Programmable tactile stimulator array system and method of operation
First Claim
1. A tactile stimulator array system for providing tactile feedback to a person comprising the combination of at least one tactile element having a touch-stimulating portion, a reference structure, means for mounting the tactile element in a predetermined array relative to said reference structure for contact of said touch-stimulating portion by sense organs of the person, actuator means for moving the touch-stimulating portion between first and second positions, said actuator means including at least one actuator, said actuator being comprised of a shape-memory alloy material which changes between a first memory shape when heated through the phase change transition temperature of the material and a second shape when cooled below that temperature, and coupling means for operatively coupling said actuator with a respective tactile element for moving the touch-stimulating portion of the element between said first and second positions responsive to said change in shape of the actuator whereby movement of the touch-stimulating portion relative to the reference structure can be sensed by the person.
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Accused Products
Abstract
A tactile stimulator array system and method of operational incorporating a plurality of tactile elements having touch-stimulating portions which are positioned through corresponding openings formed in a touch plate. The tactile elements are moved by actuator wires which are formed of a shape-memory alloy material. Electrical control signals from a programmed computer system heat individual wires through the materials phase change transition temperature so that the wires contract to their memory shapes and raise the elements. The touch-stimulating portions then extend above the touch plate where they can be sensed by the user.
359 Citations
18 Claims
- 1. A tactile stimulator array system for providing tactile feedback to a person comprising the combination of at least one tactile element having a touch-stimulating portion, a reference structure, means for mounting the tactile element in a predetermined array relative to said reference structure for contact of said touch-stimulating portion by sense organs of the person, actuator means for moving the touch-stimulating portion between first and second positions, said actuator means including at least one actuator, said actuator being comprised of a shape-memory alloy material which changes between a first memory shape when heated through the phase change transition temperature of the material and a second shape when cooled below that temperature, and coupling means for operatively coupling said actuator with a respective tactile element for moving the touch-stimulating portion of the element between said first and second positions responsive to said change in shape of the actuator whereby movement of the touch-stimulating portion relative to the reference structure can be sensed by the person.
- 7. A method for providing tactile stimulation feedback for a person'"'"'s sense organs, the method including the steps of mounting a tactile element means for movement between first and second positions relative to a reference structure, with the tactile element means in its second position being oriented relative to the reference structure for sensing by the person, coupling an actuator means of shape-memory alloy material to the tactile element means, said material being in a memory shape when heated through its phase change transition temperature and being in an other shape when cooled below that temperature, heating the actuator means through its phase change transition temperature to cause it to change to its memory shape for moving the tactile element means to its second position responsive to said change of shape of the actuator means to its memory shape, cooling the actuator means to below its phase change transition temperature to cause the actuator means to move to its other shape for moving the tactile element means to its first position while moving the actuator means to its other shape, and generating a control signal having successive pulses which are varied over time in a predetermined sequence for causing the actuator means to undergo successive cycles of heating and cooling responsive to the pulses to cause the actuator means to change between said memory shape and other shape for causing movement of the tactile element means relative to the reference structure.
- 15. A tactile stimulator array system for providing tactile feedback to a person comprising the combination of a plurality of tactile elements, each element having a touch-stimulating portion, a reference structure, means for mounting the tactile elements in a predetermined array relative to said reference structure for contact of said touch-stimulating portions by sense organs of a person, actuator means for moving the touch-stimulating portions between first and second positions, said actuator means including a plurality of actuators, each actuator being formed of a shape-memory alloy material which changes between a first memory shape when heated through the phase change transition temperature of the material and a second shape when cooled below that temperature, coupling means for operatively coupling each actuator with a respective tactile element for moving such element and its associated touch-stimulating portion between said first and second positions responsive to said change in shape of the actuator whereby movement of the touch-stimulating portions relative to the reference structure can be sensed by the person, said tactile elements being comprised of cantilever beams having proximal ends and distal ends, said proximal ends being carried by the reference structure and said distal ends comprising said touch-stimulating portions, said beams being formed of a flexible material having elastic memory, said actuators being in the shape of elongate strands, and said coupling means attaches said strands to a portion of respective beams at a position which applies a moment force for bending the beams from a first position to a second position when the alloy material changes to its memory shape.
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17. A tactile stimulator array system for providing tactile feedback to a person comprising the combination of a plurality of tactile elements, each element having a touch-stimulating portion, a reference structure means for mounting the tactile elements in a predetermined array relative to said reference structure for contact of said touch-stimulating portions by sense organs of a person, actuator means for moving the touch-stimulating portions between first and second positions, said actuator means including a plurality of actuators, each actuator comprised of a shape-memory alloy material which changes between a first memory shape when heated through the phase change transition temperature of the material and a second shape when cooled below that temperature, coupling means for operatively coupling each actuator with a respective tactile element for moving such element and its associated touch-stimulating portion between said first and second positions responsive to said change in shape of the actuator whereby movement of the touch-stimulating portions relative to the reference structure can be sensed by the person wherein said tactile elements are formed by a base plate being comprised of a sheet of flexible metal and means forming a pattern of spaced-apart, parallel cuts through the metal to define laterally spaced-apart beams which are integrally joined at their proximal ends to un-cut portions of the base plate.
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18. A method for providing tactile stimulation feedback for a person'"'"'s sense organs, the method including the steps of mounting a tactile element means for movement between first and second positions relative to the reference structure for sensing by the person, coupling an actuator means of a shape-memory alloy material to the tactile element means, said material changing between a memory shape when heated through its phase change transition temperature and an other shape when cooled below that temperature, heating the actuator means through its phase change transition temperature to cause it to change its memory shape for moving the tactile element means to its second position responsive to said change of shape of the actuator means to its memory shape, cooling the actuator means to below its phase change transition temperature to cause the actuator means to move to its other shape for moving the tactile element means to its first position while moving the actuator means to its other shape, said tactile element means having a plurality of tactile elements and said actuator means having a plurality of actuators, said actuators and the associated tactile elements are positioned in a predetermined array, said actuators are individually heated and cooled to cause them to respectively change between their memory shape and other shape in accordance with a predetermined sequence for causing movement of the tactile elements relative to the reference structure, generating time-varying control signals for operating individual actuators in accordance with said predetermined sequence, the actuators are heated responsive to said time-varying signals, directing electric current pulses through the actuators responsive to said time-varying.
Specification