A footwear lacing apparatus can comprise a housing structure, a spool and a drive mechanism. The housing structure can comprise a first inlet, a second inlet, and a lacing channel extending between the first and second inlets. The lacing channel can comprise a spool receptacle located between the first and second inlets, a first relief area located between the spool receptacle and the first inlet, and a second relief area located between the spool receptacle and the second inlet. The first and second relief areas can be linearly tapered between the spool receptacle and the first and second inlets, respectively. The spool can be disposed in the spool receptacle of the lacing channel. The drive mechanism can be coupled with the spool and adapted to rotate the spool to wind or unwind a lace cable extending through the lacing channel and through the spool.

The specification discusses various lacing engine configurations for use in an automated footwear platform. For example, lacing engines with mechanisms to detect lace cable position and/or lace cable tensions are discussed. In an example, the lacing engine can include a housing, a lace spool and a detection mechanism. The lace spool can be at least partially disposed within the housing, and be adapted to collect a portion of the lace cable in response to rotation in a first direction during tightening of the footwear platform. The detection mechanism can detect a state of the lace cable manipulated by the lacing engine.

The specification discusses various lacing engine configurations for use in an automated footwear platform. For example, lacing engines with mechanisms to detect lace cable position and/or lace cable tensions are discussed. In an example, the lacing engine can include a housing, a lace spool and a detection mechanism. The lace spool can be at least partially disposed within the housing, and be adapted to collect a portion of the lace cable in response to rotation in a first direction during tightening of the footwear platform. The detection mechanism can detect a state of the lace cable manipulated by the lacing engine.

In an example, a lacing engine apparatus can include a housing and a drivetrain. The housing can be securable within a footwear article. The drivetrain can include a motor, a sun gear, a planet gear, a rotating ring gear, and a spool. The spool can be secured to the ring gear and can be rotatable therewith. The spool can be configured to control a lace of the footwear article and can be configured to wind the lace as the ring gear rotates in a first direction.

In an example, a lacing engine apparatus can include a housing and a drivetrain. The housing can be securable within a footwear article. The drivetrain can include a motor, a sun gear, a planet gear, a rotating ring gear, and a spool. The spool can be secured to the ring gear and can be rotatable therewith. The spool can be configured to control a lace of the footwear article and can be configured to wind the lace as the ring gear rotates in a first direction.

Construction system, particularly for operation by an end-user, comprising a robot device configured for constructing a wall and/or pillar structure, and at least one marking device for defining the course, form and/or position of a wall and/or pillar structure, wherein the marking device is detectable by the robot device, and wherein the robot device is configured to construct a wall and/or pillar structure at and/or along the marking device.

Systems and apparatus related to footwear including a modular lacing engine are discussed. In an example, a modular footwear apparatus including an upper portion, a lower portion, and a lacing engine is described. The upper portion can include a lace to adjust fit of the upper portion against a foot, the lace adjustable between a first position and a second position based at least in part on manipulation of an effective length of the lace. The lower portion can include a mid-sole and an out-sole, and the lower portion can be coupled to the upper portion at the mid-sole. The lacing engine can include a top-loading lace spool to engage a loop of the lace to enable manipulation of the effective length of the lace through rotation of the lace spool, the lacing engine received within a cavity in the lower portion.

Systems and apparatus related to footwear including a modular lacing engine are discussed. In an example, a modular footwear apparatus including an upper portion, a lower portion, and a lacing engine is described. The upper portion can include a lace to adjust fit of the upper portion against a foot, the lace adjustable between a first position and a second position based at least in part on manipulation of an effective length of the lace. The lower portion can include a mid-sole and an out-sole, and the lower portion can be coupled to the upper portion at the mid-sole. The lacing engine can include a top-loading lace spool to engage a loop of the lace to enable manipulation of the effective length of the lace through rotation of the lace spool, the lacing engine received within a cavity in the lower portion.

In an example, a lacing engine apparatus can include a housing and a drivetrain. The housing can be securable within a footwear article. The drivetrain can include a motor, a sun gear, a planet gear, a rotating ring gear, and a spool. The spool can be secured to the ring gear and can be rotatable therewith. The spool can be configured to control a lace of the footwear article and can be configured to wind the lace as the ring gear rotates in a first direction.

In an example, a lacing engine apparatus can include a housing and a drivetrain. The housing can be securable within a footwear article. The drivetrain can include a motor, a sun gear, a planet gear, a rotating ring gear, and a spool. The spool can be secured to the ring gear and can be rotatable therewith. The spool can be configured to control a lace of the footwear article and can be configured to wind the lace as the ring gear rotates in a first direction.