Field of the invention

The present invention relates to an apparatus and a wearable device which provides haptic feedback, and an exercise method using said apparatus and wearable device.

Background

Over the age of 65, the senses that inform a person’s sense of balance begin to deteriorate, leading them to begin to rely more heavily on their vision to navigate their surroundings. However, eyesight generally deteriorates with age. Reliance on failing eyesight, or mistakes due to other failing peripheral senses, can result in a failure to negotiate one’s surroundings, leading to falls and other accidents. This can be especially problematic for the elderly, particularly because such accidents can lead to significant injury and can even result in death. Such accidents may also lead to a fear of falling being developed, leading that person to restrict their physical activity in order to avoid potential falls. This restriction of activity can accelerate the loss of sensation naturally occurring in older age.

One key contributor to one’s sense of balance is the sense of proprioception. Proprioception refers to one’s sense of one’s body in space, particularly in relation to its position, motion and equilibrium. For example, even when vision is occluded with a blindfold, one will still have a sense of where his or her body parts are in space and how they are positioned relative to one another.

Proprioception naturally deteriorates with age and deteriorates even more rapidly in people with certain conditions, such as Parkinson’s disease. People with underdeveloped or deteriorating proprioception may misjudge surroundings, which can also lead to similarly tragic falls and related accidents.

It is thought to be possible to train and improve one’s proprioception, even in the face of aging or rapidly deteriorating conditions like Parkinson’s disease. By training and developing one’s proprioception— particularly the proprioception of the elderly, the less active, those recovering with physiotherapy, and those with conditions such as Parkinson’s disease— it may be possible to improve one’s ability to navigate one’s surroundings and manipulate objects, thereby reducing the likelihood and severity of accidents such as falls. Additionally, when people engage in exercises such as yoga, they may be performing such exercises incorrectly. Unless one has the benefit of a professional who can correct one’s exercises in real-time, one is likely to continue performing exercises incorrectly, and this can reinforce poor physical practices and postures.

There is a need to train one’s sense of proprioception.

Summary

According to a first aspect of the present invention, there is provided an apparatus for providing haptic feedback to a user, the apparatus comprising:

a first surface for a left hand of the user and a second surface for a right hand of the user such that the device can be grasped by the user;

haptic devices configured to provide haptic feedback to the first and second surfaces;

a position sensor for sensing position information of the apparatus; and a processor configured to activate one or more of the haptic devices based on the position information so as to provide haptic feedback to the user and/or to increase the intensity of that haptic feedback. By varying the haptic feedback provided to the user based on the position of the apparatus, the user will receive tactile sensations which can train them to more accurately judge where their body parts are in space. By performing exercises with the apparatus, it may be possible to train the user’s proprioception.

In embodiments of the invention, the position sensor senses position information of each haptic device. The position sensor may calibrate an initial position of each haptic device, and then continuously detect the positions of each haptic device as the apparatus is moved. In particular, the processor is configured to:

compare an initial position of each haptic device with a displaced position of each respective haptic device;

if the displaced position of a haptic device differs beyond a respective threshold amount from the initial position of that haptic device, activate that haptic device; and

if the displaced position of a haptic device differs from the initial position of that haptic device by an amount that is below the respective threshold amount, deactivate that haptic device. As such, one or more haptic devices are only activated to provide haptic feedback if the user moves (e.g. rolls or tilts) the apparatus beyond an acceptable limit. The haptic feedback provided will inform the user that the apparatus has been displaced too much from the calibrated initial position and the user can then perform corrective manoeuvres to the apparatus so that the displaced position(s) of the haptic devices does not exceed the said threshold amount, thereby deactivating the corresponding haptic devices.

In embodiments of the invention, a first set of haptic devices is configured to provide haptic feedback to the first surface; and a second set of haptic devices is configured to provide haptic feedback to the second surface. In particular, the first set of haptic devices is arranged to underlie the user’s left hand such that haptic feedback from the first set of haptic devices is provided to the fingers and palm of the user’s left hand; and the second set of haptic devices is arranged to underlie the user’s right hand such that haptic feedback from the second set of haptic devices is provided to the fingers and palm of the user’s right hand. Advantageously, the haptic feedback is provided to the user’s hands because human hands are extremely sensitive to touch and thus haptic feedback.

In embodiments of the invention, the processor is configured to increase the number of haptic devices that are activated as the difference between the displaced position(s) and the initial position(s) increases. In particular embodiments of the invention, the processor is configured to activate a lowermost haptic device(s) first, progressing to an uppermost haptic device(s) as the difference between the displaced position(s) and the initial position(s) increases. This progressive activation of the haptic feedback devices corresponds with how farthe user has displaced the apparatus from the calibrated initial position, and thus informs the user in which direction the apparatus should be manipulated to return the apparatus to a position wherein the displaced positions of each haptic device do not exceed their respective threshold amounts.

In embodiments of the invention, the processor is configured to increase an intensity of the haptic feedback provided as the difference between the displaced position(s) and the initial position(s) increases. In particular embodiments of the invention, the processor is configured to increase the haptic feedback intensity of a lowermost haptic device(s) first, progressing to an uppermost haptic device(s) as the difference between the displaced position(s) and the initial position(s) increases. This progressive increase of haptic feedback intensity, which corresponds with how far the apparatus has been displaced, also serves to inform the user how to correct the position of the apparatus.

In embodiments of the invention, the number of haptic devices activated and an intensity of the haptic feedback thereof varies with a pitch and/or a roll of the apparatus. In such embodiments, the user may perform exercises which require the apparatus to be maintained at a substantially level orientation (e.g. minimal tilting or rolling of the apparatus).

In embodiments of the invention, the apparatus comprises a body which defines the first and second surfaces and houses the position sensor and processor, wherein the haptic devices are mounted to the body. The body may comprise hand-shaped grooves, and the haptic devices are disposed within a boundary defined by the grooves. In particular embodiments of the invention, the body comprises:

an internal housing for housing the position sensor and the processor;

left and right-hand side shells configured to secure and close respective sides of the housing to which the haptic devices are mounted; and

a skin substantially covering the shell. In such an embodiment, the shell comprises apertures in which respective haptic devices are mounted, and the skin retains each haptic device within the respective aperture and against the housing. The haptic devices may each comprise an electric hammer motor or an eccentric rotating mass actuator (ERM).

According to a second aspect of the invention, there is provided an exercise method using an apparatus according to the first aspect of the invention, the method comprising: determining an initial position of the apparatus when it is initially grasped by the user;

determining a displaced position of the apparatus when it is moved by the user; determining the difference between the initial position and the displaced position; and activating one or more haptic devices if the difference between the initial position and the displaced position is beyond a threshold amount.

In embodiments of the invention, the method further comprises deactivating one or more haptic devices if the difference between the initial position and the displaced position is below the threshold amount.

In embodiments of the invention, the steps of determining the initial position and the displaced position of the apparatus comprises determining an initial position and a displaced position, respectively, of each haptic device; and the step of determining the difference between the initial position and the displaced position of the apparatus comprises determining the difference between the initial position of each haptic device and the displaced position of the respective haptic device.

In embodiments of the invention, the method further comprises increasing the number of haptic devices that are activated as the difference between the initial position(s) and the displaced position(s) increases. In particular embodiments, the step of increasing the number of haptic devices that are activated comprises activating a lowermost haptic device(s) first, progressing to an uppermost haptic device(s) as the difference between the initial position(s) and the displaced position(s) increases.

In embodiments of the invention, the method further comprises increasing an intensity of the haptic feedback provided by of one or more haptic devices as the difference between the initial position(s) and the displaced position(s) increases. In particular embodiments, the step of increasing haptic feedback intensity comprises increasing the intensity of a lowermost haptic device(s) first, progressing to an uppermost haptic device(s) as the difference between the initial position(s) and the displaced position(s) increases.

In embodiments of the invention, the number of haptic devices that are activated and/or an intensity of haptic feedback thereof varies with a pitch and a roll of the apparatus.

According to a third aspect of the invention, there is provided a computer program code which when executed implements a method according to the second aspect of the invention.

According to a fourth aspect of the invention, there is provided a computer readable medium comprising the computer program code of the third aspect of the invention.

According to a fifth aspect of the invention, there is provided a wearable device for providing haptic feedback to a user, comprising:

a left glove for a left hand of the user;

a right glove for a right hand of the user;

haptic devices embedded in the gloves and configured to provide haptic feedback thereto;

a position sensor for sensing position information of the gloves; and

a processor configured to activate one or more of the haptic devices based on the position information so as to provide haptic feedback to the user and/or to increase the intensity of that haptic feedback. The gloves may provide haptic feedback to the user in a manner as previously described in respect of the apparatus. However, gloves may be particularly suitable to users who have severe Parkinson’s disease and have trouble holding onto the apparatus. Gloves which provide haptic feedback, and used alongside specific exercises, may represent a useful alternative for training proprioception in such users.

In embodiments of the invention, the position sensor senses position information of each haptic device. In particular embodiments, the processor is configured to: compare an initial position of each haptic device with a displaced position of each respective haptic device; if the displaced position of a haptic device differs beyond a respective threshold amount from the initial position of that haptic device, activate that haptic device; and if the displaced position of a haptic device differs from the initial position of that haptic device by an amount that is below the respective threshold amount, deactivate that haptic device.

In embodiments of the invention, a first set of haptic devices is configured to provide haptic feedback to the left glove; and a second set of haptic devices is configured to provide haptic feedback to the right glove. In particular embodiments, the first set of haptic devices is arranged to underlie the user’s left hand such that haptic feedback from the first set of haptic devices is provided to the fingers and palm of the user’s left hand; and the second set of haptic devices is arranged to underlie the user’s right hand such that haptic feedback from the second set of haptic devices is provided to the fingers and palm of the user’s right hand.

In embodiments of the invention, the processor is configured to increase the number of haptic devices that are activated as the difference between the displaced position and the initial position increases. In particular embodiments, the processor is configured to activate a lowermost haptic device(s) first, progressing to an uppermost haptic device(s) as the difference between the displaced position(s) and the initial position(s) increases.

In embodiments of the invention, the processor is configured to increase an intensity of the haptic feedback provided as the difference between the displaced position(s) and the initial position(s) increases. In particular embodiments, the processor is configured to increase the haptic feedback intensity of a lowermost haptic device(s) first, progressing to an uppermost haptic device(s) as the difference between the displaced position(s) and the initial position(s) increases.

In embodiments of the invention, the number of haptic devices activated and/or an intensity of the haptic feedback thereof varies with a pitch and a roll of the apparatus.

Brief description of the drawings

In order that the invention may be more easily understood, an embodiment will now be described, by way of example only, with reference to the accompanying drawings, in which:

Figure 1 is a side perspective view of a partially assembled apparatus according to embodiments of the present invention;

Figure 2 is an exploded view of the apparatus of Figure 1 ; Figure 3 is an exploded view of a haptic device and mount of the apparatus;

Figure 4 is a side perspective view of a shell of the apparatus of Figure 1 ;

Figure 5 is a bottom view of the apparatus of Figure 1 ;

Figure 6 is a flowchart illustrating an example operation of an apparatus according to embodiments of the present invention; and

Figure 7 is a 3D plot showing the spatial positions of haptic devices of the apparatus. Detailed description

With reference to Figures 1 and 2, embodiments of the present invention provide a generally ball-shaped apparatus 2 (the apparatus shall henceforth be referred to as a ball) which a user can hold and lift up with both hands while performing a range of exercise motions. An exercise motion might involve assuming certain poses (as in yoga) while holding the ball 2.

For example, one exercise motion could involve slowly moving the ball 2 away from and towards the user’s chest by extending and retracting their arms forwards and backwards, respectively. The exercise would require the user to maintain the ball in a substantially level orientation as they move the ball 2. If during the exercise the user does not maintain the ball 2 at a sufficiently level orientation and/or position, the ball 2 is configured to provide haptic feedback to the user to inform the user accordingly. For example, if the user tilts (pitches) the ball 2 too much in a clockwise or counter-clockwise direction while doing the exercise, one or more haptic devices is configured to activate and provide haptic feedback to the user, thereby informing the user that the ball 2 has been tilted in a certain direction. Similarly, if the user rolls the ball 2 too much in a forwards or backwards direction, one or more haptic devices will activate and provide haptic feedback to the user to alert the user that the ball 2 has been rolled too much in a certain direction. Based on the haptic feedback received, the user can learn that their arms/hands are not level and that they are not performing the exercise motion correctly. The user can then make a corrective adjustment to the ball 2, and thus their bodily posture. In performing such exercises with the ball 2, the user may gain a more accurate judgment of how their body parts are positioned and moving in space, thereby improving the user’s proprioception.

Figure 1 shows a left-hand side of the ball 2. The right-hand side of the ball 2 is substantially symmetrical with the left-hand side of the ball 2. The ball 2 comprises a curved and generally spherical body 4 which the user can grasp and lift the ball 2 with both hands. With reference to Figure 2, the body 4 comprises a central housing 6 in which circuitry and other internal components can be housed (e.g. a position sensor, a processor, a power supply etc.) as will be discussed later. The body 4 also comprises a first, left-hand side shell 8L for receiving the user’s left hand, and a second, right-hand side shell 8R for receiving the user’s right hand. The shells 8L, 8R are configured to close over respective sides of the housing 6, thereby enclosing the internal components therein. For example, the shells 8L, 8R may be releasably fastened to the housing 6 with screws or other common fasteners.

When the ball 2 is assembled, the two shells 8L, 8R and housing 6 together form a generally continuous and curved surface. In an embodiment that is not shown in the Figures, the body 4 also includes a skin which substantially wraps over and encloses the shells 8L, 8R and housing 6. The skin may be formed from a material such as silicone or a TPU and present surfaces with a sufficiently high coefficient of friction to help the user grip the ball 2.

The exterior surface of the left-hand shell 8L comprises a left hand-shaped groove 10L for receiving the user’s left hand. Similarly, the exterior surface of the right-hand shell 8R comprises a right hand-shaped groove 10R for receiving the user’s right hand. The grooves 10L, 10R help to guide a user’s hands to a correct holding position of the ball 2. The grooves 10L, 10R may also help the user hold onto the ball 2, particularly if a condition such as Parkinson’s disease might compromise the user’s grip on the ball 2. The ball 2 may also be provided with securing means (not shown), such as Velcro ^® straps, which help the user handle the ball 2.

Wth reference to Figures 2 and 3, apertures 12 are provided within the boundary of each hand-shaped groove 8L, 8R. It is in these apertures 12 that respective haptic devices are mounted. The haptic devices are configured to generate and provide haptic feedback to the user’s hands based on how the user is handling the ball 2. In the embodiment of Figure 3, each haptic device is in the form of an electric hammer motor 14 with an eccentric cam on a shaft thereof for reciprocating a contact pad or the like, or otherwise causing vibrations, though of course other types of devices for providing haptic feedback may be used.

In use, when one or more motors 14 are activated, they deliver a tactile hammering sensation to respective locations on the user’s hands to provide feedback to the user about their positioning of the ball 2. Each motor 14 is secured to one of the two shells 8L, 8R via respective elastomeric mounts 16. Each mount 16 comprises a central and protruding cylindrical plug portion 18, a first end of which protrudes outwardly and is configured to press-fit into a respective aperture 12. A second end of the plug portion 18 has a hollow 20 sized for snugly receiving the motor 14. Arranged around the first end of the plug portion 18 are four cylindrical pegs 22, each of which is configured to press-fit into corresponding through-holes 24 formed in the shell 8L, 8R. In this way, each motor 14 is securely mounted to one of the two shells 8L, 8R via a respective elastomeric mount 16. The aforementioned skin which surrounds the housing 6 and shells 8L, 8R also helps retain each of the mounts 16 and motors 14 within their respective apertures 12. An advantage of using elastomeric mounts 16 is that they help isolate vibration from the motors 14 and thus promote the delivery of localised haptic feedback to the user.

Each motor 14 is arranged to underlie various locations beneath the fingers and palm of the user’s hands. In this way, movement and/or vibration from the motors 14 will be felt by and in the user’s hands, thereby providing the user with haptic feedback. In particular, the apertures 12 and thus motors 14 may be arranged to underlie specific locations of a user’s hands that are more sensitive to touch.

The ball 2 also comprises various internal components which allow it to detect and monitor its own position in space, relative to a calibrated position, and send haptic feedback to the user based on that position data. To this end, the ball 2 comprises one or more circuit boards (not shown) on which a position sensor (not shown) is mounted. The position sensor may comprise one or more sensors such as an accelerometer (e.g. a 6-axis accelerometer) and a gyroscope. The position sensor senses the position of the ball 2 in space in real-time and it is based on this position information that one or more of the motors 14 are activated to provide haptic feedback to the user, or deactivated so that the user no longer receives haptic feedback.

A processor (not shown) is also housed within the housing 6. The processor receives position information from the position sensor and is configured to activate and/or deactivate each of the haptic devices based on this position information. A power supply, such as a battery pack (not shown), is also secured within the housing 6 for powering the position sensor, processor and/or the motors 14.

Referring to Figure 4, the battery pack is mountable on a base 26 of the housing 6 between two upwardly projecting rails 28. The base 26 also comprises four upwardly extending posts 30 arranged around the rails 28 configured to support the circuit board and other internal componentry above the battery pack.

With reference to Figure 5, a bottom 34 of the housing 6 is provided with a port 36 for receipt of a power plug for charging the battery pack. The bottom 34 of the housing also comprises a slot 38 for receiving a removable memorable device, such as an SD card, for the collection of data from the ball 2.

Figure 6 shows a flowchart which illustrates one example of how the ball 2 functions to provide haptic feedback to the user. To use the ball 2, the user starts by powering it on and lifting it up with both hands placed on the hand-shaped grooves 10L, 10R. A power switch (not shown) may be provided, for example, on a top 32 or a bottom 34 of the ball 2. Alternatively, the position sensor of the ball 2 may sense that the ball 2 has been picked up and thus automatically power the ball 2 on. After lifting the ball 2 up, the user holds the ball 2 at a substantially level orientation (i.e. the ball 2 is not tilted too much to the left or right, nor is it rolled too far forward or back) and the position sensor senses the position of the ball 2 and sends this information to the processor. The processor calibrates this position information as the initial position of the ball 2. In particular, the processor is preprogrammed with the initial spatial coordinates of each of the motors 14 relative to a calibrated 0,0,0 coordinate corresponding with a predetermined point, such as a centre of the ball 2 or the position sensor. This can be visualised with reference to Figure 7. Each hollow circle in Figure 7 represents the spatial position of a respective motor 14 in 3D space relative to a central 0,0,0 coordinate (indicated by the solid black circle in the centre of the plot) which represents the centre of the ball 2. For example, the hollow circle 40 indicates the position of a motor 14 arranged to underlie the tip of the user’s right index finger, whereas the hollow circle 42 indicates the position of a motor 14 arranged to underlie a base of the user’s left palm.

Once the ball 2 is calibrated and thus the initial positions of each motor 14 have been determined and stored in the processor, the user can begin performing exercise motions while holding the ball 2. In real-time, the position sensor continuously senses the position of each motor 14 and sends this position information to the processor. The processor continuously compares the new position of each motor 14 with the initial position of that motor 14 while the user performs exercises with the ball 2. If the processor determines that a new position (a“displaced position”) of any single motor 14 differs from the initial position of that motor 14 beyond a predetermined threshold amount, the processor is configured to activate that motor 14 such that that motor 14 provides haptic feedback to the user.

Upon receiving such haptic feedback, the user is alerted that the ball 2 has been tilted and/or rolled beyond an amount considered acceptable for that exercise motion and/or for that user, and the user can then adjust the position of the ball 2 to reduce and/or deactivate the haptic feedback. The user will be able to recognise that the position of the ball 2 has been correctly adjusted when the motors 14 cease providing haptic feedback. To this end, if the processor determines that a new position of any single motor 14 differs from the initial position of that motor 14 by an amount that is less than a predetermined threshold, the processor is configured not to activate that motor 14. Similarly, if that motor 14 was previously activated, the processor 14 is configured to deactivate it.

The processor is configured to activate and deactivate the motors 14 in a manner that will inform the user of how the ball 2 is incorrectly positioned, the extent it is incorrectly positioned, and how to return the ball 2 to an acceptable position. For example, if the user tilts the ball 2 too much to the right (i.e. the ball 2 is rotated too much in a clockwise direction, as viewed from the perspective of the user), only the right-hand side motors 14 (i.e. the motors 14 underlying the user’s right hand) will activate to provide haptic feedback to the user’s right hand.

In a version of the above example, the specific right-hand side motors 14 that are activated varies based on how far the user tilts the ball 2 to the right. For example, suppose the user tilts the ball 2 only slightly to the right. In this scenario, only the lowermost right- hand side motors 14 will be activated. In essence, only the motors 14 underlying the user’s right-hand pinkie and lower edge of the palm will activate. If the user continues to tilt the ball 2 to the right, then more of the right-hand side motors 14 will activate, progressing to the uppermost right-hand side motors 14 which underlie the user’s right-hand thumb. Consequently, all the right-hand side motors 14 will be activated if the ball 2 is tilted up to and beyond a maximum allowable tilt amount. Similarly, as the user returns the‘overtilted’ ball 2 back towards the initial position, the uppermost right-hand side motors 14 are the first to deactivate, progressing until the lowermost right-hand side motors 14 are deactivated. By activating and deactivating the motors 14 in this graduated way, the user is given feedback as to the extent of their incorrect positioning of the ball 2, and how to correct it. For example, if only the lowermost motors 14 on the right-hand side of the ball 2 are providing haptic feedback to the user, the user recognises that the ball 2 is only slightly ‘overtilted’ to the right and can make the necessary slight readjustment. Similarly, if a substantial number of the right-hand side motors 14 are activated, the user can recognise that they have grossly‘overtilted’ the ball 2 to the right and can make the necessary larger readjustment.

The above functionality of gradually activating more of the right-hand side motors 14 as the ball 2 is tilted more to the right is also applicable in terms of gradually increasing the intensity of the haptic feedback provided by the motors 14. For example, a slight tilt to the right might only activate the lowermost motors 14, causing them to provide relatively weak haptic feedback. Tilting the ball 2 further to the right, the intensity of the haptic feedback increases, signalling to the user that they are continuing to‘overtilt’ the ball 2 to the right.

By varying the number of motors 14 that are activated, and the intensity of the haptic feedback generated by those motors 14, the user is taught by the ball 2 how to correct the position of the ball 2 and thus their own bodies. This functionality is similarly applicable to instances where the ball 2 is tilted to the left, rolled forward and away from the user, and rolled backward and towards the user. For example, if the user rolls the ball 2 forward slightly, only the motors 14 furthest away from the user will be activated (i.e. the motors 14 at the tips of the users lowest fingers on each hand). As the ball 2 is rolled even further forward, more motors 14 are activated, progressing to the motors 14 closest to the user (e.g. the motors 14 underlying the base of each palm). The intensity of haptic feedback is also variable with the extent to which the ball 2 is rolled backward or forward by the user. Of course, the specific motors 14 that are activated, and the intensity of the feedback provided, can vary with both tilt (pitch) and roll simultaneously so that the user can correct for both.

The ball 2 may also be provided with a potentiometer (not shown) and corresponding control means which allows the user to vary the overall intensity of the haptic feedback provided.

Many modifications of the above embodiments will be apparent to those skilled in the art without departing from the scope of the present invention. For example, the ball 2 and its hand-shaped grooves 10L, 10R can vary in size to suit people with differently shaped and sized hands. Additionally, the threshold displacement amount beyond which a motor 14 is activated can be varied according to the needs of the user. For example, if a user has gross proprioception and/or motor issues (such as a person with severe Parkinson’s disease), the ball 2 may be configured such that the ball 2 can be tilted and rolled to a greater extent before a motor 14 is activated, and before a maximum number of motors 14 is activated. Similarly, if a user has very well-developed motor skills and is using the device to fine-tune their motor skills, the ball 2 can be configured to activate one or more motors 14 even at the slightest tilting or rolling of the ball 2.

It is considered that the functionality of the ball 2 can be controlled via web platforms or smartphone applications. Additionally, position information of the ball 2 may be recorded. This information can provide insights as to how the user has been performing over time.

It is also considered that other devices and actuators can be used to provide haptic feedback beyond those described herein. For example, linear resonant actuators, piezoelectric actuators, TacHammer and other devices for providing haptic feedback to the user can be integrated with the apparatus 2.

While a ball-shaped apparatus 2 has been described above, the apparatus may of course be in the form of other graspable shapes, such as a cube or cylinder. It is considered that the teachings of this specification are also applicable to gloves which similarly provide haptic feedback training to a wearer as described herein. In essence, the gloves would be similarly provided with haptic devices configured to deliver haptic feedback to the user based on the displacement of each haptic device from its calibrated initial position.

It is considered within this specification that references to the ‘position’ of the apparatus include references to the orientation thereof. As such, an initial position of the ball and/or its haptic devices also refers to the initial orientation of the ball and/or its haptic devices.

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

The reference in this specification to any prior publication (or information derived from it), or to any matter which is known, is not, and should not be taken as an acknowledgment or admission or any form of suggestion that that prior publication (or information derived from it) or known matter forms part of the common general knowledge in the field of endeavour to which this specification relates.