Electroactive polymer animated devices

• US 6,586,859 B2
• Filed: 04/04/2001
• Issued: 07/01/2003
• Est. Priority Date: 04/05/2000
• Status: Expired due to Term

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: Eckerle, Joseph S., Czyzyk, Donald E., Shastri, Subramanian Venkat, Pei, Qibing, Kornbluh, Roy D., Pelrine, Ronald E., Gallagher, Paul K.
• Primary Examiner(s): Dougherty, Thomas M.
• Application Number:
  US09/828,496
• Publication Number:
  US 20010036790A1
• Time in Patent Office: 818 Days
• Field of Search: 310/309, 310/328, 310/800
• US Class Current: 310/309
• CPC Class Codes: A63H 13/00 Toy figures with self-moving parts, with or without movement of the toy as a whole
• CPC Class Codes: A63H 13/005 with self-moving head or facial features with a choice of features A63H3/365; movable eyes A63H3/40
• CPC Class Codes: A63H 29/00 Drive mechanisms for toys in general
• CPC Class Codes: F04B 43/043 Micropumps
• CPC Class Codes: F04B 43/14 having plate-like flexible members
• CPC Class Codes: H10N 30/50 having a stacked or multilayer structure
• CPC Class Codes: Y10S 310/80 Piezoelectric polymers, e.g. PVDF

Abstract

The present invention relates to animated devices that include one or more electroactive polymer transducers. When actuated by electrical energy, an electroactive polymer produces mechanical deflection in one or more directions. This deflection may be used to produce motion of a feature included in an animated device. Electroactive polymer transducers offer customizable shapes and deflections. Combining different ways to configure and constrain a polymer, different ways to arrange active areas on a single polymer, different animated device designs, and different polymer orientations, permits a broad range of animated devices that use an electroactive polymer transducer to produce motion. These animated devices find use in a wide range of animated device applications.

Claims

1. An animated device comprising:

a feature capable of motion between a first position and a second position;

a transducer either included in the feature or coupled to the feature and configured to provide at least a portion of the motion between the first position and the second position for the feature, the transducer comprising an active area, which includes at least two electrodes coupled to a portion of an electro active polymer, the portion capable of deflection in response to a change in electric field provided by the at least two electrodes; and

wherein the polymer has an elastic modulus below about 100 MPa and the polymer is pre-strained by a factor in the range of about 1.5 times to 50 times its original area.

2. The device of claim 1 wherein elastic return of the electroactive polymer provides at least a portion of the motion from the second position to the first position.

3. The device of claim 1 wherein the electroactive polymer is elastically pre strained.

4. The device of claim 1 wherein the electroactive polymer is a dielectric elastomer.

5. The device of claim 1 wherein the electroactive polymer is molded.

6. The device of claim 1 further including a frame coupled to the electroactive polymer and configured to provide structural support for the device.

7. The device of claim 1 wherein a mechanical property of the transducer substantially simulates a mechanical property of a real muscle.

8. The device of claim 1 wherein the device is one of a toy, a puppet, and an animatronic device.

9. The device of claim 8 further comprising a second transducer, the second transducer comprising a second active area, which includes at least two second active area electrodes coupled to a portion of a second electroactive polymer, the portion capable of deflection in response to a change in electric field provided by the at least two second active area electrodes.

10. The device of claim 1 wherein the transducer is included in a linear actuator.

11. The device of claim 1 wherein the device is included in one of an animated display, a set, a prop, and a moving display of an amusement park ride.

12. The device of claim 1 wherein the device includes a first member attached to the polymer which is also attached to the feature, wherein the feature configured to rotate about the first member upon deflection of the polymer.

13. The device of claim 1 wherein the transducer further comprises a second active area, said second active area comprising at least two second active area electrodes and a second portion of the electroactive polymer coupled to the at least two second active area electrodes.

14. The device of claim 13 wherein the first active area and the second active area are capable of independent actuation.

15. The device of claim 1 wherein the device is a distributed animated device.

16. The device of claim 15 wherein the distributed animated device comprises an arm.

17. The device of claim 1 wherein the device includes a remote control receiver that receives remote control signals that affect deflection of the portion of the electroactive polymer.

18. The device of claim 1 wherein the device is one of a decoy or a fishing lure.

19. The device of claim 1 wherein the device is configured such that the transducer is used in a sensor configured to detect a parameter included in the device or detect a parameter from the environment around the device.

20. The device of claim 19 wherein the sensor provides one of haptic and force feedback.

21. The device of claim 1 wherein the device is configured such that the transducer is capable of producing sound.

22. The device of claim 1 wherein the device is backdrivable between the first position and the second position by overcoming the stiffness of the polymer during motion between the first position and the second position.

23. The device of claim 22 wherein backdriving is accomplished by overcoming the stiffness of the polymer during motion between the first position and the second position.

24. The device of claim 1 wherein the device is capable of surface based locomotion.

25. The device of claim 24 wherein the feature is a leg and the first position and the second position are included in legged locomotive positions of a toy.

26. The device of claim 1 wherein motion between the first position and the second position for the feature has human likeness.

27. An animated face comprising:

a facial feature capable of motion between a first position and a second position;

a transducer either included in the facial feature or coupled to the facial feature and configured to provide at least a portion of the motion between the first position and the second position for the facial feature, the transducer comprising an active area, which includes at least two electrodes coupled to a portion of an electroactive polymer, the portion capable of deflection in response to a change in electric field provided by the at least two electrodes; and

wherein the polymer has an elastic modulus below about 100 MPa.

28. The animated face of claim 27 wherein the electroactive polymer is molded to the shape of the face.

29. The animated face of claim 28 further comprising an outer skin attached to an outer surface of the polymer.

30. The animated face of claim 27 wherein the facial feature is a mouth and the first position and the second position correspond to positions of the mouth.

31. The animated face of claim 27 wherein the facial feature is an eyebrow and the first position and the second position correspond to positions of the eyebrow.

32. The animated face of claim 27 wherein the facial feature is a pupil and actuation of the polymer corresponds to dilation of the pupil.

33. The animated face of claim 27 wherein the transducer further comprises a second active area, said second active area comprising at least two second active area electrodes and a second portion of the electroactive polymer coupled to the at least two second active area electrodes.

34. The animated face of claim 33 wherein said first and second active areas are actuated one of independently or together to provide motion for one or more parts of said face.

35. An animated toy comprising:

a feature capable of motion between a first position and a second position;

a transducer either included in the feature or coupled to the feature and configured to provide at least a portion of the motion between the first position and the second position for the feature, the transducer comprising an active area, which includes at least two electrodes coupled to a portion of an electroactive polymer, the portion capable of deflection in response to a change in electric field provided by the at least two electrodes; and

wherein the polymer has an elastic modulus below about 100 MPa and the polymer is pre-strained by a factor in the range of about 1.5 times to 50 times its original area.

36. The toy of claim 35 wherein the first position and the second position are included in facial positions of the toy.

37. The toy of claim 35 wherein the toy is capable of surface based locomotion.

38. The toy of claim 35 wherein the first position and the second position are included in legged locomotive positions of the toy.

39. The toy of claim 35 wherein the electroactive polymer is a dielectric elastomer.

40. The toy of claim 35 wherein the device includes a remote control receiver that receives remote control signals that affect deflection of the portion of the electroactive polymer.

41. The toy of claim 35 wherein the toy comprises a sensor configured to detect a parameter included in the device or detect a parameter from the environment around the device.

42. The toy of claim 41 wherein the toy is configured such that the transducer is used in the sensor.

43. The toy of claim 42 wherein the sensor provides one of haptic and force feedback.

44. The toy of claim 35 wherein the toy is configured such that the transducer is capable of producing sound.

45. The toy of claim 35 wherein the toy is backdrivable between the first position and the second position by overcoming the stiffness of the polymer during motion between the first position and the second position.

46. The toy of claim 45 wherein the first position and the second position are included in legged locomotive positions of the toy.

47. The toy of claim 35 wherein the toy comprises a distributed transducer scheme.

48. The toy of claim 35 wherein the toy comprises a body including a torso having a pair of arms extending therefrom, a head, a pair of legs extending downwardly therefrom, a neck portion supporting the head.

49. An animated skin comprising:

a feature capable of motion between a first position and a second position;

a transducer either included in the skin or coupled to the skin and configured to provide at least a portion of the motion between the first position and the second position for the feature, the transducer comprising an active area, which includes at least two electrodes coupled to a portion of an electroactive polymer, the portion capable of deflection in response to a change in electric field provided by the at least two electrodes; and

wherein the polymer has an elastic modulus below about 100 MPa.

50. The animated skin of claim 49 further comprising a convex surface attached to a portion of the skin.

51. The animated skin of claim 49 further comprising an outer skin attached to an outer surface of the polymer.

52. The animated skin of claim 49 wherein the transducer is included in a diaphragm actuator.

53. The animated skin of claim 49 wherein the device is configured such that the transducer is capable of producing sound.

54. An animated device comprising:

a feature capable of motion between a first position and a second position;

a transducer either included in the feature or coupled to the feature and configured to provide at least a portion of the motion between the first position and the second position for the feature, the transducer comprising an active area, which includes at least two electrodes coupled to a portion of an electroactive polymer, the portion capable of deflection in response to a change in electric field provided by the at least two electrodes, wherein the polymer has an elastic modulus below about 100 MPa;

a sensor configured to detect a parameter included in the device or detect a parameter from the environment around the device.

55. The device of claim 54 wherein the sensor provides one of haptic information, kinesthetic information, visual information, and acoustic information.

56. The device of claim 54 wherein the sensor comprises a second electroactive polymer.

57. The device of claim 54 wherein the sensor comprises the transducer.

58. The device of claim 54 wherein the device is configured such that sensing may be performed simultaneously with the actuation.

59. The device of claim 54 further comprising a processor and electrical communication with the at least two electrodes.

60. The device of claim 59 wherein the processor is in electrical communication with the sensor.

61. The device of claim 60 wherein the device is capable of responding to stimulus provided by its environment that is detected by the sensor.

62. The device of claim 61 wherein the device provides biomimetic responses to a user.

63. The device of claim 54 wherein the device is one of a toy and an animatronic device.

64. An animated device comprising:

a feature capable of motion between a first position and a second position;

a transducer either included in the feature or coupled to the feature and configured to provide at least a portion of the motion between the first position and the second position for the feature, the transducer comprising an active area, which includes at least two electrodes coupled to a portion of an electroactive polymer, the portion capable of deflection in response to a change in electric field provided by the at least two electrodes, wherein the polymer has an elastic modulus below about 100 MPa;

a sound generator configured to produce sound.

65. The device of claim 64 wherein the transducer is configured to produce sound.

66. The device of claim 64 further comprising a second transducer, said second transducer comprising at least two second transducer electrodes coupled to a portion of a second electroactive polymer, the portion of the second electroactive polymer capable of deflection in response to a change in electric field provided by the at least two second transducer electrodes, and wherein the second transducer is configured to produce sound.

67. The device of claim 64 wherein the device comprises a sensor configured to detect a parameter included in the device or detect a parameter from the environment around the device.

68. The device of claim 64 wherein the device is configured such that the transducer is used in the sensor.

69. The device of claim 67 where in the sensor detects acoustic information.

70. An animated device capable of surface based locomotion, the animated device comprising:

a feature capable of motion between a first position and a second position;

a transducer either included in the feature or coupled to the feature and configured to provide at least a portion of the motion between the first position and the second position for the feature, the transducer comprising an active area, which includes at least two electrodes coupled to a portion of an electroactive polymer, the portion capable of deflection in response to a change in electric field provided by the at least two electrodes, wherein the polymer has an elastic modulus below about 100 MPa; and

wherein the device is configured such that motion between the first position and the second position for the feature provides at least a portion of the surface based locomotion.

71. The device of claim 70 wherein the surface locomotion is wheeled locomotion and the feature is a wheel driven by the transducer.

72. The device of claim 70 wherein the surface locomotion is legged locomotion and the feature is a leg.

73. The device of claim 72 wherein the device is a toy.

74. The device of claim 70 wherein the device includes a remote control receiver that receives remote control signals that affect deflection of the portion of the electroactive polymer.

75. An animated device having likeness of a human, the animated device comprising:

a feature capable of motion between a first position and a second position;

a transducer either included in the feature or coupled to the feature and configured to provide at least a portion of the motion between the first position and the second position for the feature, the transducer comprising an active area, which includes at least two electrodes coupled to a portion of an electroactive polymer, the portion capable of deflection in response to a change in electric field provided by at least two electrodes, wherein the polymer has an elastic modulus below about 100 Mpa; and

wherein the feature has a human likeness.

76. The device of claim 75 wherein the motion between the first position and the second position for the feature has a human likeness.

77. The device of claim 75 wherein the device resembles a non-living object and the transducer provides motion for a feature having a human likeness.

78. The device of claim 75 wherein the electroactive polymer is a dielectric elastomer.

79. The device of claim 75 wherein the device is a distributed animated device.

80. The device of claim 79 wherein the distributed animated device comprises an arm.