Estimation of force applied by a finger based on wrist surface topography
Devices, methods and computer programs for estimation of force applied by a finger based on wrist surface topography are disclosed. A computing unit ( 200 A, 200 B) receives, from a group of proximity sensors ( 300 ) mounted on an inner surface of a wristband ( 111 ) of a wrist apparatus ( 110 A, 110 b ) communicatively connected to the computing unit ( 200 A, 200 B), a detected proximity of each proximity sensor ( 300 ) to a wrist surface of a user wearing the wristband. The computing unit ( 200 A, 200 B) measures changes in wrist surface topography based on the detected proximities, and estimates a force applied on a surface by at least one finger associated with the wrist based on the measured changes in the wrist surface topography.
1. A system comprising a wrist apparatus and a computing unit communicatively connected to the wrist apparatus, the wrist apparatus comprising:
a wristband; and
a group of at least two proximity sensors mounted at a sensing distance from a surface of a wrist of a user wearing the wristband on an inner surface of the wristband, and configured to detect a proximity distance of each proximity sensor to the surface of the wrist of the user wearing the wristband, and
the computing unit comprising:
at least one processor; and
at least one memory including computer program code;
wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the computing unit to at least perform:
measuring surface changes in wrist surface topography based on the detected proximity distances; and
estimating a force applied on a surface by at least one finger associated with the wrist based on the measured surface changes in the wrist surface topography.
2. The system according to claim 1 , wherein the group of the at least two proximity sensors comprises at least one row of the proximity sensors in the direction of the circumference of the inner surface of the wristband.
3. The system according to claim 1 , wherein the group of the at least two proximity sensors comprises one or more of: an infrared based proximity sensor, a laser based proximity sensor, an electronic image sensor based proximity sensor, an ultrasound based proximity sensor, a capacitive proximity sensor, a radar based proximity sensor, an accelerometer based proximity sensor, a piezoelectricity based proximity sensor, or a pressure based proximity sensor.
4. The system according to claim 3 , wherein the infrared based proximity sensor comprises a pair of an infrared light-emitting diode acting as an infrared light emitter and a phototransistor acting as an infrared light receiver.
5. The system according to claim 1 , wherein the at least one memory and the computer program code are further configured to, with the at least one processor, cause the computing unit to perform outputting a force signal indicating the estimated force.
6. The system according to claim 1 , wherein the computer program code comprises a neural network trained to perform the estimating of the force applied on the surface.
7. The system according to claim 6 , wherein the wrist apparatus further comprises one or more inertial measurement unit sensors mounted on the wristband, configured to provide position information of the wristband for the training of the neural network.
8. The system according to claim 1 , wherein the group of the at least two proximity sensors comprises an infrared based proximity sensor, and the at least one memory and the computer program code are further configured to, with the at least one processor, cause the computing unit to perform adjusting at least one of brightness of an infrared light emitter of the infrared based proximity sensor or sensitivity of an infrared light receiver of the infrared based proximity sensor.
9. The system according to claim 1 , wherein the computing unit is integrated in the wrist apparatus.
10. The system according to claim 9 , wherein the wrist apparatus comprises a smart watch.
11. The system according to claim 1 , wherein the computing unit is external to the wrist apparatus.
12. A computing unit, comprising:
at least one processor; and
at least one memory including computer program code;
the at least one memory and the computer program code configured to, with the at least one processor, cause the computing unit to at least perform:
receiving, from a group of at least two proximity sensors mounted at a sensing distance from a surface of a wrist of a user wearing a wristband on an inner surface of the wristband of a wrist apparatus communicatively connected to the computing unit, a detected proximity distance of each proximity sensor to the surface of the wrist of the user wearing the wristband;
wherein the at least one memory and the computer program code are further configured to, with the at least one processor, cause the computing unit to at least perform:
measuring surface changes in wrist surface topography based on the detected proximity distances; and
estimating a force applied on a surface by at least one finger associated with the wrist based on the measured surface changes in the wrist surface topography.
13. A method, comprising:
receiving, at a computing unit from a group of at least two proximity sensors mounted at a sensing distance from a surface of a wrist of a user wearing a wristband on an inner surface of the wristband of a wrist apparatus communicatively connected to the computing unit, a detected proximity distance of each proximity sensor to the surface of the wrist of the user wearing the wristband;
measuring, by the computing unit, surface changes in wrist surface topography based on the detected proximity distances; and
estimating, by the computing unit, a force applied on a surface by at least one finger associated with the wrist based on the measured surface changes in the wrist surface topography.
14. A non-transitory computer readable medium comprising computer program instructions for causing a processor to perform at least the following:
receiving, at a computing unit from a group of at least two proximity sensors mounted at a sensing distance from a surface of a wrist of a user wearing a wristband on an inner surface of the wristband of a wrist apparatus communicatively connected to the computing unit, a detected proximity distance of each proximity sensor to the surface of the wrist of the user wearing the wristband;
wherein the non-transitory computer readable medium further comprises computer program instructions for causing the processor to perform at least the following:
measuring surface changes in wrist surface topography based on the detected proximity distances; and
estimating a force applied on a surface by at least one finger associated with the wrist based on the measured surface changes in the wrist surface topography.