TECHNICAL FIELD

[0001] The present disclosure generally relates to the field of biomechatronic and particularly relates to sensory feedback systems. More particularly, the present disclosure relates to a sensory feedback system with multiple sensors and multiple stimulators.

BACKGROUND ART

[0002] Myoelectric artificial limbs that are available on the market may utilize existing muscles in an amputee's residual limb to control the functions of the artificial limbs. More advanced myoelectric artificial limbs may be developed based on electromyography (EMG) recordings and artificial neural networks. Currently available myoelectric artificial limbs may further provide limited sensory feedback to a user, which may enable the user to identify the artificial limb as a part of their body. One approach for providing sensory feedback to a user is to mount a sensor, such as a force sensor on an artificial limb and then mounting a stimulator on a user's skin to provide sensory feedback based on the output signals of the sensor. Such stimulation of intact skin cutaneous receptors may be performed by applying electro -cutaneous stimulation on a user's skin. Examples of such sensory feedback systems may be found in US 2017/0348117 and US 9,480,582.

[0003] As mentioned above, living with an amputated limb has made many challenges in daily routine activities for disabled people. For example, abandonment of the prosthesis is one of the challenges caused by the lack of regaining a surrogate of the prosthetic hand as a real hand in amputees. However, the current commercial prosthetic hands only allow the amputees to control prostheses by their bio-signals without sensory feedback. Therefore, users rely only on their visual or auditory biofeedback. Therefore, lack of sensory feedback is a common flock of prostheses users. Recently, many researchers have afforded force-feedback in prosthetic hand via an invasive or non-invasive method as a sensory substitution. Besides, in most commercial upper-limb prostheses, many types of the feedbacks like the perceiving position of the limbs or angular motion of joints (proprioception) still do not exist.

[0004] However, most available artificial limbs lack significant sensory feedback, such as sense of touch that may allow a user to sense pressure, surface roughness and surface temperature. Lack of such significant sensory feedback may lead to a user perceiving an artificial limb as a foreign body and not being able to perform delicate motor tasks. Consequently, there is a need for developing advanced sensory feedback systems that may provide complex sensory feedback utilizing a combination of different pressure, vibration, and temperature sensors. Such complex sensory feedback may allow for conveyance of sense of touch to a user, which ultimately may lead to improved acceptance rate of artificial and prosthetic limbs.

SUMMARY OF THE DISCLOSURE

[0005] This summary is intended to provide an overview of the subject matter of the present disclosure and is not intended to identify essential elements or key elements of the subject matter, nor is it intended to be used to determine the scope of the claimed implementations. The proper scope of the present disclosure may be ascertained from the claims set forth below in view of the detailed description and the drawings.

[0006] According to one or more exemplary embodiments, the present disclosure is directed to a sensory feedback system. An exemplary sensory feedback system may include a plurality of sensors that may be configured to be mounted on a target region. An exemplary target region may include at least one of a region of a patient's body without sensation and a region of a prosthesis worn by a patient. Each exemplary sensor of the plurality of sensors may be configured to generate an output signal responsive to a stimulus being applied to each exemplary sensor. An exemplary sensory feedback system may further include a plurality of stimulators that may be configured to be mounted on an intact region. An exemplary intact region may include a region of the patient's body with sensation.

[0007] An exemplary sensory feedback system may further include a processing unit that may be coupled with the plurality of sensors and the plurality of stimulators. An exemplary processing unit may be configured to receive the output signal from each sensor of the plurality of sensors and urge each corresponding stimulator of the plurality of stimulators to stimulate a nervous component in the intact region based on the received output signal.

[0008] An exemplary sensory feedback system may further include a first support member that may be configured to support the plurality of sensors on an exemplary target region. An exemplary first support member may further be configured to embrace at least partially a finger, a toe, a hand, a foot, an arm, and a calf of the user or a prosthetic worn by the user.

[0009] An exemplary sensory feedback system may further include a second support member that may be configured to support the plurality of stimulators on an exemplary intact region. An exemplary second support member may include a band that may be configured to be worn around at least one of a forearm, a lower leg, an upper arm, and a thigh of the user. [0010] In an exemplary embodiment, the plurality of stimulators may include at least one of a heat flux generator, a cooler, a miniature loudspeaker, a pneumatic actuator, an electrical muscle stimulator (EMS), and a vibrating motor.

[0011] In an exemplary embodiment, the plurality of sensors may include at least one temperature sensor that may be mounted on an exemplary target region. An exemplary temperature sensor may be configured to generate a first output signal representing the temperature of an exemplary target region. The plurality of stimulators may include at least one thermoelectric cooler that may be mounted on an exemplary intact region. An exemplary thermoelectric cooler may be configured to generate a heat flux on an exemplary intact region. As used herein, generating a heat flux may refer to both heating and cooling.

[0012] An exemplary processing unit may include at least one processor, and at least one memory that may be coupled with an exemplary processor. An exemplary memory may be configured to store executable instructions to urge an exemplary processor to receive the first output signal from an exemplary temperature sensor, determine a temperature value utilizing a correlation between the received output signal and temperature, calculate an electric current to applied to the thermoelectric cooler based at least in part on the determined temperature value, determine a direction of the electric current based at least in part on a sign of the determined temperature value, and urge an exemplary thermoelectric cooler to generate the heat flux on an exemplary intact region by applying the calculated electric current in the determined direction of the electric current on an exemplary thermoelectric cooler.

[0013] In an exemplary embodiment, the plurality of sensors may further include at least one pressure sensor that may be mounted on an exemplary target region. An exemplary pressure sensor may be configured to generate a second output signal representing the pressure exerted on an exemplary target region. The plurality of stimulators may include at least one pneumatic actuator that may be coupled with at least one end-effector. An exemplary pneumatic actuator may be configured to drive an exemplary end-effector to apply pressure on an exemplary intact region. An exemplary memory may be configured to store executable instructions to further urge an exemplary processor to receive the second output signal from an exemplary pressure sensor and urge an exemplary pneumatic actuator to actuate an exemplary end-effector to apply a corresponding amount of pressure on an exemplary intact region based at least in part on the received second output signal.

[0014] In an exemplary embodiment, the pressure sensor may include at least one of a capacitive sensor, a piezo-resistive element, a force-sensitive resistor, and an electro active polymer. [0015] In an exemplary embodiment, the plurality of stimulators may further include at least one pneumatic actuator that may be coupled with at least one corresponding expanding pressure cuff. An exemplary expanding pressure cuff may be configured to be positioned on an exemplary intact region. An exemplary pneumatic actuator may be configured to inflate/deflate an exemplary corresponding expanding pressure cuff based at least in part on the received second output signal. An exemplary memory may be configured to store executable instructions to further urge an exemplary processor to receive the second output signal from an exemplary pressure sensor and urge an exemplary pneumatic actuator to actuate an exemplary expanding pressure cuff to apply a corresponding amount of pressure on the intact region based at least in part on the received second output signal.

[0016] In an exemplary embodiment, the plurality of sensors may further include an exemplary pressure sensor mounted on an exemplary target region. An exemplary pressure sensor may be configured to generate a second output signal representing the pressure exerted on an exemplary target region. In an exemplary embodiment, the plurality of stimulators may further include at least one shape-memory alloy actuator may be coupled to an end-effector. An exemplary end-effector may include a finger element in contact with an exemplary intact region. Sn exemplary shape-memory alloy actuator may include at least one shape-memory alloy deformable responsive to application of at least one of an electric current and a magnetic field. An exemplary finger element may exert pressure on an exemplary intact region in response to a deformation of an exemplary shape-memory alloy actuator.

[0017] An exemplary memory may be configured to store executable instructions to further urge an exemplary processor to receive the second output signal from an exemplary pressure sensor and urge an exemplary shape-memory alloy actuator to actuate an exemplary finger element to apply a corresponding amount of pressure on an exemplary intact region based at least in part on the received second output signal.

[0018] In an exemplary embodiment, the plurality of sensors further include at least one vibrotactile sensor that may be mounted on an exemplary target region. An exemplary vibrotactile sensor may be configured to generate a third output signal representing the sound created responsive to an exemplary target region touching an external object. In an exemplary embodiment, the plurality of stimulators may include at least one vibrotactile activator that may be mounted on an exemplary intact region. An exemplary memory may be configured to store executable instructions to further urge an exemplary processor to receive the third output signal from an exemplary vibrotactile sensor and urge an exemplary vibrotactile activator to apply a vibrotactile stimulus on an exemplary intact region with an intensity corresponding to the intensity of the third output signal. An exemplary vibrotactile stimulus may be selected from a group consisting of an oscillation, a vibration, and a combination thereof.

[0019] An exemplary vibrotactile activator may include at least one of a vibrating motor and a miniature loudspeaker. An exemplary vibrating motor may be configured to generate a vibration stimulus on an exemplary intact region. An exemplary miniature loudspeaker may be configured to generate an oscillation stimulus on an exemplary intact region.

[0020] An exemplary memory may be configured to store executable instructions to further urge an exemplary processor to apply a fast Fourier transform (FFT) on the received third output signal to determine the highest signal power in three predetermined frequency ranges. Exemplary three predetermined frequency ranges may include a low frequency range, a medium frequency range, and a high frequency range. An exemplary memory may be configured to store executable instructions to further urge an exemplary processor to activate an exemplary vibrating motor responsive to the low frequency range having the highest signal power, to activate an exemplary miniature loudspeaker responsive to the high frequency range having the highest signal power, and to activate both an exemplary vibrating motor and an exemplary miniature loudspeaker responsive to the medium frequency range having the higher signal power.

[0021] In an exemplary embodiment, the plurality of sensors may further include at least one flex sensor that may be mounted on an exemplary target region. An exemplary flex sensor may be configured to generate a fourth output signal representing a bend angle of an exemplary target region. In an exemplary embodiment, the plurality of stimulators may include at least one electrical muscle stimulator (EMS) that may be mounted on an exemplary intact region. [0022] An exemplary memory may be configured to store executable instructions to further urge an exemplary processor to receive the fourth output signal from an exemplary vibrotactile sensor and urge an exemplary EMS to apply electrical muscle stimulation on an exemplary intact region based at least in part on the received fourth signal.

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use and method of operation, together with further objectives and advantages thereof, will be better understood from the following drawings in which a presently preferred embodiment of the present disclosure will now be illustrated by way of example. It is expressly understood, however, that the drawings are for illustration and description only and are not intended as a definition of the limits of the present disclosure. Embodiments of the present disclosure will now be described by way of example in association with the accompanying drawings in which:

[0024] FIG. 1 illustrates a sensory feedback system mounted on both a forearm of a patient and a hand prosthesis coupled with forearm, consistent with one or more exemplary embodiments of the present disclosure;

[0025] FIG. 2A illustrates a sensory feedback system, consistent with one or more exemplary embodiments of the present disclosure;

[0026] FIG. 2B illustrates a sensing assembly mounted on a finger, consistent with one or more exemplary embodiments of the present disclosure;

[0027] FIG. 2C illustrates a stimulation assembly mounted on a forearm of a user, consistent with one or more exemplary embodiments of the present disclosure; and [0028] FIG. 3 illustrates a block diagram of a processing unit, consistent with one or more exemplary embodiments of the present disclosure.

DESCRIPTION OF EMBODIMENTS

[0029] The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use and method of operation, together with further objectives and advantages thereof, will be better understood from the following discussion.

[0030] The present disclosure is directed to exemplary embodiments of a system and a method for providing sensory feedback. An exemplary sensory feedback system may be coupled between a target region without sensation and an intact region of a user's body with sensation. An exemplary sensory feedback system may be configured to sense a plurality of stimuli which may be applied on an exemplary target region utilizing a plurality of sensors and then processing the output signals received from the plurality of sensors and generate corresponding stimuli on the intact region via a plurality of stimulators. In exemplary embodiments, such exemplary sensory feedback system may allow for registration of temperature, pressure, vibration, and shear forces and then feeding the central nervous system of a user with the registered senses. In other words, such sensory feedback system may allow for reconstructing all delicate sensory functions of a human body part in either a prosthetic part or a damaged human part without sensation.

[0031] According to one or more exemplary embodiments, the present disclosure is directed to a sensory feedback system that may have three modes of operation, which may be selected based on particular needs of a user. In a first mode of operation, temperature, pressure, vibration, and shear forces are measured by a plurality of exemplary sensors of an exemplary system at an exemplary target region and may be directly fed back to an exemplary intact region utilizing a plurality of exemplary stimulators. In an exemplary second mode of operation, in order to generate more powerful sensory feedbacks, multiple stimulators of exemplary stimulators of an exemplary sensory feedback system may apply stimulation on an exemplary intact region in response to a single output received from each sensor of exemplary sensors. In this exemplary second mode of operation, a sound feedback may be utilized for a better determination of the type of material of an external surface touched by an exemplary target region. To this end, in response to tapping the external surface, an audio signal will announce the type of material to the user.

[0032] In an exemplary embodiment, in order to implement the exemplary second mode of operation, features of the received sound signal may be extracted by pattern recognition techniques. Then the extracted features may be utilized for distinguishing between tapping and friction. Such exemplary features of an exemplary sound signal may include frequency-domain features, statistical, and acoustic features. In order to recognize different patterns, extracted features of a few states must be categorized. Pattern recognition may be performed by an artificial neural network, a linear discriminant analysis (LDA), a support vector machine (SVM), or Gaussian. After recognizing the type of impact from the received sound signal, with the help of pattern recognition, the extracted features of the received sound signal may be compared with recorded features within an exemplary sensory feedback system to recognize if the impact is related to a tapping action. In other words, an exemplary sensory feedback system, for example a sensory feedback system benefiting from an artificial neural network may be trained to recognize tapping or friction based at least in part on the pre-recorded or pre- stored features. In an exemplary embodiment, a particular pattern may further be recorded for each material of construction of an exemplary external surface, and responsive to the received extracted features of the sound signal being similar to the ones recorded for that material, the system may provide the user with an audio signal indicating the name of that material. It should be understood that the received sound signal is generated due to the target surface being touched by an exemplary target surface. In this process, a sound and vibration sensor may be utilized for converting an exemplary sound signal to an electric signal and then the features are extracted from that electric signal and compared with the existing stored patterns. Finally, a sound signal is generated, which is comprehensible by a human user. [0033] In an exemplary embodiment, if the received sound signal is indicative of friction, a Fourier transform may be applied to the signal in three predetermined frequency ranges, and then based on the type of cutaneous mechanoreceptors stimulation, the highest signal power may be selected. Furthermore, features of the received sound signal may be extracted by extracting the number of power changes in a frequency range and further extracting frequency change in the received sound signal in a given time period. In addition, responsive to receiving an electrical signal from an exemplary temperature sensor, the rate of change of temperature in a given time period relative to ambient temperature may be extracted. Furthermore, responsive to receiving an electrical signal from an exemplary pressure or force sensor, the rate of change of pressure or force in the given time period may be extracted as a feature. Similarly, responsive to receiving an electrical signal from an exemplary flex or bend sensor, the rate of change of bend angle in the given time period may be extracted as another feature.

[0034] After extracting all the required features from exemplary sensors of an exemplary sensory feedback system, the aforementioned extracted features may be compared to the features stored, labeled, and trained to the system. Based on the aforementioned comparison, type, intensity, frequency, and weight factor of each stimulation may be selected. Then the selected values may be converted to digital values utilizing an exemplary microcontroller and then exemplary stimulators may be urged by the exemplary microcontroller to apply the stimuli on the intact region. An exemplary sensory feedback system may allow a user to see, change or store the intensities and values suggested by the system on a user interface such as a touch screen or a monitor. As mentioned before, multiple stimulations may be applied by an exemplary sensory feedback system in response to only one output signal generated by a single sensor of exemplary sensors of an exemplary sensory feedback system. Such configuration of an exemplary system may allow a user to have a sensory feedback which is reconstructed more accurately and in a more detailed fashion. For example, when a user drags an exemplary target region on an external surface, the heat generated due to friction may change by changing the bend angle of the target region, which an exemplary sensory feedback system may convey this feeling based on the recorded patterns in a specific frequency, intensity, and weight factor. [0035] FIG. 1 illustrates a sensory feedback system 100 mounted on both a forearm 102 of a patient and a hand prosthesis 104 coupled with forearm 102, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, sensory feedback system 100 may be coupled between hand prosthesis 104 and forearm 102 and may be configured to sense the stimulations applied on hand prosthesis 104 and send a corresponding sensory feedback to forearm 102. As mentioned before, such sensory feedback from hand prosthesis 104 to a patient may help the patient feel and accept hand prosthesis 104 as their own body part. Furthermore, such sensory feedback provided by sensory feedback system 100 may allow a user to experience a sense of touch, which in turn may help the patient to have a far more effective interaction with their surrounding environment.

[0036] In an exemplary embodiment, sensory feedback system 100 may be coupled between a region of a patient's own hand without sensation and forearm 102. Such region of a patient's hand may have lost its sensation and therefore a patient may not experience a sense of touch in that region. Consequently, similar to hand prosthesis 104, in order to have a sense of touch, a sensory feedback system similar to sensory feedback system 100 may be utilized to sense the stimulation at the region without sensation and send corresponding sensory feedbacks to a user, such that the user may experience a sense of touch.

[0037] As used herein, a region without sensation may refer to a region of a body part, such as a finger, a toe, a hand, a foot, an arm, a leg, or a calf of a user which may have reduced sensation or no sensation at all. Such reduced sensation or lack of sensation may be due to nerve injuries or metabolic neuropathy. As used herein, prosthetic body part may refer to an artificial replacement of a body part and may include common prostheses that may be utilized as replacements for arms and legs or any part of arms and legs of a user.

[0038] In an exemplary embodiment, sensory feedback system 100 may be mounted on other regions of a patient's body as well. For example, sensory feedback system 100 may be mounted on feet and legs of a patient depending on the specific type of application. For simplicity and for purpose of describing system components, sensory feedback system 100 is considered to be mounted on hand prosthesis 104 and forearm 102 of a patient.

[0039] In an exemplary embodiment, sensory feedback system 100 may include a plurality of sensors that may be configured to be mounted on a target region. In an exemplary embodiment, an exemplary target region may include a region of a patient's body without sensation, for example a finger, a toe, a hand, a foot, an arm, or a calf of a patient. Similarly, an exemplary target region may include a region of a prosthesis worn by a patient, for example a prosthetic finger, a prosthetic toe, a prosthetic hand, a prosthetic foot, a prosthetic arm, or a prosthetic calf worn by a patient. In other words, the target region may either be a region on a patient's natural body or a region on a prosthesis worn by a patient. For example, sensory feedback system 100 may include a plurality of sensors 106 that may be configured to be mounted on a target region 108. Here, target region 108 may include a prosthetic finger. As mentioned before, target region 108 may as well be a natural finger without sensation. In an exemplary embodiment, each sensor of an exemplary plurality of sensors of an exemplary sensory feedback system may be configured to generate an output signal responsive to a stimulus being applied to each sensor. For example, each sensor of plurality of sensors 106 of sensory feedback system 100 may be configured to generate an output signal responsive to a stimulus being applied to each sensor of plurality of sensors 106.

[0040] In an exemplary embodiment, an exemplary sensory feedback system such as sensory feedback system 100 may further include a plurality of stimulators such as a plurality of stimulators 112. Exemplary stimulators may be configured to be mounted on or to be worn around an intact region of a patient's body. As used herein, an intact region of a patient's body may refer to an intact region of at least one of a forearm, a lower leg, an upper arm, and a thigh of a user with undamaged or partly undamaged tissue. For example, plurality of stimulators 112 may be configured to be mounted on or to be worn around an intact region 114 of forearm 102. In this example, intact region 114 may refer to a region of forearm 102 with sensation. [0041] In an exemplary embodiment, an exemplary sensory feedback system may further include an exemplary processing unit that may be coupled with a plurality of exemplary sensors and a plurality of exemplary stimulators. For example, sensory feedback system 100 may further include a processing unit 116 that may be coupled with plurality of sensors 106 and plurality of stimulators 112. In an exemplary embodiment, an exemplary processing unit may be configured to receive an exemplary output signal from each sensor of a plurality of exemplary sensors and urge each corresponding stimulator of a plurality of exemplary stimulators to stimulate a nervous component in an exemplary intact region based on the received output signal. For example, processing unit 116 may be configured to receive the output signal from each sensor of plurality of sensors 106 and urge each corresponding stimulator of plurality of stimulators 112 to stimulate a nervous component in intact region 114 based on the received output signal.

[0042] In an exemplary embodiment, a plurality of exemplary sensors of an exemplary sensory feedback system may include at least one of a temperature sensor, a pressure sensor, a vibrotactile sensor, and a flex sensor. For example, plurality of sensors 106 mounted on or worn around target region 108 may include at least one of a temperature sensor, a pressure sensor, a vibrotactile sensor, and a flex sensor.

[0043] In an exemplary embodiment, an exemplary sensory feedback system may further include an exemplary first support member, which may be utilized for mounting a plurality of exemplary sensors on an exemplary target region. An exemplary first support member may be configured to be at least partially mounted on or to be worn around a finger, a toe, a hand, a foot, an arm, and a calf of a user or a prosthetic worn by a user. For example, sensory feedback system 100 may further include a first support member 118 that may be configured to be worn around a finger of a user as target region 108. In an exemplary embodiment, first support member 118 may be structured as a housing that may embrace a user's finger. In an exemplary embodiment, plurality of sensors 106 may be mounted on either an inner surface or an outer surface of first support member 118, such that when first support member 118 is mounted on or worn around target region 108, plurality of sensors 106 may adequately contact target region 108.

[0044] In an exemplary embodiment, a plurality of exemplary stimulators of an exemplary sensory feedback system may include at least one of a thermoelectric cooler, a miniature loudspeaker, a pneumatic actuator, and a vibrating motor. For example, plurality of stimulators 112 may include at least one of a thermoelectric cooler, a miniature loudspeaker, a pneumatic actuator, and a vibrating motor coupled with or worn around intact region 114.

[0045] In an exemplary embodiment, an exemplary sensory feedback system may further include an exemplary second support member, which may be utilized for mounting a plurality of exemplary stimulators on an exemplary intact region of a patient's body. An exemplary second support member may be structured as a band that may be mounted on or worn around at least a portion of a forearm, a lower leg, an upper arm, and a thigh of a user. For example, sensory feedback system 100 may further include a second support member 120 that may be configured to be worn around a forearm of a user as intact region 114. In an exemplary embodiment, second support member 120 may be structured as an armband that may be worn around and embrace a user's forearm. In an exemplary embodiment, plurality of stimulators 112 may be mounted on either an inner surface or an outer surface of second support member 120, such that when second support member 120 is worn around intact region 114, plurality of stimulators 112 may adequately contact intact region 114.

[0046] FIG. 2A illustrates a sensory feedback system 200, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, sensory feedback system 200 may be structurally and functionally similar to sensory feedback system 100. In an exemplary embodiment, system 200 may include a sensing assembly 201, a stimulation assembly 220, and a processing unit 230 that may couple sensing assembly 201 and stimulation assembly 220.

[0047] FIG. 2B illustrates sensing assembly 201 which is mounted on a finger 208, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, sensing assembly 201 may include a plurality of sensors (206a-206rf) similar to plurality of sensors 106. In an exemplary embodiment, plurality of sensors (206a-206rf) may be directly mounted on or worn around finger 208 in any convenient way, such as using a strap, tape, glue, as well as being self-adhesive.

[0048] FIG. 2C illustrates stimulation assembly 220 which may be mounted on a forearm of a user, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, stimulation assembly 220 may include a plurality of stimulators (212a-212g) similar to plurality of stimulators 112. In an exemplary embodiment, plurality of stimulators (212a-212g) may be directly mounted on or worn around an exemplary forearm in any convenient way, such as using a strap, tape, glue, as well as being self-adhesive.

[0049] In an exemplary embodiment, each sensor of plurality of sensors (206a-206rf) may be coupled with a corresponding stimulator of plurality of stimulators (212a-212g) via processing unit 230. In an exemplary embodiment, processing unit 230 may be configured similar to processing unit 116 to receive the output signal from each sensor of plurality of sensors (206a- 206 d) and urge each corresponding stimulator of plurality of stimulators (212a-212g) to stimulate a nervous component in an exemplary intact region based on the received output signal, which will be discussed further in the following paragraphs.

[0050] In an exemplary embodiment, plurality of sensors (206a-206rf) and plurality of stimulators (212a-212g) may be coupled with processing unit 230 and each other via a wired, wireless, or a combination of wired and wireless network. For simplicity, some routine elements such as power supplies, touch screen interfaces, buttons, switches, electronic jumpers, and wires and/or connectors are omitted.

[0051] In an exemplary embodiment, plurality of sensors (206a-206rf) and plurality of stimulators (212a-212g) in combination with processing unit 230 may be utilized for resolving the problems associated with lack of sensory feedback in prostheses and body parts lacking sensation. To this end, plurality of sensors (206a-206rf) and plurality of stimulators (212a- 212g) in combination with processing unit 230 may provide a sensory feedback of a body part without sensation or a lacking body part. Plurality of sensors (206a-206rf) may be arranged on a body part without sensation or to be arranged on a body part prosthesis and plurality of stimulators (212a-212g) may be arranged on the skin of an intact region of a body part of a user. In an exemplary embodiment, when each sensor of plurality of sensors (206a-206rf) is subjected to at least one stimuli, processing unit 230 may transfer an output signal of each sensor of plurality of sensors (206a-206rf) to a corresponding stimulator of plurality of stimulators (212a-212g) to transduce the output signal to the stimuli on naturally occurring nervous components in the skin of the intact region. In exemplary embodiments, plurality of sensors (206a-206rf), plurality of stimulators (212a-212g), and processing unit 230 may be attachable to and detachable from a user's body without requiring surgical intervention.

[0052] In an exemplary embodiment, sensing assembly 201 may further include a first support member 218 similar to first support member 118 that may be worn around finger 208. As used herein, first support member 218 being worn around finger 208 may refer to first support member 218 being configured as an enclosure enclosing finger 208. In an exemplary embodiment, sensors (206a-206rf) may be mounted on first support member 218, such that sensors (206a-206rf) may be positioned on a target region of finger 208. In an exemplary embodiment, a target region similar to target region 108 may be defined on finger 208. Finger 208 may either be a real finger without sensing or a prosthetic finger. As used herein, a target region may refer to a region without sensing, from which a sensing feedback is required. For example, here, an outer lower surface of finger 208 that may touch an external surface 202 may be considered a target region on which plurality of sensors (206a-206rf) may be mounted. [0053] In an exemplary embodiment, plurality of sensors (206a-206rf) may include a combination of various types of sensors such as a temperature sensor, a pressure sensor, a vibrotactile sensor, and a flex sensor. In exemplary embodiments, such utilization of several sensors may allow for registration of temperature, pressure, vibration, and shear forces and then feeding the central nervous system of a user with the registered senses. In other words, such utilization of several sensors may allow for reconstructing all delicate sensory functions of a human body part in either a prosthetic part or a damaged human part without sensation. [0054] In an exemplary embodiment, the number of plurality of sensors (206a-206rf), the type of plurality of sensors (206a-206rf), and the spatial arrangement of plurality of sensors (206a- 206 d) may depend at least in part on the type and intensity of the sensory feedback required, the anatomy of an exemplary user and the size of plurality of sensors (206a-206rf).

[0055] In an exemplary embodiment, stimulation assembly 220 may include a second support member 222 similar to second support member 120 that may be configured to be worn around a forearm of a user. In an exemplary embodiment, second support member 222 may be structured as an armband that may be worn around and embrace a user's forearm. In an exemplary embodiment, plurality of stimulators (212a-212g) may be mounted on either an inner surface or an outer surface of second support member 222, such that when second support member 222 is worn around an exemplary forearm of a user, plurality of stimulators (212a- 212g) may adequately contact an exemplary intact region of an exemplary forearm of a user. [0056] In an exemplary embodiment, second support member 222 may include a flexible band 223 and a plurality of mounting members (224a-224/) that may be coupled or attached to flexible band 223. In an exemplary embodiment, plurality of mounting members ( 224a-224f ) may be arranged around flexible band 223 such that when flexible band 223 may be worn around a forearm of a user, mounting members ( 224a-224f) may be arranged around the forearm of the user. In an exemplary embodiment, mounting members ( 224a-224/) may be configured to house and support plurality of stimulators (212a-212g) and optionally a power source that may provide the required power for running an exemplary sensory feedback system. In an exemplary embodiment, each stimulator of plurality of stimulators (212a-212g) may be mounted on a corresponding mounting member of plurality of mounting members ( 224a-224/ ). [0057] In an exemplary embodiment, plurality of stimulators (212a-212g) may include at least one thermoelectric cooler 212a, at least one pressure inducing mechanism 2126, at least one vibrator 212c, at least one electrical muscle stimulator (EMS) 212 d, at least one loudspeaker 212c, at least one pneumatic actuator 212/, and at least one pneumatic actuator 212g. As mentioned before, each stimulator of plurality of stimulators (212a-212g) may be mounted on a corresponding mounting member of plurality of mounting members (224a-224/). For example, at least one thermoelectric cooler 212a may be mounted on or housed within mounting member 224a, at least one vibrator 212c may be mounted on or housed within mounting member 224c, at least one EMS 212 d may be mounted on or housed within mounting member 224 d, at least one loudspeaker 212c may be mounted on or housed within mounting member 224c, and at least one pneumatic actuator 212g may be mounted on or housed within mounting member 224 f. In an exemplary embodiment, pressure inducing mechanism 2126 may be attached to flexible band 223 such that when flexible band 223 may be worn around a forearm of a user, pressure inducing mechanism 2126 may be positioned around the forearm of the user. In an exemplary embodiment, each stimulator of plurality of stimulators (212a- 212g) may be mounted on a corresponding mounting member of plurality of mounting members (224a-224/) such that each stimulator of plurality of stimulators (212a-212g) may be adequately in contact with an intact region of an exemplary forearm of a user. As used herein, an adequate contact of plurality of stimulators (212a-212g) with an intact region may refer to such a contact that may allow for plurality of stimulators (212a-212g) to stimulate naturally occurring nervous components in the skin of the intact region to induce stimuli mimicking the natural stimuli as much as possible.

[0058] In an exemplary embodiment, plurality of sensors (206a-206rf) may include at least one temperature sensor, for example, sensor 2066 may be a temperature sensor. In an exemplary embodiment, temperature sensor 2066 may be configured to generate a first output signal representing the temperature sensed at the target region on finger 208. For example, when finger 208 touches external surface 202, temperature sensor 2066 may generate a first output signal representing the temperature of external surface 202. In an exemplary embodiment, the first output signal generated by temperature sensor 2066 may be an electrical signal, for example, temperature sensor 2066 may be configured to generate a voltage representing the sensed temperature by temperature sensor 2066. In an exemplary embodiment, temperature sensor 2066 may be mounted either directly on finger 208 or mounted on finger 208 utilizing first support member 218.

[0059] In an exemplary embodiment, thermoelectric cooler 212a may be coupled with temperature sensor 2066 via processing unit 230. In an exemplary embodiment, processing unit 230 may be configured to urge thermoelectric cooler 212a to generate a heat flux on an exemplary intact region with an amount equal to a heat flux value calculated based at least in part on an output signal received from temperature sensor 2066. In an exemplary embodiment, thermoelectric cooler 212a may be a solid-state heater and/or cooler that may transfer heat in a direction based on the direction of the current applied to thermoelectric cooler 212a. In an exemplary embodiment, thermoelectric cooler 212a may include two sides, between which heat is transferred in response to a DC electric current flowing through thermoelectric cooler 212a. Consequently, the amount of heat flux generated by thermoelectric cooler 212a may be directly proportional to the DC electrical current being applied to thermoelectric cooler 212a. [0060] In an exemplary embodiment, processing unit 230 may include a processor 234 and a memory 232 that may be coupled with processor 234. In an exemplary embodiment, memory 232 may be configured to store executable instructions to urge processor 234 to receive the first output signal from temperature sensor 2066, determine a temperature value utilizing a correlation between the received output signal and temperature, calculate an electric current to applied to thermoelectric cooler 212a based at least in part on the determined temperature value, determine a direction of the electric current based at least in part on a sign of the determined temperature value, urge thermoelectric cooler 212a to apply either heating or cooling on the intact region by applying the calculated electric current in the determined direction of the electric current on thermoelectric cooler 212a.

[0061] In an exemplary embodiment, plurality of sensors (206a-206rf) may include at least one pressure sensor, for example, sensor 206c may be a pressure sensor. In an exemplary embodiment, pressure sensor 206c may be configured to generate a second output signal representing the pressure exerted on pressure sensor 206c. In other words, pressure sensor 206c may be configured to generate the second output signal in response to finger 208 pressing against an external object such as external surface 202. In an exemplary embodiment, pressure sensor 206c may include at least one of a capacitive sensor, a piezo-resistive element, and an electro active polymer that may be mounted either directly on finger 208 or mounted on finger 208 utilizing first support member 218.

[0062] In an exemplary embodiment, pressure inducing mechanism 2126 may include a plurality of interconnected shape memory alloy (SMA) springs represented by broken lines 213 in FIG. 2C. In an exemplary embodiment, SMA springs 213 may run around flexible band 223 which may be worn around an exemplary forearm. Consequently, SMA springs 213 may be worn around an exemplary forearm of a user. In an exemplary embodiment, SMA springs 213 may deform in response to an electric current or a magnetic field being applied to SMA springs 213. In an exemplary embodiments, rings of SMA springs 213 worn around a forearm of a user may be selectively tighten/loosen around the forearm by adjusting the amount and direction of the electrical current or the magnetic field applied to SMA springs 213. In an exemplary embodiment, SMA springs 213 may be coupled to a finger element and with their deformation may urge the finger element to exert pressure on the intact region.

[0063] In an exemplary embodiment, pressure inducing mechanism 2126 may include a pneumatic actuator (not illustrated) that may be coupled to a corresponding expanding pressure cuff (not illustrated). In an exemplary embodiment, an exemplary pneumatic actuator may include a miniature air pump that may be utilized for deflating/inflating an exemplary expanding pressure cuff. In an exemplary embodiment, an exemplary expanding pressure cuff may be worn around a user's forearm similar to flexible band 223 and may be selectively inflated/deflated around the forearm and thereby exert a pressure on the forearm corresponding to the pressure sensed by pressure sensor 206c. In an exemplary embodiment, selective inflation/deflation of an exemplary expanding pressure cuff may be performed by adjusting the amount and direction of the electrical current provided to an exemplary pneumatic actuator. [0064] In an exemplary embodiment, pneumatic actuator 212f and 212g may be coupled with an end-effector such as a finger element. In an exemplary embodiment, pneumatic actuator 212f and 212g may press the finger element on the intact region when urged by processing unit 230. In an exemplary embodiment, pneumatic actuators 212f and 212g may be utilized for exerting pressure on the intact region based at least in part on an amount of pressure sensed at the target region utilizing pressure sensor 206c. In an exemplary embodiment, the amount of pressure applied by an exemplary finger member may be adjusted by adjusting the amount and direction of the electrical current provided to a driver of pneumatic actuator 212f and 212g. [0065] In an exemplary embodiment, memory 232 may further store executable instructions to urge processor 234 to receive the second output signal from pressure sensor 206c, and urge pressure inducing mechanism 2126 to apply a corresponding amount of pressure on the intact region based at least in part on the received second output signal. In an exemplary embodiment, urging pressure inducing mechanism 2126 may refer to applying an electrical current or a magnetic field on pressure inducing mechanism 2126 with a direction and a value determined based at least in part on the received second output signal. For example, memory 232 may further store executable instructions to urge processor 234 to receive the second output signal from pressure sensor 206c and urge SMA springs 213 to exert pressure to the intact region either directly or via the finger element by applying an electrical current or a magnetic field with a predetermined value and direction. For example, memory 232 may further store executable instructions to urge processor 234 to receive the second output signal from pressure sensor 206c and urge the pneumatic actuator to inflate the expandable pressure cuff to exert pressure on the intact region according to the received second output signal. For example, memory 232 may further store executable instructions to urge processor 234 to receive the second output signal from pressure sensor 206c and urge pneumatic actuators 212f and 212g to actuate a rotational or translational movement of the end-effector coupled with pneumatic actuators 212fand 212g to exert pressure on the intact region according to the received second output signal.

[0066] In an exemplary embodiment, plurality of sensors (206a-206rf) may include at least one vibrotactile sensor, for example, sensor 206a may be a vibrotactile sensor. In an exemplary embodiment, vibrotactile sensor 206a may be configured to generate a third output signal representing the sound created responsive to finger 208 touching an object such as external surface 202. In an exemplary embodiment, vibrotactile sensor 206a may be a miniature microphone mounted either directly on finger 208 or mounted on finger 208 utilizing first support member 218. In an exemplary embodiment, vibrotactile sensor 206a may be configured to record vibrotactile stimuli when finger 208 touches an object such as external surface 202. As used herein, external surface 202 may refer to any surface other than the target region on finger 208. For example, external surface 208 may include another finger of an exemplary user or another finger of a prosthetic hand worn by a user that may be touched by finger 208.

[0067] In an exemplary embodiment, plurality of stimulators (212a-212g) may include at least one vibrotactile activator such as at least one vibrator 212c and at least one miniature loudspeaker 212c. As mentioned before, vibrotactile sensor 206a, which may be a miniature microphone may pick up or record the friction sound of the target region being dragged on an external object or grasping an object and then generating the third output signal representing the friction sound. In an exemplary embodiment, the third output signal may be in the form of an electric signal that may be transmitted to processing unit 230 via a wired, wireless, or a combination of wired and wireless network.

[0068] In an exemplary embodiment, memory 232 of processing unit 230 may be configured to store executable instructions to further urge processor 234 to receive the third output signal from vibrotactile sensor 206a and urge an exemplary vibrotactile activator to apply a vibrotactile stimulus on the intact region with an intensity corresponding to the intensity of the third output signal. In an exemplary embodiment, the vibrotactile stimulus may be selected from a group consisting of an oscillation, a vibration, and a combination thereof based at least in part on a frequency range of the third output signal. In an exemplary embodiment, miniature loudspeaker 212c may be configured to generate the oscillation stimulus on the intact region and vibrator 212c may be configured to generate the vibration stimulus on the intact region. In an exemplary embodiment, at least one vibrator 212c and at least one miniature loudspeaker 212c may be coupled with processing unit 230 via a wired, wireless, or a combination of wired and wireless network.

[0069] In an exemplary embodiment, memory 232 may be configured to store executable instructions to further urge processor 234 to apply a fast Fourier transform (FFT) on the received third output signal to determine the highest signal power in three predetermined frequency ranges, namely, a low frequency range, a medium frequency range, and a high frequency range. In an exemplary embodiment, memory 232 may be configured to store executable instructions to further urge processor 234 to activate at least one vibrator 212c responsive to the low frequency range having the highest signal power, to activate at least one miniature loudspeaker 212c responsive to the high frequency range having the highest signal power, and to activate both at least one vibrator 212c and at least one miniature loudspeaker 212c responsive to the medium frequency range having the higher signal power. In an exemplary embodiment, the vibration stimulus may be applied on a small area of the intact region, while the oscillation stimulus may be applied to a larger portion of the intact region. [0070] In an exemplary embodiment, memory 232 may be configured to store executable instructions to further urge processor 234 to determine if the received third output signal represents tapping on an external surface such as external surface 202 or friction against an external surface such as external surface 202, extract the features of the received third output signal responsive to the received third output signal representing tapping, compare the extracted features with a plurality of reference features, determine the material of the external surface based on the comparison between the extracted features and the plurality of reference features.

[0071] In an exemplary embodiment, plurality of sensors (206a-206rf) may include at least one flex sensor, for example, sensor 206 d may be a flex sensor. In an exemplary embodiment, flex sensor 206 d may be configured to generate a fourth output signal representing a bend angle of finger 208. In an exemplary embodiment, flex sensor 206 d may be configured as a flexible sensor that may be worn around an outer surface of finger 208 either directly or via first support member 218. In an exemplary embodiment, flex sensor 206 d may be structured as a flexible wrap around finger 208 that may conform to the shape of the outer surface of finger 208. In an exemplary embodiment, flex sensor 206 d may be either directly or indirectly stuck to the outer surface of finger 208, and resistance of flex sensor 206 d may be varied in response to finger 208 being bent. In an exemplary embodiment, such change of resistance of flex sensor 206 d due to bending of finger 208 may be directly correlated with bend angle of finger 208.

[0072] In an exemplary embodiment, flex sensor 206 d may be coupled with at least one EMS 212 d via processing unit 230. In an exemplary embodiment, memory 232 may be configured to store executable instructions to further urge processor 234 to receive the fourth output signal from flex sensor 206 d and urge EMS 2\2d to apply an electrical muscle stimulation on the intact region based at least in part on the received fourth signal.

[0073] In an exemplary embodiment, stimulation assembly 220 may further include a user- interface unit 218* that may include a screen 213*. In an exemplary embodiment, an exemplary mode of the multidimensional sensory feedback may include needleless electroacupuncture (EA) that may be selected by a user utilizing screen 213* of user-interface unit 218*, as a sensory substitution, simultaneously (together or separately) stimulated the T1 and C5 myotomes 124* by 3 selected stimulating mode by amputees to perceive 3 types of feedbacks base on the sensed intensity of the environmental stimulation (force and position & temperature-Force & position-temperature) by users. The needleless EA is a stimulator by the electrical stimulation stimulate myotomes. In this non-invasive method, T1 and C5 (the name of myotomes also can use other myotomes) at a constant frequency stimulated. The received data from flex, force or temperature sensors, which are mounted on a structured as a housing that may embrace a user's finger. By a hybrid control system translation digital input data to human sensory perception will perform. Therefore, users sense changes by the changes in intensity of the voltage as an electrical stimulation on their myotomes. By this method, amputees able to recall the position, the applied force, temperature intensity, and identifying the size, type, and temperature of objects by the (for example) index finger. [0074] The sensory substitution was used to transmit position force, temperature, or a mix of them as sensory information into the users. After establishing a suitable modulation range for stimulating the myotomes, the value of the index finger closure will be used to modulate the voltage amplitude of the stimulation in the C5 myotome. In addition, the value of the applied force on the index finger is used to modulate the voltage amplitude of the stimulation on the T1 myotome. Alternatively, change them with the value of the temperature sensor. The frequency of the stimulations constantly is kept. In other words, sensed intensity variations in myotomes are yielded based on the variations of the voltage amplitude modulation of the output of the sensors.

[0075] The parameters of the usage of this mode such as the following variables locating the myotomes, locating the electrodes, the amplitude of the voltage stimulation are calibrated freely set by users. Two active myotomes (or more) per users exist. Four Self-adhesive electrodes 220* (Cathodes (222a*) and anodes (222b*)) (or more,) mounted on the myotome of the radial side of the tendon of the muscle biceps brachii (C5) and the transverse cubital crease, at the ulnar side of the tendon of muscle biceps brachii (Tl).

[0076] For each myotome, the injected charges would be changed based on sensing the intensity of environmental stimulus on the embedded sensors in fixed frequency. The desired goal would to stimuli the sensed phantom limb pain (PLP) zone by using the needleless EA. The suitable results that may be achieved will be by mounting the electrodes on the PLP sensed zone, which is located on myotomes, to stimuli through the surface of the pain position. If the users would feel the usage of the electrical stimulation on the PLP zones is inconvenient, the alternate sites in myotomes should be found and used. The quality of the sensory perception calibration performs as soon as the users detect the threshold of the sensory perception, for a minimum level of stimulation intensity and maximum level of stimulation intensity is rated. The minimum level of stimulation intensity is recorded when users are sensing the first moment of stimulation on their skin. Besides, the maximum level of stimulation intensity can be recorded when users sense muscle twitch or discomfort in myotomes. These two levels of sensation, the minimum level of stimulation intensity and the maximum level of stimulation intensity applied on every myotome arranged, by the second support member's setup keys 214*. The self-adhesive electrodes connected to stimulator by the trrrs jack (216a-b*). The injected current levels by self-adhesive electrodes 220* will always below the chemical safety limit of 120 nC for each myotome. The sensory feedback that applied to the myotomes are the same and given in monophasic output and sinusoidal pulses with amplitudes ranging from 0 to 60 mA. The role of the applied hybrid control PD/Fuzzy system is as a translator of digital input to human sensory perception. The sensory perception perceived by users is an intensity change of the electrical stimulation on myotomes. Clear evidence of the clinical approach to sensory-motor function recovery in the brain functional changes exists. It can modify some of the generated deviant plasticity variations, in the brain, following amputation.

[0077] FIG. 3 illustrates a block diagram of a processing unit 300, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, processing unit 300 may be similar to processing unit 230. In an exemplary embodiment, processing unit 300 may be coupled with an exemplary sensing assembly similar to sensing assembly 201 and an exemplary stimulation assembly similar to stimulation assembly 220.

[0078] In an exemplary embodiment, processing unit 300 may be implemented as a computer system, in which an embodiment of the present disclosure, or portions thereof, may be implemented as computer-readable code, consistent with exemplary embodiments of the present disclosure. For example, executable instructions may be implemented in processing unit 300 using hardware, software, firmware, tangible computer-readable media having instructions stored thereon, or a combination thereof and may be implemented in one or more computer systems or other processing systems.

[0079] If programmable logic is used, such logic may execute on a commercially available processing platform or a special purpose device. One ordinary skill in the art may appreciate that an embodiment of the disclosed subject matter may be practiced with various computer system configurations, including multi-core multiprocessor systems, minicomputers, mainframe computers, computers linked or clustered with distributed functions, as well as pervasive or miniature computers that may be embedded into virtually any device.

[0080] For instance, a computing device having at least one processor device similar to processor 234 and a memory similar to memory 232 may be used to implement the above- described embodiments. A processor device may be a single processor, a plurality of processors, or combinations thereof. Processor devices may have one or more processor “cores.”

[0081] An embodiment of the disclosure is described in terms of this example processing unit 300. After reading this description, it will become apparent to a person skilled in the relevant art how to implement the disclosure using other computer systems and/or computer architectures. Although operations may be described as a sequential process, some of the operations may be performed in parallel, concurrently, and/or in a distributed environment, and with program code stored locally or remotely for access by single or multi-processor machines. Also, in some embodiments, the order of operations may be rearranged without departing from the spirit of the disclosed subject matter.

[0082] In an exemplary embodiment, Processor device 304 may be similar to processor 234 and may be a special purpose or a general-purpose processor device. As will be appreciated by persons skilled in the relevant art, processor device 304 may also be a single processor in a multi-core/multiprocessor system, such system operating alone, or in a cluster of computing devices operating in a cluster or server farm. Processor device 304 may be connected to a communication infrastructure 306, for example, a bus, message queue, network, or multi-core message-passing scheme.

[0083] In an exemplary embodiment, processing unit 300 may include a display interface 302, for example, a video connector, to transfer data to a display unit 330, for example, a monitor. Processing unit 300 may also include a main memory 308, for example, random access memory (RAM), and may also include a secondary memory 310. Secondary memory 310 may include, for example, a hard disk drive 312, and a removable storage drive 314. Removable storage drive 314 may include a floppy disk drive, a magnetic tape drive, an optical disk drive, a flash memory, or the like. Removable storage drive 314 may read from and/or write to a removable storage unit 318 in a well-known manner. Removable storage unit 318 may include a floppy disk, a magnetic tape, an optical disk, etc., which may be read by and written to by removable storage drive 314. As will be appreciated by persons skilled in the relevant art, removable storage unit 318 may include a computer-usable storage medium having stored therein computer software and/or data.

[0084] In alternative implementations, secondary memory 310 may include other similar means for allowing computer programs or other instructions to be loaded into processing unit 300. Such means may include, for example, a removable storage unit 322 and an interface 320. Examples of such means may include a program cartridge and cartridge interface (such as that found in video game devices), a removable memory chip (such as an EPROM, or PROM) and associated socket, and other removable storage units 322 and interfaces 320 which allow software and data to be transferred from removable storage unit 322 to processing unit 300. [0085] Processing unit 300 may also include a communications interface 324. Communications interface 324 allows software and data to be transferred between processing unit 300 and external devices. Communications interface 324 may include a modem, a network interface (such as an Ethernet card), a communications port, a PCMCIA slot, and card, or the like. Software and data transferred via communications interface 324 may be in the form of signals, which may be electronic, electromagnetic, optical, or other signals capable of being received by communications interface 324. These signals may be provided to communications interface 324 via a communications path 326. Communications path 326 carries signals and may be implemented using wire or cable, fiber optics, a phone line, a cellular phone link, an RF link or other communications channels.

[0086] In an exemplary embodiment, executable instructions (also called computer control logic) may be stored in main memory 308 and/or secondary memory 310 as computer programs (also called computer control logic). Computer programs may also be received via communications interface 324. Such computer programs, when executed, enable processing unit 300 to implement different embodiments of the present disclosure as discussed herein. In particular, the computer programs, when executed, enable processor device 304 to implement the processes of the present disclosure, such as the operations in sensory feedback system 200. Accordingly, such computer programs represent processing units of processing unit 300. The software may be stored in a computer program product and loaded into processing unit 300 using removable storage drive 314, interface 320, and hard disk drive 312, or communications interface 324.

[0087] Embodiments of the present disclosure also may be directed to computer program products including software stored on any computer useable medium. Such software, when executed in one or more data processing devices, causes a data processing device to operate as described herein. An embodiment of the present disclosure may employ any computer useable or readable medium. Examples of computer useable mediums include, but are not limited to, primary storage devices (e.g., any type of random access memory), secondary storage devices (e.g., hard drives, floppy disks, CD ROMS, ZIP disks, tapes, magnetic storage devices, and optical storage devices, MEMS, nanotechnological storage device, etc.).

[0088] The embodiments have been described above with the aid of functional building blocks illustrating the implementation of specified functions and relationships thereof. The boundaries of these functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternate boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed.

[0089] The foregoing description of the specific embodiments will so fully reveal the general nature of the disclosure that others can, by applying knowledge within the skill of the art, readily modify and/or adapt for various applications such specific embodiments, without undue experimentation, without departing from the general concept of the present disclosure. Therefore, such adaptations and modifications are intended to be within the meaning and range of equivalents of the disclosed embodiments, based on the teaching and guidance presented herein. It is to be understood that the phraseology or terminology herein is for description and not of limitation, such that the terminology or phraseology of the present specification is to be interpreted by the skilled artisan in light of the teachings and guidance.

[0090] The breadth and scope of the present disclosure should not be limited by any of the above-described exemplary embodiments but should be defined only in accordance with the following claims and their equivalents.

[0091] Throughout this specification and the claims which follow, unless the context requires otherwise, the word "comprise", and variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated integer or step or group of integers or steps but not to the exclusion of any other integer or step or group of integers or steps.

Moreover, the word "substantially" when used with an adjective or adverb is intended to enhance the scope of the particular characteristic, e.g., substantially planar is intended to mean planar, nearly planar and/or exhibiting characteristics associated with a planar element. Further use of relative terms such as “vertical”, “horizontal”, “up”, “down”, and “side-to-side” are used in a relative sense to the normal orientation of the apparatus.