EP4670028A1

EP4670028A1 - ELECTRONIC DEVICE AND METHOD

Info

Publication number: EP4670028A1
Application number: EP24705493.5A
Authority: EP
Inventors: Diederik Paul MOEYS
Original assignee: Sony Europe BV; Sony Group Corp
Current assignee: Sony Europe BV; Sony Group Corp
Priority date: 2023-02-24
Filing date: 2024-02-16
Publication date: 2025-12-31
Also published as: WO2024175494A1

Abstract

An electronic device comprising circuitry configured to determine a position and generate a vestibular stimulus based on the position.

Description

ELECTRONIC DEVICE AND METHOD

TECHNICAL FIELD

The present disclosure pertains to a personal navigation device configured to stimulate a user’s vestibular organ based on a measured position.

TECHNICAL BACKGROUND

Known personal navigation devices generally rely on audiovisual stimuli in order to inform a user of their position in space. Such stimuli can, for example, include displaying a map to the user on a screen, such as a smartphone or a satellite navigation system. Other stimuli can be given in the shape of arrows displayed to the user in a head-up-display or the display if coordinates obtained by a GPS-receiver. Auditory stimuli can include recorded or computergenerated voice indicating a intended direction for the user to move towards. While navigation devices relying on audiovisual stimuli are suitable for a great number of applications, situations can arise where the user’s auditory and/or visual senses are otherwise preoccupied or stimulation of these senses is in some way undesirable. Stimulation of the auditory sense of the user may, for example, be undesirable if the user is engaged in a conversation or present in a location where provision of an auditory vestibular stimulus would interfere with bystanders, such as a library. Stimulation of the user’s visual sense may, for example, be undesirable if the user is engaged in observing some object of interest, such as in a museum. It is therefore desirable to provide a navigation device that does not rely audiovisual stimuli.

Other senses generally accepted to be accessible to human perception include the vestibular sense, generally known as the sense of balance. This sense is associated with the vestibular system, located within the human cranium in the region of the inner ear, adjacent to the cochlea on each side. Specifically, the vestibular system consists of two sensory arrangements generally assumed to be responsible for evoking a sense of rotation and a sense of linear acceleration respectively. A sense of rotation is generated by an arrangement of three semicircular canals approximately arranged in three linearly independent spacial planes (on each side of the cranium). These canals are filled with a fluid that, if the cranium, and thus the canals, are rotated about an axis, interacts with a set of hair cells present on the inside of the canals and which, if interacted with, evoke a sense of rotation in a person. A sense of linear acceleration is generated by a set of otoliths also included in the vestibular system. Artificial stimulation of these structures, the semicircular canals and the otoliths, or evocation of an associated nerve response can be accomplished through various means, with initial experiments utilizing transcranial direct current stimulation (tDCS) dating back to the 18^th century.

There are devices that include stimulation of the vestibular system to provide, for example, stimuli to accompany visual stimuli, as described in patent document 1. Moreover, there are devices that stimulate a patient’s vestibular system in order to augment or control a patient's respiratory function, open the patient's airway, induce sleep, and/or counteract vertigo, such as described in patent document 2. The are furthermore systems and methods for game playing using vestibular stimulation that include detecting motions associated with the user by a feedback sensor device and providing motion information from the feedback sensor device to a game device, such as described in patent document 3.

Vestibular stimulation has also been shown to allow stimulation along multiple special axes, specifically in a virtual reality setting, such as described in the research paper “Omnidirectional Galvanic Vestibular Stimulation in Virtual Reality” by Groth et al., published IEEE: Transactions on Visualization and Computer Graphics 2022.

LIST OF REFERENCES

Patent document 1: United States Patent Nr. 11458313 Bl

Patent document 2: United States Patent Application Nr. 20080275513 Al

Patent document 3: United States Patent Application Nr. 20100113150 Al

SUMMARY

According to a first aspect, as set forth in independent claim 1 , the disclosure provides an electronic device comprising circuitry configured to determine a position of a user and to stimulate the vestibular system of the user with a vestibular stimulus based on the position of the user.

According to a second aspect, as set forth in independent claim 31, the disclosure provides method to determine a position of a user and to stimulate the vestibular system of the user with a vestibular stimulus based on the position of the user.

Further aspects are set forth in the dependent claims, the drawings and the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments are explained by way of example with respect to the accompanying drawings, in which: Fig. 1 is an illustration of a lateral view of a user’s head showing the approximate positioning of one embodiment of a device according to the present disclosure in relation to the user’s vestibular system; and

Fig. 2 is an illustration of the semicircular canals of the vestibular system and an illustration of a cross section of the semicircular canals; and

Fig. 3a is an illustration of a lateral view of a user’s head showing the approximate positioning of one embodiment of a device according to the present disclosure in relation to the user’s head; and

Fig. 3b is an illustration of a frontal view of a user’s head showing the approximate positioning of one embodiment of a device according to the present disclosure in relation to the user’s head; and

Fig. 4a is an illustration of one embodiment of a device according to the present disclosure and a stimulus based on ultrasound stimulating a user’s vestibular system; and

Fig. 4b is an illustration of one embodiment of a device according to the present disclosure and a stimulus based on (directed) electromagnetic waves stimulating a user’s vestibular system; and

Fig. 5 is an illustration of a user receiving a stimulus while navigating with a device according to one embodiment; and

Fig. 6 is an illustration of the principal algorithm of one embodiment; and

Fig. 7a is an illustration of the computation of the stimulus based on an intended direction according to one embodiment; and

Fig. 7b is an illustration of another computation of the stimulus based on an intended direction according to one embodiment; and

Fig. 8 is an illustration of the algorithm used to determine the stimulus based on an intended direction and an orientation according to one embodiment; and

Fig. 9a is an illustration of the application of a stimulus in one direction according to one embodiment; and

Fig. 9b is an illustration of the application of a stimulus in a second direction according to one embodiment; and

Fig. 10 is an illustration of an algorithm to determine the stimulus based on a scalar field, the position and feedback according to one embodiment; and Fig. 11 is an illustration of a scalar field and a path according to one embodiment; and

Fig. 12 is an illustration of an algorithm to determine an intended direction based on a scalar field and a position according to one embodiment; and

Fig. 13 is an illustration of an algorithm to determine a stimulus, including an intended direction an a strength of the stimulus, based on a position, a scalar field and feedback according to one embodiment; and

Fig. 14 is an illustration of an algorithm to determine the strength of a stimulus based on a scalar field and a position according to one embodiment; and

Fig. 15 is an illustration of an algorithm to determine the stimulus based on a waypoint, the position and feedback according to one embodiment; and

Fig. 16 is an illustration of an algorithm to determine the stimulus based on a waypoint, the position, strength of the stimulus and feedback according to one embodiment; and

Fig. 17 is an illustration of an algorithm to determine the strength of a stimulus based on a waypoint and the position; and

Fig. 18 is an illustration of an algorithm to determine the stimulus based on a scalar field, the position, feedback and a calibration result according to one embodiment; and

Fig. 19 is an illustration of an algorithm to acquire feedback according to one embodiment; and

Fig. 20 is an illustration of an algorithm to acquire a calibration result through user interaction according to one embodiment; and

Fig. 21 is an illustration of an algorithm to acquire a calibration result through sensing a user reaction according to one embodiment; and

Fig. 22 is an illustration of an algorithm to determine the stimulus based on a user reaction and machine learning according to one embodiment; and

Fig. 23 is an illustration of a circuit according to the present disclosure in one embodiment.

DETAILED DESCRIPTION OF EMBODIMENTS

Before a detailed description of the embodiments under reference of Fig. 1 is given, general explanations are made.

Some embodiments of the present disclosure provide an electronic device comprising circuitry configured to determine a position and generate a vestibular stimulus based on the position. Circuitry may include a processor, a memory (RAM, ROM or the like), a storage, input means (keyboard, camera, etc.), output means (display (e.g. liquid crystal, (organic) light emitting diode, etc.), loudspeakers, etc., a (wireless) interface, etc., as it is generally known for electronic devices (computers, smartphones, etc.). Moreover, it may include sensors for sensing still image or video image data (image sensor, camera sensor, video sensor, etc.), for sensing a fingerprint, for sensing environmental parameters (e.g. radar, humidity, light, temperature), etc.

A stimulus can be understood to be generated by the circuitry and can be a signal directed towards the vestibular system of the user. The position can be a position in geographical coordinates, a position in time, a relative position with respect to a reference point, a relative position with respect to a person, a relative position with respect to a localized coordinate system. The stimulus can be provided by a stimulator or stimulation assembly integrated in the circuitry. The stimulus can be a stimulation or stimulation signal generated by the circuitry or the stimulator and can be continuous or discontinuous, it can also be modulated by an appropriate method, including Pulse Width Modulation.

Some embodiments of the present disclosure provide for the circuitry to be further configured to perform position sensing to determine a position. Herein, position sensing may be accomplished by a device integrated into or connected to the circuitry and associated sensing assemblies. For example, geographical coordinates the user is located at may be determined. A suitable device may be a navigation device configured to receive signals according to the GPS, Galileo, Glonass or other satellite-based navigation standards. The position may also be sensed by an inertial guidance unit, or a homing device. The position may also be a position in a local coordinate system based on a local point of reference, such as a particular electronic device emitting a homing signal, but may also be an otherwise inert object or arrangement, such as for example a doorway, an entrance, a piece of furniture, a wall, a house, a window or a person. The position may also be regarded as a distance from a floor or an altitude.

Some embodiments of the present disclosure provide for the circuitry to be further configured to compute the vestibular stimulus. The stimulus can have a strength, a direction, a duration, a modulation, a polarity, a helicity, a frequency or other parameters that determine a stimulation of the user’s vestibular system. Computation of the stimulus includes computation of the values of parameters required to achieve the desired stimulation of the user’s vestibular system.

Some embodiments of the present disclosure provide for the circuitry to further comprise a stimulator configured to stimulate a vestibular system of a user with the vestibular stimulus. The stimulator can be any device capable of generating a stimulus that can artificially stimulate the vestibular of a user. The user is assumed to be human, but can, in principle, be any entity that is anatomically capable of having a vestibular system stimulated, such as a other higher-order mammals like primates, cats, dogs and horses and others. Certain reptiles and amphibians, such as frogs, may also be considered users for the purposes of this disclosure.

Some embodiments of the present disclosure provide for the circuitry to be further configured to sense a user reaction. A user reaction is any reaction by the user that may be connected to the application of a stimulus. The user reaction may, for example, be a turning of the head or body towards or away from the intended direction. The user reaction may also be a movement through the surrounding. The user reaction may further be an utterance or a sound. The user reaction may also be a stumbling movement. The user reaction may further be a change in biometric measures.

Some embodiments of the present disclosure provide for the circuitry to further comprise an EEG device or body-tracking means configured to sense the user reaction. The sensing can further be accomplished with appropriate sensing devices included into the circuitry. Sensing devices may include an accelerometer, which provides information on an acceleration, imaging devices or video capturing devices, which provide image information and may be used to track the user’s position and/or movement in the surrounding, acoustic sensors, which provide information on the surrounding or utterances of the user or rotational sensors, which provide information on a rotational movement. However, the user reaction can also be sensed by biometric sensors, for example a measure of skin conductivity or a pulse of the user may be included in the user reaction.

Some embodiments of the present disclosure provide for the circuitry to be further configured to compute, based on the user reaction and the position of the user, the vestibular stimulus. The user reaction may be regarded as feedback information.

Some embodiments of the present disclosure provide for the circuitry to be further configured to stimulate, with the vestibular stimulus, at least one semicircular canal of the user’s vestibular system or at least one otolithic organ of the user’s vestibular system or at least one semicircular canal and at least one otolithic organ of the user’s vestibular system. It should be noted that stimulation of the semicircular canals will cause the user to feel a rotational motion whereas stimulation of the otolithic system will cause the user to feel a linear acceleration. Either system can be stimulated using the methods described herein.

Some embodiments of the present disclosure provide for the circuitry to be further configured to compute, based further on the intended direction of the user, the vestibular stimulus. An intended direction is any direction that the user is intended to move or turn towards. The intended direction may be expressed as a compass direction, a direction as given in geographical coordinates, However, the intended direction may also be expressed as the position of an object, a person or a device, which may or may not be movable, that the user or a device is oriented towards. The intended direction can also be expressed as a relative position or direction with respect to a scalar field or derived from a scalar field, obtained through another method, as is described hereinbelow.

Some embodiments of the present disclosure provide for the circuitry to be further configured to determine, based on the position of the user, a direction to a waypoint of the user as the intended direction. A waypoint can be a point of interest for the user or that the user’s interest is to be directed towards or that the user is intended to or turn towards. The waypoint can be determined by various means as described, but not limited to, the methods and algorithms described hereinbelow.

Some embodiments of the present disclosure provide for the circuitry to be further configured to determine the intended direction on the basis of an intended path of the user. An intended path can be a path as shown on a map, a path through an immediate surrounding of the user or a path determined by waypoints and/or points of interest.

Some embodiments of the present disclosure provide for the circuitry to be further configured to measure a current orientation of the user. The current orientation is the direction that the user is facing as measured be the device. The current orientation may be expressed as a compass direction, a direction as given in geographical coordinates, However, the orientation may also be expressed as the position of an object, a person or a device, which may or may not be movable, that the user or a device is oriented towards. The orientation can also be expressed as a relative position or orientation with respect to a scalar field or derived from a scalar field, obtained through another method, as is described hereinbelow.

Some embodiments of the present disclosure provide for the circuitry to be further configured to measure a current orientation of the user, determine, based on the position of the user, a direction to a waypoint of the user and compute, based on the current orientation of the user and the direction to the waypoint of the user, a vestibular stimulus.

Some embodiments of the present disclosure provide for the circuitry to be further configured to hold map information of a current surrounding of the position of the user. The map information may describe a real-world environment of the user. The map information may be a street map or a geographical map. The map information may also be a floor map, a visual map of an immediate environment that the user is located in or attempting to traverse. The current surrounding of the user may be the immediate environment that the user is located in, such as a building, or attempting to traverse, such as a hiking path, or a geographical area that the user is located in, such as a city or a country.

Some embodiments of the present disclosure provide for the circuitry to be further configured to determine, based further on the map information, the vestibular stimulus. The vestibular stimulus can be further based on the current orientation of the user.

Some embodiments of the present disclosure provide for the circuitry to be further configured to hold information on a scalar field mapped onto the surrounding of the position of the user. A scalar field is an association of a scalar, i.e. a 1-form or a single-valued tensor, with coordinate values, such as, for example, values of a position along an x-axis, values of a position along a y- axis and values of a position along a z-axis in a Carthesian coordinate system, though other coordinate system, such as spherical or other curvilinear coordinates are possible. The field can also be a, more general, vector field or a, even more general, tensor field. The scalar field is mapped onto the surrounding of the position of the user by associating any coordinate value of a location in the surrounding of the user with a field value. The scalar field can be described and held as data stored in the circuitry, for example in storage or RAM.

Some embodiments of the present disclosure provide for the circuitry to be further configured to determine, based on the position of the user, the scalar field and the current orientation of the user, the vestibular stimulus. The scalar field can be used to specify the direction of the stimulus. This can, in one embodiment, be accomplished by using the field value as a descriptor for the stimulus at a certain current orientation of the user. The stimulus is then computed based on the current orientation. If the scalar field is instead a vector field, then the vector associated with the position of the user can directly indicate the direction of the stimulus with respect to the current orientation.

Some embodiments of the present disclosure provide for the circuitry to be further configured to further determine, based on the position of the user and the scalar field, a strength of the vestibular stimulus. Instead of the direction, the value of the scalar field may indicate the strength of the vestibular stimulus or a value that is to be used as a basis for computing the strength of the vestibular stimulus. According to the present disclosure, both the strength of the vestibular stimulus and the direction of the vestibular stimulus may be determined based on the scalar field. Some embodiments of the present disclosure provide for the circuitry to be further configured to determine, based on the position of the user, the scalar field, the current orientation of the user, the vestibular stimulus, by computing, from the scalar field, a force direction and determining the vestibular stimulus based on the position of the user, the force direction and the current orientation of the user. Instead of determining the direction of the vestibular stimulus directly from the scalar field, an intermediate step can be taken. A gradient of a scalar field, which is a vector, can indicate a force. This force can then be used as a basis for computing the vestibular stimulus. As vestibular stimulation causes the user to feel a rotation or a linear acceleration, both of which are naturally caused by a force acting on the user, the existence of a force can be simulated. Thus, by calculating, from the scalar field, a force direction, the acting of this force on the user can be simulated by the vestibular stimulus.

Some embodiments of the present disclosure provide for the circuitry to be further configured to determine, based on the position of the user, the scalar field, the current orientation of the user, the vestibular stimulus, by computing, from the scalar field, a force direction and a strength of the stimulus and determining the vestibular stimulus based on the position of the user, the force direction, the strength of the stimulus and the current orientation of the user

Instead of determining the strength of the vestibular stimulus directly from the scalar field, an intermediate step can be taken. The force described by the gradient of a scalar field is, as described above, a vector. This vector has a length indicating the magnitude of the gradient of the scalar field. Thus, the length of the gradient vector can be used to determine the strength of the force acting on the user. Thus, by calculating, from the scalar field, a force direction, the acting of this force on the user can be simulated by the vestibular stimulus.

According to the present disclosure, both the strength of the vestibular stimulus and the direction of the vestibular stimulus may be determined based on the gradient of scalar field.

Some embodiments of the present disclosure provide for the circuitry to be further configured to generate the scalar field based on a desired trajectory and/or an intended goal of the user through the real-world environment of the user. The scalar field is generated based, for example, on manual input by a user indicating areas of high field strength and areas of low field strength. It can also be generated from a user-supplied path through an environment of the user, such as a building or a geographical area. Based on the path, the scalar field is then generated such that the user is guided, by vestibular stimuli, along the path. Some embodiments of the present disclosure provide for the circuitry to be further configured to generate the scalar field in a different configuration at consecutive times.

The scalar field is not required to be static, but can be adjusted over time according to the required vestibular stimuli. For example, a user can be guided, by vestibular stimulation, along one path through an area at one time and along a second path through the same area at a second time, with the scalar field being adjusted for guidance along the first path and then for guidance along the second path. The scalar field can also be adjusted, for example, if, by some means, an obstacle is detected along the path and a new path is to be followed.

Some embodiments of the present disclosure provide for the circuitry to be further configured to generate the scalar field such that the user is steered, by the vestibular stimuli, to a specific store in a shopping center, through a museum along an intended route on a school trip, through a train station, along a series of user interaction nodes for entertainment purposes or according to a choreography during a music concert. Further applications may include steering rescue personnel through an area where an accident or natural disaster has occurred. Another application may be guiding a user to another person, such as medical personnel to a patient or two users towards each other in a crowd or an unfamiliar area or building, or aiding navigation in difficult terrain, such as forests or mountainous areas when the user’s visual sense is otherwise occupied or unavailable. Another application may be guidance at night or in difficult visual conditions. The device may also be used to guide visually impaired users.

Some embodiments of the present disclosure provide for the circuitry to be further configured to stimulate the user’s vestibular system by at least one of a direct current stimulation, voltage stimulation, electromagnetic or magnetic stimulation, ultrasonic stimulation or direct nervous or vestibular stimulation. The stimulator, generating the stimulus that stimulates the vestibular system of the user, may be an assembly consisting of a cathode and an anode provided in one or more separate housings such that a direct current can be applied to the user’s cranium. The direct current may be applied at a precise voltage. The stimulator may also be device capable of generating an ultrasonic wave signal that may be directed or isotropic. The stimulator may also be an electromagnetic or magnetic wave emitter that emits directed or isotropic waves. Electromagnetic or magnetic stimulation can be accomplished with beam-steering or coils. The stimulator may also be a stimulator that is connected directly to the user’s vestibular nerves. The stimulator may be provided such that the stimulus is provided in the inner ear. The stimulator may further, for example, act as an interface of the electronic device to the user’s vestibular system. Some embodiments of the present disclosure provide for the circuitry to be further configured to further compute the vestibular stimulus based on a calibration result obtained from the user. A calibration of the device can, for example, be used to set a maximum strength of the stimulus in order to reduce discomfort for the user. Such discomfort may arise from exceedingly strong stimuli as different users may exhibit different levels of sensitivity to vestibular stimulation. The calibration can be accomplished by setting the device in a calibration mode and applying different stimuli while asking the user for direct input. The calibration can also be accomplished by applying different stimuli and using the user reaction as input.

Some embodiments of the present disclosure provide for the circuitry to be further configured to obtain the calibration result using machine learning. Here, input obtained from the user or a sense user reaction may be provided to a machine learning algorithm or deep neural network. This may be accomplished either in a dedicated calibration mode or during use.

Some embodiments of the present disclosure provide for the circuitry to be further configured to determine the position of the user according to one or more of geolocation, magnetic compass coordinates, dead reckoning, inertial guidance, relative position to an external transmitter, relative position to a reference coordinate, relative position to an initial position or relative position to an external electronic device.

Some embodiments of the present disclosure provide for the circuitry to be further configured to acquire a surrounding of the user, wherein the circuitry acquires at least one of temperature, acceleration, rotation, humidity, imagery or video. Additional information can, for example, be used to refine the guidance of the user through terrain. Imagery can be used to sense a relative position of a user with respect to an object or landmark via image recognition. Video information can, for example be used to determine the immediate movement of the used in their surrounding. Acceleration can indicate the reaction of the user to a stimulus or it can indicate whether the user is in distress or may have stumbled. Temperature and humidity may aid in navigation through difficult or dangerous terrain, such as aiding rescue personnel in traversing a burning building.

Some embodiments of the present disclosure provide for the circuitry to be included in one or more head-mounted casings to be worn by the user. As the vestibular system is located in the head, providing the device in one or more head-mounted casings is useful. However, since some modes of vestibular stimulation, such as stimulation with magnetic or electromagnetic waves, may be provided remotely, some embodiments of the present disclosure may deviate from the head-mounted arrangement. Some embodiments of the present disclosure provide for the circuitry to be included in one or more individual casings, or is incorporated into headphones, or is incorporated into a virtual- reality headset, or is incorporated into an extended-reality device.

The device may also be incorporated in other types of headwear, such as hats, helmets, in-ear headphones and others.

Some embodiments of the present disclosure provide for a method comprising a determination of a position of a user and a stimulation of the vestibular system of the user by vestibular stimulation based on the position of the user.

The methods as described herein are also implemented in some embodiments as a computer program causing a computer and/or a processor to perform the method, when being carried out on the computer and/or processor. In some embodiments, also a non-transitory computer- readable recording medium is provided that stores therein a computer program product, which, when executed by a processor, such as the processor described above, causes the methods described herein to be performed.

Returning to Fig. 1, as illustrated, the vestibular system 200 of a user 21 is being stimulated by an (artificial) vestibular stimulus 22, leading to a consciously perceptible sensation 240 and a unconscious reaction 230. The consciously perceptible sensation 240 evokes a feeling of either being linearly accelerated in a given direction or rotating about a given axis, even while the user 21, or - more precisely - the user’s vestibular system 200 remains motionless. The vestibular system 200 is located inside the human skull in the area of the ears on either side.

Fig. 2 shows as a mode of natural stimulation of the vestibular system. The vestibular system 200 is located in two distinct areas on both sides of the human skull. It includes three so-called semicircular canals 201, arranged in three linearly independent special planes. Each semicircular canal 201 is formed by channel-like tubes 250 in a ring shape. Each semicircular canal contains a fluid 220. If the vestibular system 200 (and, by extension, the user’s head) is rotated about an axis, by inertia, the fluid 220 is displaced with respect to the tube 250. Set in the wall 251 of the tube 250 are a series of hairs 210, that are deflected by the displaced fluid 220. This deflection leads to a nerve signal that is interpreted by the nervous system of the user 21 as (in the case of the semicircular canals) rotation about an axis. Linear acceleration is sensed by stimulation of the otolithic organs (not shown).

In Fig 3a and Fig. 3b, an arrangement of devices according to one embodiment is shown in a lateral and a frontal view of the user 21. Stimulation of the vestibular system, can be accomplished by a device set in a series of stimulators 400 worn on the user’s head close to the ears, as shown in Fig. 3a, on either side, as shown in Fig. 3b. Arrangements exist where the device is instead provided in different locations on a user’s head, such as the neck, the forehead or the crown. Other embodiments exist where the number of positions and/or stimulators 400 is larger, such as four or six. Different arrangements, positions and larger number of positions can allow for stimulations of different semicircular canals 201, leading to different sensations.

In Fig 4a and Fig. 4b, different types of stimuli 22 are illustrated. Fig. 41 shows stimulation of a vestibular system 200 by an ultrasonic vestibular stimulus 22 generated by the stimulator 400. Fig. 4b shows stimulation of a vestibular system 200 by an electromagnetic wave vestibular stimulus or an magnetic vestibular stimulus 22 generated by the stimulator 400. Note that, in Fig. 4b, the electromagnetic vestibular stimulus 22 may be directed towards the vestibular system 200 through beam-steering.

Fig. 5 shows a navigation using a device according to one embodiment of the present disclosure. Here, a user 21 is walking while oriented towards an orientation 23 and is located at a position 25. The user’s 21 intended direction 24 at the position 25 differs from their orientation 23. Thus, the device generates a vestibular stimulus 22 such that the user 21 receives a sensation indicating a turn toward the intended direction 24. The intended direction 24 can be a direction towards a waypoint, as described hereinbelow, or a direction derived from a scalar field, as described hereinbelow.

Fig. 6 shows one iteration of a navigation algorithm according to one embodiment. In a first step SI the position 25 is sensed through the use of an appropriate position sensing method or device, such as described hereinabove. In a second step S2, based on the position, the appropriate vestibular stimulus 22 is computed. The vestibular stimulus 22 is then generated by the stimulator 400 and emitted in a third step S3. In a fourth step S4, a user reaction is sensed. The user reaction may, for example, include a change in orientation 23. The user reaction is then processed (also in S4), and feedback 30 is generated. The feedback 30 is included in the computation of the vestibular stimulus 22 in S2, when the algorithm is executed in the next iteration. The algorithm is iterated until, for example, the end of the navigation task is indicated by the position 25 or until the device is turned off.

Fig. 7a and 7b show the determination of the vestibular stimulus in a local coordinate system of the user 21. The user 21 is facing forward. Then, in the embodiment shown in Fig, 7a, about an axis extending from the surface the user is located on, upwards, the surrounding of the user 21 can be divided into a left sector and a right sector. If the intended direction 24, which may be a direction to a waypoint or determined by some other method, points in a direction located in the right sector (as shown), then a vestibular stimulus in the right direction 22R can be generated. If, on the other hand, the intended direction 24 points in a direction located in the left sector, then a vestibular stimulus in the left direction 22L can be generated. There can be embodiments where a vestibular stimulus is generated if the intended direction 24 points in a direction in the right sector, but no vestibular stimulus is generated if the intended direction 24 points in a direction in the left sector, or vice versa. There can also be embodiments wherein generation of a vestibular stimulus further depends on parameters, such as the position 25, feedback 30, a surrounding of the user 21 as determined by a timing, imagery, video or others. There can also be embodiments where a vestibular stimulus in a left direction 22L can be generated despite the intended direction 24 pointing in a direction in the right sector or vice versa. The determination of which vestibular stimulus is generated can likewise be based on parameters, such as the position 25, feedback 30, a surrounding of the user 21 as determined by imagery, video or others. It should be noted that the intended direction 24 is measured relative to the direction the user is facing as determined by the device. As such, the direction the user 21 is facing may be the direction that the user’s head is turned toward, if the device is worn on the head.

Fig. 7b shows an embodiment wherein the surrounding of the user is divided into four distinct sectors, namely a left, right, forward and backward sector. Here, as in the embodiment shown in Fig. 7a, if the intended direction 24 points in a direction in the right sector, a vestibular stimulus in a right direction 22R can be generated or, if the intended direction 24 points in a direction in the left sector, a vestibular stimulus in a left direction 22L can be generated. If the intended direction 24 points in a direction in the forward sector, a vestibular stimulus in a forward direction 22F can be generated or, if the intended direction 24 points in a direction in the backward sector, a vestibular stimulus in a backward direction 22B can be generated. There are embodiments wherein, with the intended direction 24 pointing in a direction in a particular sector, no vestibular stimulus is generated. For example, a vestibular stimulus can be generated if the intended direction 24 points in a direction in the backward sector, but no vestibular stimulus is generated if the intended direction 24 points in a direction in the forward sector. This is possible in all combination of sectors. As described with respect to Fig. 7a, there can also be embodiments where a vestibular stimulus in a one direction can be generated despite the intended direction 24 pointing in a direction in a different sector. Again, the determination of which vestibular stimulus is generated can likewise be based on parameters, such as the position 25, feedback 30, a surrounding of the user 21 as determined by a timing, imagery, video or others.

It should be noted that the number of arrangement of the sectors can be different from the embodiments illustrated in Fig 7a and Fig.7b. For example, there can be an odd number of sectors or a larger number of sectors. The size of the sectors can also be different between each other. There can be embodiments with sectors arranged around a different axis or sectors arranged outside of a plane. Sectors can subtend a solid angle as opposed to a plane angle. The number, shape, size and arrangement of the sectors can be determined based on parameters, such as the position 25, feedback 30, a surrounding of the user 21 as determined by a timing, imagery, video or others.

Fig. 8 shows an algorithm capable of realizing the method depicted in Fig. 7a in one embodiment. This algorithm may, for example, be included in the computation of the vestibular stimulus 22 as shown in the second step S2 in Fig. 6. Returning to Fig. 8, an orientation 23, an intended direction 24 and the position 25 are used to compute a vestibular stimulus 22, which can, for example, occur as a left vestibular stimulus 22L or a right vestibular stimulus 22R. In a first step S221, the orientation 23 is expressed as an angular coordinate value relative to a reference direction with respect to the position 25. This means that the orientation 23 is a direction as seen by the user 21 or a device located at the position 25. However, the orientation 23 can also be expressed as the position of an object, a person or a device, which may or may not be movable, that the user 21 or a device is oriented towards. The orientation 23 can also be expressed as a relative position or orientation with respect to a scalar field 27 or derived from a scalar field 27, obtained through another method, as is described hereinbelow. The angular coordinate value can be given, in the embodiment shown in Fig. 8, in units of degrees. However, it is also possible to express the angular coordinate value in minutes or arc or fractions of pi, though any method suitable to express angular values is possible. The angular coordinate value is given with respect to a reference direction. The reference direction, can, for example, be the direction of geographic North or magnetic North or another compass direction, or a direction toward a reference location, such as a direction to a position or a direction to an object or person or device, which may or may not be movable. In a second step S222, the intended direction 24 is expressed as an angular coordinate value relative to the reference direction with respect to the position 25. However, the intended direction 24 can also be expressed as the position of an object, a person or a device, which may or may not be movable, that the user 21 is intended to be oriented or moving towards. The intended direction can also be expressed as a relative position or orientation with respect to a scalar field 27 or derived from a scalar field 27, obtained through another method, as is described hereinbelow. In a third step 223, the angular coordinate value of the orientation 23 is subtracted from the angular coordinate value of the intended direction 24, which results in a relative orientation RO. Keeping in mind that, in the embodiment illustrated in Fig. 8, the angular coordinate value is given in degrees, the decision whether a left vestibular stimulus 22L or a right vestibular stimulus 22R is chosen depends on the comparison given in a fourth step S224. 1.e. if RO has a value between 0 and 180 degrees or RO has a value between - 180 and -360 degrees, a right vestibular stimulus 22R is chosen. For other values of RO, a left vestibular stimulus 22L is chosen. It should be noted that this description is non-limiting and that the vestibular stimulus 22 can be computed using other algorithms as well. For example, the vestibular stimulus 22 can also be computed on further input such as the feedback 30 or other input. Besides a differentiation between a direction, such as left and right in the embodiment described in Fig. 8, the vestibular stimulus can also vary in strength, where the strength of the vestibular stimulus 31 is obtained by another algorithm as described for example hereinbelow. The feedback 30 can also be included in the determination of the vestibular stimulus 22.

One method to generate a vestibular stimulus 22 as a left vestibular stimulus 22L or a right vestibular stimulus 22R according to one embodiment is illustrated in Fig. 9a and Fig. 9b. Returning to Fig. 9a, the vestibular stimulus 22L is generated for example by a stimulator 400R on the right side and another stimulator 400L on the left side arranged on either side of a cranium, 100 such that a vestibular stimulus 22 can be transmitted from the stimulator 400R to the stimulator 400L while passing through the vestibular systems 200. The vestibular systems 200 can be the vestibular systems 200 of the user 21. The vestibular stimulus 22L can, for example be a direct electrical current running from the stimulator 400R as a cathode to the stimulator 400L as an anode. This causes the vestibular systems 200 to be stimulated such that the user 21 senses a rotation or linear acceleration to the left.

Continuing to Fig. 9b, a stimulation to the right side 22R can be generated by reversing the electrical current with the stimulator 400R acting as an anode and the stimulator 400L acting as an anode. This causes the vestibular systems 200 to be stimulated such that the user 21 senses a rotation or linear acceleration to the right.

However, the stimulus 22 does not have to rely on direct current stimulation as described. Instead, the stimulus 22 may instead be accomplished by generation of an ultrasonic wave by the stimulators 400. The stimulation can also be accomplished by generation of an electromagnetic or magnetic wave or beam. The wave or beam can be directed via beam-steering, prearranged interference-patterns or appropriate antenna arrangements. If accomplished via generation of a direct current, the stimulators may be attached on the outside of the cranium 100 of the user, but may also be provided in an ear canal of the user 21.

The stimulation can also be generated by direct stimulation of the vestibular nerve of the user 21. A stimulator of this type may be surgically implanted into, or into the vicinity of, the vestibular system 200 of the user 21. This arrangement can be useful if the user’s 21 vestibular system, particularly the semicircular canals 201 or the otolithic system is damaged.

In any case, in order to maintain a save level of stimulation, the strength of the vestibular stimulus 22 should be limited. The limit for direct current stimulation can, for example, be 10 mA. The strength of the vestibular stimulus can, in some embodiments, be determined by the device, as described further hereinbelow. The vestibular stimulus can, as described hereinabove, be continuous or discontinuous, it can also be modulated by an appropriate method, including Pulse Width Modulation.

One aspect of some embodiments of the present disclosure is determination of a vestibular stimulus 22 according to the position 25 and a scalar field 27, as shown for example in Fig. 10. A scalar field is an association of a scalar, i.e. a 1-form or a single- valued tensor, with coordinate values, such as, for example, values of a position along an x-axis, values of a position along a y- axis and values of a position along a z-axis in a Carthesian coordinate system, though other coordinate system, such as spherical or other curvilinear coordinates are possible. The field can also be a, more general, vector field or a, even more general, tensor field.

The position 25 can be, as described hereinabove, a position in geographical coordinates, a position in time, a relative position with respect to a reference point, a relative position with respect to a person, a relative position with respect to a localized coordinate system.

In a first step S21, the intended direction 24 is computed based on the scalar field 27 and the position 25. Based on the intended direction 24 and the orientation 23 and, possibly further input including the feedback 30, the vestibular stimulus 22 is determined in a second step S22. Determination of the vestibular stimulus can, for example, be accomplished based on the algorithm described in Fig. 8.

Fig. 11 illustrates the scalar field 27 and elements of its application. Here, the position 25 is given in relation to the scalar field 27, which is set in Carthesian coordinates. It should be noted that the position 25 can also correspond to a position in geographical coordinates, a position in time, a relative position with respect to a reference point, a relative position with respect to a person, a relative position with respect to a localized coordinate system. The scalar field 27 can likewise be defined in terms of geographical coordinates, a position in time, relative positions with respect to a reference point, relative positions with respect to a person, relative positions with respect to a localized coordinate system. The maxima in the surface defining the filed 27 correspond to high field strength. The scalar field 27 can be used to calculate the vestibular stimulus 22 according to the algorithm described in Fig. 10. Also shown in Fig. 11 is a path 43. The path is, for example, a path that the user 21 is intended to follow. The path 43 can be set in terms of geographical coordinates, a map or with respect to a reference point, a relative position with respect to a person, a relative position with respect to a localized coordinate system by the user 21 or by another source. The path 43 can, according to the present disclosure correspond to the field 17 such that determination of the vestibular stimulus 22 according to the algorithms described hereinabove or hereinbelow, is such that the user is guided along the path 43, where the 27 is used to determine the strength and the direction of the vestibular stimulus. The path can also be used to set the scalar field 27. For example, according to one embodiment, the path 43 is set in a map of a locality the user 21 is to be guided through. Then a scalar field 27 is set in the same locality. The value of the scalar field 27 is set to zero at coordinates along the path 43 and to a value larger than zero, for example unity, at locations in the locality that the user is not intended to approach, for example walls. The values of the scalar field 27 corresponding to coordinates along the path 43 and location that the user is not intended to approach, can be set by interpolation. The interpolation can be a linear interpolation or another appropriate interpolation method. Thus, the scalar field 27 is then generated such that the value of the scalar field 27 is for example zero along the path and non-zero elsewhere. However, the value of the scalar field 27 can also be non-zero along the path or vary with time, if the user 21 is to be guided not only towards but along the path. There are also embodiments where, instead of a path 43, only individual points of interest are given and the scalar field 27 generated on a basis of these points of interest. Thus can be used to guide a user 21 not along a path 43, but towards those points of interest. Alternatively, a similar method can be used to guide the user 21 away from points the user 21 is not intended to approach. As described hereinabove, the scalar field 27 can be generated such that the user is steered, by the vestibular stimuli, to a specific store in a shopping center, through a museum along an intended route on a school trip, through a train station, along a series of user interaction nodes for entertainment purposes or according to a choreography during a music concert. A method of setting, on a basis of the scalar field 27, the vestibular stimulus 22 is described hereinbelow. Fig. 12 describes a method of setting, on a basis of the scalar field 27 and the position 25, the intended direction 24 according to one embodiment. Given the scalar field 27 and the position 25, in a first step S211, the position 25 with respect to the scalar field 27 is computed. This can involve transforming the scalar field 27 and the position 25 into the same coordinate system. Then, in a second step S212, the gradient of the scalar field 27 at the position 25 is computed. Computation of a scalar field gradient can be accomplished numerically using, for example, a finite differences method, though any suitable method can be used instead. The intended direction 24 is then determined as the direction where the gradient is largest. The intended direction 24 thus obtained can then be used to set the vestibular stimulus according to, for example, the algorithm according to the embodiment described in Fig. 10.

An embodiment wherein the vestibular stimulus 22 is set based on a strength of the vestibular stimulus 31 as well as an intended direction 24, both obtained from the position 25 and the scalar field 27 is illustrated in Fig. 13. Here, in a first step S21, the intended direction 24 is computed based on the position 25 and the scalar field 27. This can be accomplished, for example, using the algorithm described in Fig. 12. In a second step S23, the strength of the vestibular stimulus 31 is computed based on the position 25 and the scalar field 27. One method, according to one embodiment, for the second step S23 is described hereinbelow. Based on the orientation 23, the feedback 30 and the strength of the vestibular stimulus 31 , the vestibular stimulus can then be determined in a third step S22.

Fig. 14 shows one embodiment of the determination of the strength of the vestibular stimulus 31 based on the position 25 and the scalar field 27. Here, in a first step, the position 25 is determined with respect to the scalar field 27 This can involve transforming the scalar field 27 and the position 25 into the same coordinate system. The scalar field 27, which can, for example, be assumed to be a scalar field, is then evaluated at the position 25 in a second step S232. The value of the scalar field 27 is then used to set the strength of the vestibular stimulus 31. For example, the value of the scalar field 27 can be used as a proportionality factor to be multiplied with a maximum strength of the vestibular stimulus 22. If, for example, the vestibular stimulus 22 is a direct current vestibular stimulus as described hereinabove, with a maximum strength of 10 mA, and the scalar field 27 can assume values between zero and unity, and the scalar field 27, at the position 25, has a value of 0.5, then the strength of the vestibular stimulus can be set to be 5 mA. This description is merely exemplary and non-limiting. Other methods to determine the strength of the vestibular stimulus 31 can be used. For example, instead of the value of the scalar field 27, the strength of the vestibular stimulus can be based on the magnitude of gradient of the scalar field 27 at the position 25. In this case, the second step S232 includes evaluation of the scalar field gradient. Note that, if the strength of the vestibular stimulus is to be determined based on the gradient of the scalar field 27, this determination can be accomplished in combination with setting the intended direction 24 along the algorithm in the embodiment described in Fig. 12.

One aspect of some embodiments of the present disclosure is determination of a vestibular stimulus 22 according to the position 25 and a waypoint 26, as shown for example in Fig. 15.

The waypoint 26 can likewise be a position in geographical coordinates, a position in time, a relative position with respect to a reference point, a relative position with respect to a person, a relative position with respect to a localized coordinate system.

In a first step S21, the intended direction 24 is computed based on the waypoint and the position

25, for example by computing a direction that points from the position 25 towards the waypoint

26. Based on the intended direction 24 and the orientation 23 and, possibly further input including the feedback 30, the vestibular stimulus 22 is determined in a second step S22. Determination of the vestibular stimulus can, for example, be accomplished based on the algorithm described in Fig. 8.

An embodiment wherein the vestibular stimulus 22 is set based on a strength of the vestibular stimulus 31 as well as an intended direction 24, both obtained from the position 25 and the waypoint 26 is illustrated in Fig. 13. Here, in a first step S21, the intended direction is computed based on the position 25 and the waypoint 26. This can be accomplished, for example, using the algorithm described in Fig. 12. In a second step S23, the strength of the vestibular stimulus 31 is computed based on the position 25 and the waypoint 26. One method, according to one embodiment, for the second step S23 is described hereinbelow. Based on the orientation 23, the feedback 30 and the strength of the vestibular stimulus 31 , the vestibular stimulus can then be determined in a third step S22.

One embodiment of the determination of the strength of the vestibular stimulus 31 based on the position 25 and the waypoint 26 is illustrated in Fig. 17. In a first step S231, the distance D from the position 25 to the waypoint 26 is computed. In a second step S232, the strength of the vestibular stimulus 31 is computed based on the distance D. For example, the distance D can be multiplied with a given proportionality factor a to produce the strength of the vestibular stimulus 22, wherein the maximum strength is set to a certain value. If, for example, the vestibular stimulus 22 is a direct current vestibular stimulus as described hereinabove, with a maximum strength of 10 mA, and the distance has a value of 10 m, and the proportionality factor a has a value of 0.1 mA/m, then the strength of the vestibular stimulus can be set to 1 mA. But, in this example, if the maximum strength of the vestibular stimulus is set to 10 mA, then a distance of 100 m will result in a strength of the vestibular stimulus 31 of 10 mA. It should be noted that there can be multiple waypoints 26 arranged along a path 43, such that, if the user 21 is determined to have reached one waypoint 26, the vestibular stimulus is instead computed with respect to a next waypoint 26. This way, a sequence of stimuli 22 is generated that guide the user 21 along the sequence of waypoints. Further, stimuli 22 being generated by a sequence of waypoints can be generated simultaneously and then generated in a linear combination in such a way that, as the user 21 approaches a first waypoint, the vestibular stimulus based on a second waypoint becomes stronger. This way, the user 21 is guided smoothly along a sequence of waypoints 26 arranged along a path 43.

One aspect of some embodiments of the present disclosure is determination of a vestibular stimulus 22 according to the position 25 and a scalar field 27, including a calibration result, as shown for example in Fig. 18.

In a first step S21, the intended direction 24 is computed based on the scalar field 27 and the position 25. Based on the intended direction 24 and the orientation 23 and, possibly further input including the feedback 30, the vestibular stimulus 22 is determined in a second step S22 and a calibration result 32, which, for example, can contain a calibrated minimum strength of the vestibular stimulus or a calibrated maximum strength of the vestibular stimulus, which is then applied to the maximum strength of the vestibular stimulus as determined in a separate step as described hereinabove. Methods to obtain the calibration result 32 according to some embodiments are described hereinbelow.

Fig. 19 describes a method to obtain the feedback 30 according to one embodiment. Here, in a first step S4, which can be identical to the step S4 as shown in Fig. 6, a user reaction is sensed. A user reaction is any reaction by the user that may be connected to the application of a vestibular stimulus 22. The user reaction may, for example, be a turning of the head or body towards or away from the intended direction 24. The user reaction may also be a movement through the surrounding. The user reaction may further be an utterance or a sound. The user reaction may also be a stumbling movement. The user reaction may further be a change in biometric measures. The sensing can be accomplished with appropriate sensing devices included into the circuitry. Sensing can include an EEG or body-tracking means. Sensing devices may also include an accelerometer, which provides information on an acceleration, imaging devices or video capturing devices, which provide image information and may be used to track the user’s 21 position 25 and/or movement in the surrounding, acoustic sensors, which provide information on the surrounding or utterances of the user 21 or rotational sensors, which provide information on a rotational movement. However, the user reaction can also be sensed by biometric sensors, for example a measure of skin conductivity or a pulse of the user 21 may be included in the user reaction. Returning to Fig. 19, the sensing of the user reaction in Step S4 results in user reaction data 42, which can include data as provided by the measurements described hereinabove. In a second step S41, the user reaction data is processed to provide feedback 30. This step may include computing, from the user reaction data 42, a correction factor for the strength of the vestibular stimulus 31 in a future vestibular stimulus. This step may further include computing, from the user reaction data 42, a correction to an orientation of the vestibular stimulus. This step may also include a determination, of the basis of the user reaction data, that generation of a vestibular stimulus 22 should cease. The latter would be advisable if, from the user reaction data, it is determined that the user 21 is in distress or that the strength of the vestibular stimulus 31 is exceedingly high. It should be noted that the user reaction data 42 may not necessarily be acquired by sensors included in the circuitry but may, instead, be acquired from an outside source and then transmitted to the circuitry remotely.

The information derived in the second step S41 is included in the feedback 30. It should be noted that the second step S41 can be accomplished by a naive algorithm. For example it is possible to determine that the turn of the user’s head exceeds a predetermined expectation value or that an acceleration commensurate with a ground impact having occurred is sensed. The second step S41 can also include a determination based on machine learning in general or a deep neural network in particular. For example, a correction factor for the strength of the vestibular stimulus 31 can be computed using a machine learning algorithm based on the user reaction data 42.

Fig. 20 illustrates a method to obtain the calibration result 32 by requesting user input according to one embodiment. The following method can be executed in a separate calibration mode. Here, in a first step S51 , the strength of the vestibular stimulus 31 is chosen at a low value or at zero. The vestibular stimulus 22 is applied in a second step S52. The vestibular stimulus 22 can, for example, be a vestibular stimulus 22L in a left direction. In a third step S531 the user 21 is requested to provide input to determine whether the vestibular stimulus 22 is felt. For example, the user 21 can be asked, via, for example, an audio message “do you feel like you are rotating?”. The user 21 can then, via an appropriate input device or method, enter information to indicate “yes” if the vestibular stimulus 22 is felt or “no” if the vestibular stimulus 22 is not felt. If the vestibular stimulus 22 is not felt, then, in a fourth step S53, the strength of the vestibular stimulus 31 is increased, though the maximum strength of the vestibular stimulus should not be exceeded. The vestibular stimulus 22 is then applied and user input requested again in steps S52 and S531. If the vestibular stimulus 22 is felt, indicated by “yes”, the strength of the vestibular stimulus is saved in a fifth step S54, yielding, in this embodiment, the calibration result 32. It should be noted that, in this embodiment, the saved strength of the vestibular stimulus can, for example be used to compute a correction factor for the strength of the vestibular stimulus 31 to be applied. This way, an exceedingly strong vestibular stimulus can be avoided if different users 21 exhibit different levels of sensitivity to vestibular stimulation.

Fig. 21 illustrates a method to obtain the calibration result 32 by sensing a user reaction according to one embodiment. The following method can be executed in a separate calibration mode. Here, in a first step S51, the strength of the vestibular stimulus 31 is chosen at a low value or at zero. The vestibular stimulus 22 is applied in a second step S52. The vestibular stimulus 22 can, for example, be a vestibular stimulus 22L in a left direction. In a third step S531 the user 21 is requested to provide input to determine whether the vestibular stimulus 22 is felt. The user reaction, which may include the same or similar measurements as in obtaining the feedback 30, as shown in Fig. 19, is measured in a third step S532. If the user reaction is not detected, indicated by “no”, then, in a fourth step S53, the strength of the vestibular stimulus 31 is increased, though the maximum strength of the vestibular stimulus should not be exceeded. The vestibular stimulus 22 is then applied and the user reaction sensed again in steps S52 and S32. If user reaction is detected, indicated by “yes”, the strength of the vestibular stimulus is saved in a fifth step S54, yielding, in this embodiment, the calibration result 32. It should be noted that, in this embodiment, the saved strength of the vestibular stimulus can, for example be used to compute a correction factor for the strength of the vestibular stimulus 31 to be applied. This way, an exceedingly strong vestibular stimulus can be avoided if different users 21 exhibit different levels of sensitivity to vestibular stimulation. Fig. 22 illustrates a method to obtain the calibration result 32 by sensing a user reaction and using a machine learning algorithm or deep neural network according to one embodiment. Here, an initial vestibular stimulus, which may or may not be at a low strength, is applied in a first step S52. In a second step S532, the user reaction, which may include the same or similar measurements as in obtaining the feedback 30 is sensed. The user reaction can then be provided to a machine learning algorithm or a deep neural network in step S541. The method can then be repeated in subsequent step S542, leading again to step S52, until the machine learning algorithm is sufficiently trained or configured to produce the calibration result 32. This method may be executed either during a dedicated calibration mode or may be used during normal operation in conjunction with step S4 in Fig. 6.

It should be noted that the methods shown in Fig. 20, Fig. 21 and Fig. 22 do not have to be applied exclusively, but may be combined or used in sequence or in parallel in order to obtain the calibration result 32. For example, an initial calibration according to the method shown in Fig. 20 may be executed, which is then followed by a second calibration step according to the method shown in Fig. 21, which is then augmented by the method shown in Fig. 22 during normal operation.

Fig. 23 shows a general configuration of a device 1200 according to the present disclosure. The device 1200 can include a CPU 1201, interacting with storage 1202. The storage 1202 can, for example, be a solid state disk. The device 1200 can further include a read-only-memory (RAM)

1203 interacting with the CPU 1202. The device can include a Bluetooth transceiver and decoder

1204 and an antenna and circuitry configured to interface with a wireless local area network (WLAN) 1205. The circuitry contains a stimulator 400, which can also be called a stimulation unit 1210, is configured to generate the vestibular stimulus 22 according to the embodiments described hereinabove. The circuitry can further include a loudspeaker array 1211 capable of producing audible signals and a user interface 1212. The circuitry can further include a locator 1213, capable of determining the position 25 according to the embodiments described hereinabove. The circuitry can further include a sensor array 1214 capable of sensing the user reaction and providing the user reaction data 42 according to the embodiments described hereinabove.

It should be recognized that the embodiments describe methods with an exemplary ordering of method steps. The specific ordering of method steps is however given for illustrative purposes only and should not be construed as binding. For example the ordering of S221 and S222 in the embodiment of Fig. 8 may be exchanged. Also, the ordering of S21, S23 in the embodiment of Fig. 13 may be exchanged. Other changes of the ordering of method steps may be apparent to the skilled person.

Please note that the division into units 1210 to 1214 is only made for illustration purposes and that the present disclosure is not limited to any specific division of functions in specific units. For instance, 1212 could be implemented by a respective programmed processor, field programmable gate array (FPGA) and the like.

All units and entities described in this specification and claimed in the appended claims can, if not stated otherwise, be implemented as integrated circuit logic, for example on a chip, and functionality provided by such units and entities can, if not stated otherwise, be implemented by software.

In so far as the embodiments of the disclosure described above are implemented, at least in part, using software-controlled data processing apparatus, it will be appreciated that a computer program providing such software control and a transmission, storage or other medium by which such a computer program is provided are envisaged as aspects of the present disclosure.

Note that the present technology can also be configured as described below.

(1) An electronic device comprising circuitry configured to determine a position and generate a vestibular stimulus based on the position.

(2) The electronic device of (1), wherein the circuitry is configured to perform position sensing to determine a position.

(3) The electronic device according to of any of (1) or (2), wherein the circuitry is configured to compute the vestibular stimulus.

(4) The electronic device according to of any of (1) to (3), wherein the circuitry comprises a stimulator configured to stimulate a vestibular system of a user with the vestibular stimulus.

(5) The electronic device according to of any of (1) to (4), wherein the circuitry is configured to sense a user reaction.

(6) The electronic device according to of any of (1) to (5), wherein the circuitry comprises an EEG device or body-tracking means configured to sense the user reaction.

(7) The electronic device according to of any of (1) to (6), wherein the circuitry is configured to compute, based on the user reaction and the position of the user, the vestibular stimulus. (8) The electronic device according to of any of (1) to (7), wherein the circuitry is further configured to stimulate, with the vestibular stimulus, at least one semicircular canal of the user’s vestibular system or at least one otolithic organ of the user’s vestibular system or at least one semicircular canal and at least one otolithic organ of the user’s vestibular system.

(9) The electronic device according to of any of (1) to (8), wherein the circuitry is further configured to compute, based further on the intended direction of the user, the vestibular stimulus.

(10) The electronic device according to of any of (1) to (9), wherein the circuitry is further configured to determine, based on the position of the user, a direction to a waypoint of the user as the intended direction.

(11) The electronic device according to of any of (1) to (10), wherein the circuitry is further configured to determine the intended direction on the basis of an intended path of the user.

(12) The electronic device according to of any of (1) to (11), wherein the circuitry is further configured to measure a current orientation of the user.

(13) The electronic device according to of any of (1) to (12), wherein the circuitry is further configured to measure a current orientation of the user, determine, based on the position of the user, a direction to a waypoint of the user and compute, based on the current orientation of the user and the direction to the waypoint of the user, a vestibular stimulus.

(14) The electronic device according to of any of (1) to (13), wherein the circuitry is further configured to hold map information of a current surrounding of the position of the user.

(15) The electronic device according to of any of (1) to (14), wherein the circuitry is configured to determine, based further on the map information, the vestibular stimulus.

(16) The electronic device according to of any of (1) to (15), wherein the circuitry is further configured to hold information on a scalar field mapped onto the surrounding of the position of the user.

(17) The electronic device according to of any of (1) to (16), wherein the circuitry is further configured to determine, based on the position of the user, the scalar field and the current orientation of the user, the vestibular stimulus.

(18) The electronic device according to of any of (1) to (17), wherein the circuitry is further configured to further determine, based on the position of the user and the scalar field, a strength of the vestibular stimulus. (19) The electronic device according to of any of (1) to (18), wherein the circuitry is further configured to determine, based on the position of the user, the scalar field, the current orientation of the user, the vestibular stimulus, by computing, from the scalar field, a force direction and determining the vestibular stimulus based on the position of the user, the force direction and the current orientation of the user

(20) The electronic device according to of any of (1) to (19), wherein the circuitry is further configured to determine, based on the position of the user, the scalar field, the current orientation of the user, the vestibular stimulus, by computing, from the scalar field, a force direction and a strength of the stimulation and determining the vestibular stimulus based on the position of the user, the force direction, the strength of the stimulation and the current orientation of the user

(21) The electronic device according to of any of (1) to (20), wherein the circuitry is further configured to generate the scalar field based on a desired trajectory and/or an intended goal of the user through the real- world environment of the user.

(22) The electronic device according to of any of (1) to (21), wherein the circuitry is further configured to generate the scalar field in a different configuration at consecutive times.

(23) The electronic device according to of any of (1) to (22), wherein the circuitry is further configured to generate the scalar field such that the user is steered, by the vestibular stimuli, to a specific store in a shopping center, through a museum along an intended route on a school trip, through a train station, along a series of user interaction nodes for entertainment purposes or according to a choreography during a music concert.

(24) The electronic device according to of any of (1) to (23), wherein the circuitry is further configured to stimulate the user’s vestibular system by at least one of a direct current stimulation, voltage stimulation, electromagnetic or magnetic stimulation, ultrasonic stimulation or direct nervous or vestibular stimulation.

(25) The electronic device according to of any of (1) to (24), wherein the circuitry is further configured to further compute the vestibular stimulus based on a calibration result obtained from the user.

(26) The electronic device according to of any of (1) to (25), wherein the circuitry is further configured to obtain the calibration result using machine learning.

(27) The electronic device according to of any of (1) to (26), wherein the circuitry is further configured to determine the position of the user according to one or more of geolocation, magnetic compass coordinates, dead reckoning, inertial guidance, relative position to an external transmitter, relative position to a reference coordinate, relative position to an initial position or relative position to an external electronic device.

(28) The electronic device according to of any of (1) to (27), wherein the circuitry is further configured to acquire a surrounding of the user, wherein the circuitry acquires at least one of temperature, acceleration, rotation, humidity, imagery or video.

(29) The electronic device according to of any of (1) to (28), wherein the circuitry is provided in one or more head-mounted casings to be worn by the user.

(30) The electronic device according to of any of (1) to (29), wherein the circuitry is provided in one or more individual casings, or is incorporated into headphones, or is incorporated into a virtual-reality headset, or is incorporated into an extended-reality device.

(31) A method comprising determination of a position of a user and stimulation of the vestibular system of the user by vestibular stimulation based on the position of the user.

LIST OF REFERENCE SIGNS

21 User

22 Vestibular stimulus

22L Left stimulus

22R Right stimulus

23 Orientation

24 Intended direction

25 Position

26 Waypoint

27 Scalar field

30 Feedback

31 Strength of the stimulus

32 Calibration result

42 User reaction data

43 Path

100 Cranium

200 Vestibular system

201 Semicircular canal

210 Vestibular hair

220 Fluid

250 Channel-like tubes

251 Wall

400 Stimulator

400L Left stimulator

400R Right stimulator

1200 Circuitry 1201 CPU

1202 Storage

1203 RAM

1204 Bluetooth 1205 WLAN

1210 Stimulation unit

1211 Loudspeaker array

1212 User interface

1213 Locator

1214 Sensor array

Claims

1. An electronic device comprising circuitry configured to: determine a position; and generate a vestibular stimulus based on the position.

2. The electronic device of claim 1, wherein the circuitry is configured to perform position sensing to determine a position.

3. The electronic device of claim 1, wherein the circuitry is configured to compute the vestibular stimulus.

4. The electronic device of claim 1, wherein the circuitry comprises a stimulator configured to stimulate a vestibular system of a user with the vestibular stimulus.

5. The electronic device of claim 1, wherein the circuitry is configured to sense a user reaction.

6. The electronic device of claim 1, wherein the circuitry comprises an EEG device or bodytracking means configured to sense the user reaction.

7. The electronic device of claim 5, wherein the circuitry is configured to compute, based on the user reaction and the position of the user, the vestibular stimulus.

8. The electronic device of claim 1, wherein the circuitry is further configured to stimulate, with the vestibular stimulus, at least one semicircular canal of the user’s vestibular system; or at least one otolithic organ of the user’s vestibular system; or at least one semicircular canal and at least one otolithic organ of the user’s vestibular system.

9. The electronic device of claim 1, wherein the circuitry is further configured to compute, based further on the intended direction of the user, the vestibular stimulus.

10. The electronic device of claim 9, wherein the circuitry is further configured to determine, based on the position of the user, a direction to a waypoint of the user as the intended direction.

11. The electronic device of claim 9, wherein the circuitry is further configured to determine the intended direction on the basis of an intended path of the user.

12. The electronic device of claim 1, wherein the circuitry is further configured to measure a current orientation of the user.

13. The electronic device of claim 1, wherein the circuitry is further configured to measure a current orientation of the user, determine, based on the position of the user, a direction to a waypoint of the user and compute, based on the current orientation of the user and the direction to the waypoint of the user, a vestibular stimulus.

14. The electronic device of claim 12, wherein the circuitry is further configured to hold map information of a current surrounding of the position of the user.

15. The electronic device of claim 14, wherein the circuitry is configured to determine, based further on the map information, the vestibular stimulus.

16. The electronic device of claim 11, wherein the circuitry is further configured to hold information on a scalar field mapped onto the surrounding of the position of the user .

17. The electronic device of claim 16, wherein the circuitry is further configured to determine, based on the position of the user, the scalar field and the current orientation of the user, the vestibular stimulus.

18. The electronic device of claim 16, wherein the circuitry is further configured to further determine, based on the position of the user and the scalar field, a strength of the vestibular stimulus.

19. The electronic device of claim 16, wherein the circuitry is further configured to determine, based on the position of the user, the scalar field, the current orientation of the user, the vestibular stimulus, by computing, from the scalar field, a force direction and determining the vestibular stimulus based on the position of the user, the force direction and the current orientation of the user.

20. The electronic device of claim 16, wherein the circuitry is further configured to determine, based on the position of the user, the scalar field, the current orientation of the user, the vestibular stimulus, by computing, from the scalar field, a force direction and a strength of the stimulus and determining the vestibular stimulus based on the position of the user, the force direction, the strength of the stimulus and the current orientation of the user.

21. The electronic device of claim 16, wherein the circuitry is further configured to generate the scalar field based on a desired trajectory and/or an intended goal of the user through the real-world environment of the user.

22. The electronic device of claim 16, wherein the circuitry is further configured to generate the scalar field in a different configuration at consecutive times.

23. The electronic device of claim 1, wherein the circuitry is further configured to generate the scalar field such that the user is steered, by the vestibular stimuli, to a specific store in a shopping center, through a museum along an intended route on a school trip, through a train station, along a series of user interaction nodes for entertainment purposes or according to a choreography during a music concert.

24. The electronic device of claim 1, wherein the circuitry is further configured to stimulate the user’s vestibular system by at least one of a direct current stimulation, voltage stimulation, electromagnetic or magnetic stimulation, ultrasonic stimulation or direct nervous or vestibular stimulation.

25. The electronic device of claim 1, wherein the circuitry is further configured to further compute the vestibular stimulus based on a calibration result obtained from the user.

26. The electronic device of claim 25, wherein the circuitry is further configured to obtain the calibration result using machine learning.

27. The electronic device of claim 1, wherein the circuitry is further configured to determine the position of the user according to one or more of geolocation, magnetic compass coordinates, dead reckoning, inertial guidance, relative position to an external transmitter, relative position to a reference coordinate, relative position to an initial position or relative position to an external electronic device.

28. The electronic device of claim 1, wherein the circuitry is further configured to acquire a surrounding of the user, wherein the circuitry acquires at least one of temperature, acceleration, rotation, humidity, imagery or video.

29. The electronic device of claim 1, wherein the circuitry is provided in one or more headmounted casings to be worn by the user.

30. The electronic device of claim 28, wherein the circuitry is provided in one or more individual casings, or is incorporated into headphones, or is incorporated into a virtual-reality headset, or is incorporated into an extended-reality device.

31. A method comprising: determine a position of a user; and stimulate the vestibular system of the user by vestibular stimulation based on the position of the user.