 2700, either or both of the example AR systems described herein can be configured to present fully-immersive virtual-reality scenes presented in substantially all of a user's field of view or subtler augmented-reality scenes that are presented within a portion, less than all, of the user's field of view.

[0176] FIG. 26 show an example visual depiction of AR system 2600, including an eyewear device 2602 (which may also be described herein as augmented-reality glasses, and/or smart glasses). AR system 2600 can include additional electronic components that are not shown in FIG. 26, such as a wearable accessory device and/or an intermediary processing device, in electronic communication or otherwise configured to be used in conjunction with the eyewear device 2602. In some embodiments, the wearable accessory device and/or the intermediary processing device may be configured to couple with eyewear device 2602 via a coupling mechanism in electronic communication with a coupling sensor 2824 (FIG. 28), where coupling sensor 2824 can detect when an electronic device becomes physically or electronically coupled with eyewear device 2602. In some embodiments, eyewear device 2602 can be configured to couple to a housing 2890 (FIG. 28), which may include one or more additional coupling mechanisms configured to couple with additional accessory devices. The components shown in FIG. 26 can be implemented in hardware, software, firmware, or a combination thereof, including one or more signal-processing components and/or application-specific integrated circuits (ASICs).

[0177] Eyewear device 2602 includes mechanical glasses components, including a frame 2604 configured to hold one or more lenses (e.g., one or both lenses 2606-1 and 2606- 2). One of ordinary skill in the art will appreciate that eyewear device 2602 can include additional mechanical components, such as hinges configured to allow portions of frame 2604 of eyewear device 2602 to be folded and unfolded, a bridge configured to span the gap between lenses 2606-1 and 2606-2 and rest on the user's nose, nose pads configured to rest on the bridge of the nose and provide support for eyewear device 2602, earpieces configured to rest on the user's ears and provide additional support for eyewear device 2602, temple arms configured to extend from the hinges to the earpieces of eyewear device 2602, and the like. One of ordinary skill in the art will further appreciate that some examples of AR system 2600 can include none of the mechanical components described herein. For example, smart contact lenses configured to present artificial reality to users may not include any components of eyewear device 2602.

[0178] Eyewear device 2602 includes electronic components, many of which will be described in more detail below with respect to FIG. 10. Some example electronic components are illustrated in FIG. 26, including acoustic sensors 2625-1, 2625-2, 2625-3, 2625-4, 2625-5, and 2625-6, which can be distributed along a substantial portion of the frame 2604 of eyewear device 2602. Eyewear device 2602 also includes a left camera 2639A and a right camera 2639B, which are located on different sides of the frame 2604. Eyewear device 2602 also includes a processor 2648 (or any other suitable type or form of integrated circuit) that is embedded into a portion of the frame 2604.

[0179] FIGS. 27A and 27B show a VR system 2700 that includes a head-mounted display (HMD) 2712 (e.g., also referred to herein as an artificial-reality headset, a headwearable device, a VR headset, etc.), in accordance with some embodiments. As noted, some artificial-reality systems (e.g., AR system 2600) may, instead of blending an artificial reality with actual reality, substantially replace one or more of a user's visual and/or other sensory perceptions of the real world with a virtual experience (e.g., AR systems 2200 and 2300).

[0180] HMD 2712 includes a front body 2714 and a frame 2716 (e.g., a strap or band) shaped to fit around a user's head. In some embodiments, front body 2714 and/or frame 2716 include one or more electronic elements for facilitating presentation of and/or interactions with an AR and/or VR system (e.g., displays, IMUs, tracking emitter or detectors). In some embodiments, HMD 2712 includes output audio transducers (e.g., an audio transducer 2718), as shown in FIG. 27B. In some embodiments, one or more components, such as the output audio transducer(s) 2718 and frame 2716, can be configured to attach and detach (e.g., are detachably attachable) to HMD 2712 (e.g., a portion or all of frame 2716, and/or audio transducer 2718), as shown in FIG. 27B. In some embodiments, coupling a detachable component to HMD 2712 causes the detachable component to come into electronic communication with HMD 2712.

[0181] FIGS. 27A and 27B also show that VR system 2700 includes one or more cameras, such as left camera 2739A and right camera 2739B, which can be analogous to left and right cameras 2639A and 2639B on frame 2604 of eyewear device 2602. In some embodiments, VR system 2700 includes one or more additional cameras (e.g., cameras 2739C and 2739D), which can be configured to augment image data obtained by left and right cameras 2739A and 2739B by providing more information. For example, camera 2739C can be used to supply color information that is not discerned by cameras 2739A and 2739B. In some embodiments, one or more of cameras 2739A to 2739D can include an optional IR cut filter configured to remove IR light from being received at the respective camera sensors.

[0182] FIG. 28 illustrates a computing system 2820 and an optional housing 2890, each of which show components that can be included in AR system 2600 and/or VR system 2700. In some embodiments, more or fewer components can be included in optional housing 2890 depending on practical restraints of the respective AR system being described.

[0183] In some embodiments, computing system 2820 can include one or more peripherals interfaces 2822A and/or optional housing 2890 can include one or more peripherals interfaces 2822B. Each of computing system 2820 and optional housing 2890 can also include one or more power systems 2842A and 2842B, one or more controllers 2846 (including one or more haptic controllers 2847), one or more processors 2848A and 2848B (as defined above, including any of the examples provided), and memory 2850A and 2850B, which can all be in electronic communication with each other. For example, the one or more processors 2848A and 2848B can be configured to execute instructions stored in memory 2850A and 2850B, which can cause a controller of one or more of controllers 2846 to cause operations to be performed at one or more peripheral devices connected to peripherals interface 2822A and/or 2822B. In some embodiments, each operation described can be powered by electrical power provided by power system 2842A and/or 2842B.

[0184] In some embodiments, peripherals interface 2822A can include one or more devices configured to be part of computing system 2820, some of which have been defined above and/or described with respect to the wrist-wearable devices shown in FIGS. 24 and 25. For example, peripherals interface 2822A can include one or more sensors 2823A. Some example sensors 2823A include one or more coupling sensors 2824, one or more acoustic sensors 2825, one or more imaging sensors 2826, one or more EMG sensors 2827, one or more capacitive sensors 2828, one or more IMU sensors 2829, and/or any other types of sensors explained above or described with respect to any other embodiments discussed herein.

[0185] In some embodiments, peripherals interfaces 2822A and 2822B can include one or more additional peripheral devices, including one or more NFC devices 2830, one or more GPS devices 2831, one or more LTE devices 2832, one or more Wi-Fi and/or Bluetooth devices 2833, one or more buttons 2834 (e.g., including buttons that are slidable or otherwise adjustable), one or more displays 2835A and 2835B, one or more speakers 2836A and 2836B, one or more microphones 2837, one or more cameras 2838A and 2838B (e.g., including the left camera 2839A and/or a right camera 2839B), one or more haptic devices 2840, and/or any other types of peripheral devices defined above or described with respect to any other embodiments discussed herein.

[0186] AR systems can include a variety of types of visual feedback mechanisms (e.g., presentation devices). For example, display devices in AR system 2600 and/or VR system 2700 can include one or more liquid-crystal displays (LCDs), light emitting diode (LED) displays, organic LED (OLED) displays, and/or any other suitable types of display screens. Artificialreality systems can include a single display screen (e.g., configured to be seen by both eyes), and/or can provide separate display screens for each eye, which can allow for additional flexibility for varifocal adjustments and/or for correcting a refractive error associated with a user's vision. Some embodiments of AR systems also include optical subsystems having one or more lenses (e.g., conventional concave or convex lenses, Fresnel lenses, or adjustable liquid lenses) through which a user can view a display screen.

[0187] For example, respective displays 2835A and 2835B can be coupled to each of the lenses 2606-1 and 2606-2 of AR system 2600. Displays 2835A and 2835B may be coupled to each of lenses 2606-1 and 2606-2, which can act together or independently to present an image or series of images to a user. In some embodiments, AR system 2600 includes a single display 2835A or 2835B (e.g., a near-eye display) or more than two displays 2835A and 2835B. In some embodiments, a first set of one or more displays 2835A and 2835B can be used to present an augmented-reality environment, and a second set of one or more display devices 2835A and 2835B can be used to present a virtual-reality environment. In some embodiments, one or more waveguides are used in conjunction with presenting artificial-reality content to the user of AR system 2600 (e.g., as a means of delivering light from one or more displays 2835A and 2835B to the user's eyes). In some embodiments, one or more waveguides are fully or partially integrated into the eyewear device 2602. Additionally, or alternatively to display screens, some artificial-reality systems include one or more projection systems. For example, display devices in AR system 2600 and/or VR system 2700 can include micro-LED projectors that project light (e.g., using a waveguide) into display devices, such as clear combiner lenses that allow ambient light to pass through. The display devices can refract the projected light toward a user's pupil and can enable a user to simultaneously view both artificial-reality content and the real world. Artificial-reality systems can also be configured with any other suitable type or form of image projection system. In some embodiments, one or more waveguides are provided additionally or alternatively to the one or more display(s) 2835A and 2835B.

[0188] Computing system 2820 and/or optional housing 2890 of AR system 2600 or VR system 2700 can include some or all of the components of a power system 2842A and 2842B. Power systems 2842A and 2842B can include one or more charger inputs 2843, one or more PMICs 2844, and/or one or more batteries 2845A and 2844B. [0189] Memory 2850A and 2850B may include instructions and data, some or all of which may be stored as non-transitory computer-readable storage media within the memories 2850A and 2850B. For example, memory 2850A and 2850B can include one or more operating systems 2851, one or more applications 2852, one or more communication interface applications 2853A and 2853B, one or more graphics applications 2854A and 2854B, one or more AR processing applications 2855A and 2855B, and/or any other types of data defined above or described with respect to any other embodiments discussed herein.

[0190] Memory 2850A and 2850B also include data 2860A and 2860B, which can be used in conjunction with one or more of the applications discussed above. Data 2860A and 2860B can include profile data 2861, sensor data 2862A and 2862B, media content data 2863A, AR application data 2864A and 2864B, and/or any other types of data defined above or described with respect to any other embodiments discussed herein.

[0191] In some embodiments, controller 2846 of eyewear device 2602 may process information generated by sensors 2823A and/or 2823B on eyewear device 2602 and/or another electronic device within AR system 2600. For example, controller 2846 can process information from acoustic sensors 2625-1 and 2625-2. For each detected sound, controller 2846 can perform a direction of arrival (DOA) estimation to estimate a direction from which the detected sound arrived at eyewear device 2602 of AR system 2600. As one or more of acoustic sensors 2825 (e.g., the acoustic sensors 2625-1, 2625-2) detects sounds, controller 2846 can populate an audio data set with the information (e.g., represented in FIG. 10 as sensor data 2862A and 2862B).

[0192] In some embodiments, a physical electronic connector can convey information between eyewear device 2602 and another electronic device and/or between one or more processors 2648, 2848A, 2848B of AR system 2600 or VR system 2700 and controller 2846. The information can be in the form of optical data, electrical data, wireless data, or any other transmittable data form. Moving the processing of information generated by eyewear device 2602 to an intermediary processing device can reduce weight and heat in the eyewear device, making it more comfortable and safer for a user. In some embodiments, an optional wearable accessory device (e.g., an electronic neckband) is coupled to eyewear device 2602 via one or more connectors. The connectors can be wired or wireless connectors and can include electrical and/or non-electrical (e.g., structural) components. In some embodiments, eyewear device 2602 and the wearable accessory device can operate independently without any wired or wireless connection between them.

[0193] In some situations, pairing external devices, such as an intermediary processing device (e.g., HIPD 2006, 2106, 2206) with eyewear device 2602 (e.g., as part of AR system 2600) enables eyewear device 2602 to achieve a similar form factor of a pair of glasses while still providing sufficient battery and computation power for expanded capabilities. Some, or all, of the battery power, computational resources, and/or additional features of AR system 2600 can be provided by a paired device or shared between a paired device and eyewear device 2602, thus reducing the weight, heat profile, and form factor of eyewear device 2602 overall while allowing eyewear device 2602 to retain its desired functionality. For example, the wearable accessory device can allow components that would otherwise be included on eyewear device 2602 to be included in the wearable accessory device and/or intermediary processing device, thereby shifting a weight load from the user's head and neck to one or more other portions of the user's body. In some embodiments, the intermediary processing device has a larger surface area over which to diffuse and disperse heat to the ambient environment. Thus, the intermediary processing device can allow for greater battery and computation capacity than might otherwise have been possible on eyewear device 2602 standing alone. Because weight carried in the wearable accessory device can be less invasive to a user than weight carried in the eyewear device 2602, a user may tolerate wearing a lighter eyewear device and carrying or wearing the paired device for greater lengths of time than the user would tolerate wearing a heavier eyewear device standing alone, thereby enabling an artificial-reality environment to be incorporated more fully into a user's day-to-day activities.

[0194] AR systems can include various types of computer vision components and subsystems. For example, AR system 2600 and/or VR system 2700 can include one or more optical sensors such as two-dimensional (2D) or three-dimensional (3D) cameras, time-of- flight depth sensors, structured light transmitters and detectors, single-beam or sweeping laser rangefinders, 3D LiDAR sensors, and/or any other suitable type or form of optical sensor. An AR system can process data from one or more of these sensors to identify a location of a user and/or aspects of the use's real-world physical surroundings, including the locations of real-world objects within the real-world physical surroundings. In some embodiments, the methods described herein are used to map the real world, to provide a user with context about real-world surroundings, and/or to generate digital twins (e.g., interactable virtual objects), among a variety of otherfunctions. For example, FIGS. 27A and 27B show VR system 2700 having cameras 2739A to 2739D, which can be used to provide depth information for creating a voxel field and a two-dimensional mesh to provide object information to the user to avoid collisions.

[0195] In some embodiments, AR system 2600 and/or VR system 2700 can include haptic (tactile) feedback systems, which may be incorporated into headwear, gloves, body suits, handheld controllers, environmental devices (e.g., chairs or floormats), and/or any other type of device or system, such as the wearable devices discussed herein. The haptic feedback systems may provide various types of cutaneous feedback, including vibration, force, traction, shear, texture, and/or temperature. The haptic feedback systems may also provide various types of kinesthetic feedback, such as motion and compliance. The haptic feedback may be implemented using motors, piezoelectric actuators, fluidic systems, and/or a variety of other types of feedback mechanisms. The haptic feedback systems may be implemented independently of other artificial-reality devices, within other artificial-reality devices, and/or in conjunction with other artificial-reality devices.

[0196] In some embodiments of an artificial reality system, such as AR system 2600 and/or VR system 2700, ambient light (e.g., a live feed of the surrounding environment that a user would normally see) can be passed through a display element of a respective headwearable device presenting aspects of the AR system. In some embodiments, ambient light can be passed through a portion less that is less than all of an AR environment presented within a user's field of view (e.g., a portion of the AR environment co-located with a physical object in the user's real-world environment that is within a designated boundary (e.g., a guardian boundary) configured to be used by the user while they are interacting with the AR environment). For example, a visual user interface element (e.g., a notification user interface element) can be presented at the head-wearable device, and an amount of ambient light (e.g., 15-50% of the ambient light) can be passed through the user interface element such that the user can distinguish at least a portion of the physical environment over which the user interface element is being displayed.

[0197] In some embodiments, the artificial reality devices and/or accessory devices disclosed herein may include haptic interfaces with transducers that provide haptic feedback and/or that collect haptic information about a user's interaction with an environment. The artificial-reality systems disclosed herein may include various types of haptic interfaces that detect or convey various types of haptic information, including tactile feedback (e.g., feedback that a user detects via nerves in the skin, which may also be referred to as cutaneous feedback) and/or kinesthetic feedback (e.g., feedback that a user detects via receptors located in muscles, joints, and/or tendons). In some examples, cutaneous feedback may include vibration, force, traction, texture, and/or temperature. Similarly, kinesthetic feedback, may include motion and compliance. Cutaneous and/or kinesthetic feedback may be provided using motors, piezoelectric actuators, fluidic systems, and/or a variety of other types of feedback mechanisms. Furthermore, haptic feedback systems may be implemented independent of other artificial-reality devices, within other artificial-reality devices, and/or in conjunction with other artificial-reality devices.

[0198] By providing haptic sensations, audible content, and/or visual content, artificial-reality systems may create an entire virtual experience or enhance a user's real- world experience in a variety of contexts and environments. For instance, artificial-reality systems may assist or extend a user's perception, memory, or cognition within a particular environment. Some systems may enhance a user's interactions with other people in the real world or may enable more immersive interactions with other people in a virtual world. Artificial-reality systems may also be used for educational purposes (e.g., for teaching or training in schools, hospitals, government organizations, military organizations, business enterprises, etc.), entertainment purposes (e.g., for playing video games, listening to music, watching video content, etc.), and/or for accessibility purposes (e.g., as hearing aids, visual aids, etc.). The haptics assemblies disclosed herein may enable or enhance a user's artificial-reality experience in one or more of these contexts and environments and/or in other contexts and environments.

[0199] FIGS. 29A and 29B show example haptic feedback systems (e.g., handwearable devices) for providing feedback to a user regarding the user's interactions with a computing system (e.g., an artificial-reality environment presented by the AR system 2600 or the VR system 2700). In some embodiments, a computing system (e.g., the AR systems 2200 and/or 2300) may also provide feedback to one or more users based on an action that was performed within the computing system and/or an interaction provided by the AR system (e.g., which may be based on instructions that are executed in conjunction with performing operations of an application of the computing system). Such feedback may include visual and/or audio feedback and may also include haptic feedback provided by a haptic assembly, such as one or more haptic assemblies 2962 of haptic device 2900 (e.g., haptic assemblies 2962-1, 2962-2, 2962-3, etc.). For example, the haptic feedback may prevent (or, at a minimum, hinder/resist movement of) one or more fingers of a user from bending past a certain point to simulate the sensation of touching a solid coffee mug. In actuating such haptic effects, haptic device 2900 can change (either directly or indirectly) a pressurized state of one or more of haptic assemblies 2962.

[0200] Vibrotactile system 2900 may optionally include other subsystems and components, such as touch-sensitive pads, pressure sensors, motion sensors, position sensors, lighting elements, and/or user interface elements (e.g., an on/off button, a vibration control element, etc.). During use, haptic assemblies 2962 may be configured to be activated for a variety of different reasons, such as in response to the user's interaction with user interface elements, a signal from the motion or position sensors, a signal from the touch- sensitive pads, a signal from the pressure sensors, a signal from the other device or system, etc.

[0201] In FIGS. 29A and 29B, each of haptic assemblies 2962 may include a mechanism that, at a minimum, provides resistance when the respective haptic assembly 2962 is transitioned from a first pressurized state (e.g., atmospheric pressure or deflated) to a second pressurized state (e.g., inflated to a threshold pressure). Structures of haptic assemblies 2962 can be integrated into various devices configured to be in contact or proximity to a user's skin, including, but not limited to devices such as glove worn devices, body worn clothing device, headset devices.

[0202] As noted above, haptic assemblies 2962 described herein can be configured to transition between a first pressurized state and a second pressurized state to provide haptic feedback to the user. Due to the ever-changing nature of artificial-reality, haptic assemblies 2962 may be required to transition between the two states hundreds, or perhaps thousands of times, during a single use. Thus, haptic assemblies 2962 described herein are durable and designed to quickly transition from state to state. To provide some context, in the first pressurized state, haptic assemblies 2962 do not impede free movement of a portion of the wearer's body. For example, one or more haptic assemblies 2962 incorporated into a glove are made from flexible materials that do not impede free movement of the wearer's hand and fingers (e.g., an electrostatic-zipping actuator). Haptic assemblies 2962 may be configured to conform to a shape of the portion of the wearer's body when in the first pressurized state. However, once in the second pressurized state, haptic assemblies 2962 can be configured to restrict and/or impede free movement of the portion of the wearer's body (e.g., appendages of the user's hand). For example, the respective haptic assembly 2962 (or multiple respective haptic assemblies) can restrict movement of a wearer's finger (e.g., prevent the fingerfrom curling or extending) when haptic assembly 2962 is in the second pressurized state. Moreover, once in the second pressurized state, haptic assemblies 2962 may take different shapes, with some haptic assemblies 2962 configured to take a planar, rigid shape (e.g., flat and rigid), while some other haptic assemblies 2962 are configured to curve or bend, at least partially.

[0203] As a non-limiting example, haptic device 2900 includes a plurality of haptic devices (e.g., a pair of haptic gloves, a haptics component of a wrist-wearable device (e.g., any of the wrist-wearable devices described with respect to FIGS. 20-24), etc.), each of which can include a garment component (e.g., a garment 2904) and one or more haptic assemblies coupled (e.g., physically coupled) to the garment component. For example, each of the haptic assemblies 2962-1, 2962-2, 2962-3, . . . 2962-N are physically coupled to the garment 2904 and are configured to contact respective phalanges of a user's thumb and fingers. As explained above, haptic assemblies 2962 are configured to provide haptic simulations to a wearer of device 2900. Garment 2904 of each device 2900 can be one of various articles of clothing (e.g., gloves, socks, shirts, pants, etc.). Thus, a user may wear multiple haptic devices 2900 that are each configured to provide haptic stimulations to respective parts of the body where haptic devices 2900 are being worn.

[0204] FIG. 30 shows block diagrams of a computing system 3040 of haptic device 2900, in accordance with some embodiments. Computing system 3040 can include one or more peripherals interfaces 3050, one or more power systems 3095, one or more controllers 3075 (including one or more haptic controllers 3076), one or more processors 3077 (as defined above, including any of the examples provided), and memory 3078, which can all be in electronic communication with each other. For example, one or more processors 3077 can be configured to execute instructions stored in the memory 3078, which can cause a controller of the one or more controllers 3075 to cause operations to be performed at one or more peripheral devices of peripherals interface 3050. In some embodiments, each operation described can occur based on electrical power provided by the power system 3095. The power system 3095 can include a charger input 3096, a PMIC 3097, and a battery 3098.

[0205] In some embodiments, peripherals interface 3050 can include one or more devices configured to be part of computing system 3040, many of which have been defined above and/or described with respect to wrist-wearable devices shown in FIGS. 24 and 25. For example, peripherals interface 3050 can include one or more sensors 3051. Some example sensors include: one or more pressure sensors 3052, one or more EMG sensors 3056, one or more IMU sensors 3058, one or more position sensors 3059, one or more capacitive sensors 3060, one or more force sensors 3061, and/or any other types of sensors defined above or described with respect to any other embodiments discussed herein.

[0206] In some embodiments, the peripherals interface can include one or more additional peripheral devices, including one or more Wi-Fi and/or Bluetooth devices 3068, one or more haptic assemblies 3062, one or more support structures 3063 (which can include one or more bladders 3064, one or more manifolds 3065; one or more pressure-changing devices 3067, and/or any other types of peripheral devices defined above or described with respect to any other embodiments discussed herein.

[0207] In some embodiments, each haptic assembly 3062 includes a support structure 3063 and at least one bladder 3064. Bladder 3064 (e.g., a membrane) may be a sealed, inflatable pocket made from a durable and puncture-resistant material, such as thermoplastic polyurethane (TPU), a flexible polymer, or the like. Bladder 3064 contains a medium (e.g., a fluid such as air, inert gas, or even a liquid) that can be added to or removed from bladder 3064 to change a pressure (e.g., fluid pressure) inside the bladder 3064. Support structure 3063 is made from a material that is stronger and stifferthan the material of bladder 3064. A respective support structure 3063 coupled to a respective bladder 3064 is configured to reinforce the respective bladder 3064 as the respective bladder 3064 changes shape and size due to changes in pressure (e.g., fluid pressure) inside the bladder.

[0208] The system 3040 also includes a haptic controller 3076 and a pressurechanging device 3067. In some embodiments, haptic controller 3076 is part of the computer system 3040 (e.g., in electronic communication with one or more processors 3077 of the computer system 3040). Haptic controller 3076 is configured to control operation of pressurechanging device 3067, and in turn operation of haptic device 2900. For example, haptic controller 3076 sends one or more signals to pressure-changing device 3067 to activate pressure-changing device 3067 (e.g., turn it on and off). The one or more signals may specify a desired pressure (e.g., pounds-per-square inch) to be output by pressure-changing device 3067. Generation of the one or more signals, and in turn the pressure output by pressure- changing device 3067, may be based on information collected by sensors 3051. For example, the one or more signals may cause pressure-changing device 3067 to increase the pressure (e.g., fluid pressure) inside a first haptic assembly 3062 at a first time, based on the information collected by sensors 3051 (e.g., the user makes contact with an artificial coffee mug or other artificial object). Then, the controller may send one or more additional signals to pressure-changing device 3067 that cause pressure-changing device 3067 to further increase the pressure inside first haptic assembly 3062 at a second time after the first time, based on additional information collected by sensors 3051. Further, the one or more signals may cause pressure-changing device 3067 to inflate one or more bladders 3064 in a first device 2900A, while one or more bladders 3064 in a second device 2900B remain unchanged. Additionally, the one or more signals may cause pressure-changing device 3067 to inflate one or more bladders 3064 in a first device 2900A to a first pressure and inflate one or more other bladders 3064 in first device 2900A to a second pressure different from the first pressure. Depending on number of devices 2900 serviced by pressure-changing device 3067, and the number of bladders therein, many different inflation configurations can be achieved through the one or more signals and the examples above are not meant to be limiting.

[0209] The system 3040 may include an optional manifold 3065 between pressure-changing device 3067 and haptic devices 2900. Manifold 3065 may include one or more valves (not shown) that pneumatically couple each of haptic assemblies 3062 with pressure-changing device 3067 via tubing. In some embodiments, manifold 3065 is in communication with controller 3075, and controller 3075 controls the one or more valves of manifold 3065 (e.g., the controller generates one or more control signals). Manifold 3065 is configured to switchably couple pressure-changing device 3067 with one or more haptic assemblies 3062 of the same or different haptic devices 2900 based on one or more control signals from controller 3075. In some embodiments, instead of using manifold 3065 to pneumatically couple pressure-changing device 3067 with haptic assemblies 3062, system 3040 may include multiple pressure-changing devices 3067, where each pressure-changing device 3067 is pneumatically coupled directly with a single haptic assembly 3062 or multiple haptic assemblies 3062. In some embodiments, pressure-changing device 3067 and optional manifold 3065 can be configured as part of one or more of the haptic devices 2900 while, in other embodiments, pressure-changing device 3067 and optional manifold 3065 can be configured as external to haptic device 2900. A single pressure-changing device 3067 may be shared by multiple haptic devices 2900.

[0210] In some embodiments, pressure-changing device 3067 is a pneumatic device, hydraulic device, a pneudraulic device, or some other device capable of adding and removing a medium (e.g., fluid, liquid, gas) from the one or more haptic assemblies 3062.

[0211] The devices shown in FIGS. 29A-30 may be coupled via a wired connection (e.g., via busing). Alternatively, one or more of the devices shown in FIGS. 29A-30 may be wirelessly connected (e.g., via short-range communication signals).

[0212] Memory 3078 includes instructions and data, some or all of which may be stored as non-transitory computer-readable storage media within memory 3078. For example, memory 3078 can include one or more operating systems 3079, one or more communication interface applications 3081, one or more interoperability modules 3084, one or more AR processing applications 3085, one or more data management modules 3086, and/or any other types of applications or modules defined above or described with respect to any other embodiments discussed herein.

[0213] Memory 3078 also includes data 3088 which can be used in conjunction with one or more of the applications discussed above. Data 3088 can include device data 3090, sensor data 3091, and/or any other types of data defined above or described with respect to any other embodiments discussed herein.

[0214] Some portions of this description may describe embodiments in terms of algorithms and symbolic representations of operations on information. These operations, while described functionally, computationally, or logically, are understood to be implemented by computer programs or equivalent electrical circuits, microcode, or the like. Furthermore, it has also proven convenient at times, to refer to these arrangements of operations as modules, without loss of generality. The described operations and their associated modules may be embodied in software, firmware, hardware, or any combinations thereof.

[0215] Any of the steps, operations, or processes described herein may be performed or implemented with one or more hardware or software modules, alone or in combination with other devices. In some embodiments, a software module may be implemented with a computer program product including a computer-readable medium containing computer program code, which can be executed by a computer processor for performing any or all the steps, operations, or processes described.

[0216] Embodiments may also relate to an apparatus for performing the operations herein. This apparatus may be specially constructed for the required purposes, and/or it may include a general-purpose computing device selectively activated or reconfigured by a computer program stored in the computer. Such a computer program may be stored in a non-transitory, tangible computer readable storage medium, or any type of media suitable for storing electronic instructions, which may be coupled to a computer system bus. Furthermore, any computing systems referred to herein may include a single processor or architectures employing multiple processor designs for increased computing capability.

[0217] E mbodiments may also relate to a product that is produced by a computing process described herein. Such a product may include information resulting from a computing process, where the information is stored on a non-transitory, tangible computer readable storage medium and may include any embodiment of a computer program product or other data combination described herein.

[0218] The process parameters and sequence of the steps described and/or illustrated herein are given by way of example only and can be varied as desired. For example, while the steps illustrated and/or described herein may be shown or discussed in a particular order, these steps do not necessarily need to be performed in the order illustrated or discussed. The various exemplary methods described and/or illustrated herein may also omit one or more of the steps described or illustrated herein or include additional steps in addition to those disclosed.

[0219] The preceding description has been provided to enable others skilled in the art to best utilize various aspects of the exemplary embodiments disclosed herein. This exemplary description is not intended to be exhaustive or to be limited to any precise form disclosed. Many modifications and variations are possible without departing from the scope of the present disclosure. The embodiments disclosed herein should be considered in all respects illustrative and not restrictive. Reference should be made to the appended claims and their equivalents in determining the scope of the present disclosure.

[0220] Un less otherwise noted, the terms "connected to" and "coupled to" (and their derivatives), as used in the specification and claims, are to be construed as permitting both direct and indirect (i.e., via other elements or components) connection. In addition, the terms "a" or "an," as used in the specification and claims, are to be construed as meaning "at least one of." Finally, for ease of use, the terms "including" and "having" (and their derivatives), as used in the specification and claims, are interchangeable with and have the same meaning as the word "comprising."

[0221] It will be understood that when an element such as a layer or a region is referred to as being formed on, deposited on, or disposed "on" or "over" another element, it may be located directly on at least a portion of the other element, orone or more intervening elements may also be present. In contrast, when an element is referred to as being "directly on" or "directly over" another element, it may be located on at least a portion of the other element, with no intervening elements present.

[0222] As used herein, the term "approximately" in reference to a particular numeric value or range of values may, in certain embodiments, mean and include the stated value as well as all values within 10% of the stated value. Thus, by way of example, reference to the numeric value "50" as "approximately 50" may, in certain embodiments, include values equal to 50±5, i.e., values within the range 45 to 55.

[0223] As used herein, the term "substantially" in reference to a given parameter, property, or condition may mean and include to a degree that one of ordinary skill in the art would understand that the given parameter, property, or condition is met with a small degree of variance, such as within acceptable manufacturing tolerances. By way of example, depending on the particular parameter, property, or condition that is substantially met, the parameter, property, or condition may be at least approximately 90% met, at least approximately 95% met, or even at least approximately 99% met.

[0224] While various features, elements or steps of particular embodiments may be disclosed using the transitional phrase "comprising," it is to be understood that alternative embodiments, including those that may be described using the transitional phrases "consisting of" or "consisting essentially of," are implied. Thus, for example, implied alternative embodiments to a piezoelectric element that comprises or includes lead zirconate titanate (PZT) include embodiments where a piezoelectric element consists essentially of lead zirconate titanate and embodiments where a piezoelectric element consists of lead zirconate titanate.

Claims

What is claimed is:

1. An integrated circuit comprising: a voltage driver configured to generate a bidirectional output voltage of at least approximately ±50 V; a capacitance sensing circuit configured to detect a sub-micro-Farad scale capacitance; and a computing unit configured to execute a control algorithm to generate the output voltage based on the detected capacitance.

2. The integrated circuit of claim 1, wherein the voltage driver is configured to generate the output voltage from an input voltage of less than approximately 5 V.

3. The integrated circuit of claim 1 or 2, wherein the voltage driver comprises a pair of differential outputs.

4. The integrated circuit of any one of the preceding claims, wherein the capacitance sensing circuit comprises a closed-loop current control circuit.

5. The integrated circuit of any one of the preceding claims, wherein the sub-micro- Farad scale capacitance comprises a nanoscale capacitance.

6. The integrated circuit of any one of the preceding claims, wherein the computing unit comprises a micro-control unit; and/or wherein the computing unit comprises a digital- to-analog converter and an analog-to-digital converter.

7. A control system comprising: a voltage driver integrated circuit configured to generate a bidirectional output voltage of at least approximately ±50 V; a sensing integrated circuit comprising a capacitance sensing circuit configured to detect a nano-Farad scale capacitance; and a controller integrated circuit comprising a computing unit configured to execute a control algorithm to generate the output voltage based on the detected capacitance.

8. The control system of claim 7, wherein the voltage driver integrated circuit, the sensing integrated circuit, and the controller integrated circuit are integrated onto a single chip.

9. The control system of claim 7 or 8, wherein the voltage driver is configured to generate the output voltage from an input voltage of less than approximately 5 V; and/or wherein the voltage driver comprises a pair of differential outputs.

10. The control system of any one of claims 7 to 9, wherein the sensing integrated circuit comprises a closed-loop current control circuit.

11. The control system of any one of claims 7 to 10, wherein the controller integrated circuit comprises a micro-control unit; and/or wherein the controller integrated circuit comprises a digital-to-analog converter and an analog-to-digital converter.

12. A control system comprising: a first integrated circuit comprising: a voltage driver configured to generate a bidirectional output voltage of at least approximately ±50 V; and a capacitance sensing circuit configured to detect a nano-Farad scale capacitance; and a second integrated circuit comprising: a computing unit configured to execute a control algorithm to generate the output voltage based on the detected capacitance.

13. The control system of claim 12, wherein the voltage driver is configured to generate the output voltage from an input voltage of less than approximately 5 V; and/or wherein the voltage driver comprises a pair of differential outputs.

14. The control system of claim 12 or 13, wherein the capacitance sensing circuit comprises a closed-loop current control circuit.

15. The control system of any one of claims 12 to 14, wherein the computing unit comprises a micro-control unit; and/or wherein the computing unit comprises a digital-to- analog converter and an analog-to-digital converter.