Methods and Apparatus for Shape Control

• US 20140314976A1
• Filed: 04/21/2014
• Published: 10/23/2014
• Est. Priority Date: 04/19/2013
• Status: Active Grant

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Yao, Lining, Follmer, Sean, Ishii, Hiroshi, Niiyama, Ryuma, Ou, Jifei
• Granted Patent: US 9,777,753 B2
• Time in Patent Office: Days
• US Class Current: 428/34.3
• CPC Class Codes: F15B 15/103 using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
• CPC Class Codes: G06F 2203/04809 Textured surface identifying touch areas, e.g. overlay structure for a virtual keyboard
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0488 using a touch-screen or digitiser, e.g. input of commands through traced gestures
• CPC Class Codes: H04M 1/0202 Portable telephone sets, e.g. cordless phones, mobile phones or bar type handsets constructional features of telephone transmitters or receivers, e.g. of speakers or microphones H04M1/03
• CPC Class Codes: Y10T 428/1307 Bag or tubular film [e.g., pouch, flexible food casing, envelope, etc.]
• CPC Class Codes: Y10T 428/1334 Nonself-supporting tubular film or bag [e.g., pouch, envelope, packet, etc.]

Abstract

In exemplary implementations of this invention, a shape controller controls the shape of a bladder as the bladder inflates. The shape controller includes a first set of regions and a second set of regions. The second set of regions is more flexible than the first set of regions. The shape controller is embedded within, or adjacent to, a wall of the bladder. When the bladder is inflated, the overall shape of the bladder bends in areas adjacent to the more flexible regions of the shape controller. For example, the shape controller may comprise paper and the more flexible regions may comprise creases in the paper. Or, for example, the more flexible regions may comprise notches or indentations. In some implementations of this invention, a multi-state shape display changes shape as it inflates, with additional bumps forming as pressure in the display increases.

Claims

1. An apparatus comprising a bladder, wherein:

(a) the bladder includes a wall that at least partially surrounds a cavity in the bladder;

(b) the bladder further includes a shape controller, which shape controller includes a first set of regions and a second set of regions;

(c) the second set of regions is more flexible than the first set of regions; and

(d) the shape controller is embedded within, or adjacent to, the wall, such that when the bladder is inflated, the overall shape of the bladder bends in areas adjacent to respective regions out of the second set of regions.

2. The apparatus of claim 1, wherein the shape controller comprises paper and the second set of regions comprises creases in the paper.

3. The apparatus of claim 1, wherein the second set of regions comprises notches or indentations.

4. The apparatus of claim 1, wherein the first set of regions comprise chambers, each of which chambers contains fluid.

5. The apparatus of claim 1, wherein the first set of regions comprise chambers, each of which chambers contains jammable material.

6. The apparatus of claim 1, wherein

(a) the first set of regions comprises multiple chambers;

and

(b) each respective chamber, out of the multiple chambers in the first set of regions, is configured to contain fluid at one or more pressures, including at a pressure such that the respective chambers are less compressible than the second set of regions.

7. The apparatus of claim 1, wherein the first set of regions comprises a set of inflatable chambers.

8. The apparatus of claim 1, wherein each respective region, out of the second set of regions, is elongated and has an orientation along the length of the respective region.

9. The apparatus of claim 8, wherein:

(a) the shape controller is elongated and has a first longitudinal axis along the length of the shape controller; and

(b) the orientations of the second set of regions are perpendicular to the first longitudinal axis.

10. The apparatus of claim 8, wherein:

(a) the shape controller is elongated and has a first longitudinal axis along the length of the shape controller; and

(b) the orientations of the second set of regions are not perpendicular to the first longitudinal axis.

11. The apparatus of claim 1, wherein the wall comprises an elastomer.

12. The apparatus of claim 1, wherein the cavity contains air.

13. The apparatus of claim 1, wherein the apparatus further comprises:

(a) one or more pumps;

(b) one or more valves; and

(c) one or more computer processors for controlling the pumps and valves to control pressure of fluid in the cavity.

14. The apparatus of claim 1, wherein the bladder includes one or more light emitting components.

15. An apparatus comprising a bladder, wherein:

(a) the bladder includes a wall that at least partially surrounds a cavity in the bladder;

(b) the bladder further includes a shape controller, which shape controller includes a first set of regions and a second set of regions;

(c) the first set of regions have a first range of magnitudes of flexural strength, and the second set of regions have a second range of magnitudes of flexural strength, which first and second ranges do not overlap, each magnitude in the first range being greater than each magnitude in the second range; and

(d) the shape controller is embedded within, or adjacent to, the wall, such that when the bladder is inflated, the overall shape of the bladder bends in areas adjacent to respective regions out of the second set of regions.

16. Apparatus comprising a bladder, wherein:

(a) the bladder contains fluid and includes a surface;

(b) the surface comprises a first set of regions and a second set of regions;

(c) in the second set of regions, the surface comprises a first layer and a second layer;

(d) in the first set of regions, the surface comprises the first layer, but does not include the second layer;

(e) the first layer has a first stiffness and the second layer has a second stiffness, the magnitude of the second stiffness being greater than the magnitude of the first stiffness; and

(f) the surface is configured such that, during inflation of the bladder due to pressure of the fluid, the second set of regions undergo less strain than the first set of regions.

17. The apparatus of claim 16, wherein:

(a) the surface further comprises a third set of regions;

(b) in the third set of regions, the surface comprises the first layer, the second layer and a third layer;

(c) in the first and second set of regions, the surface does not include the third layer;

(d) the third layer has a third stiffness, the magnitude of the third stiffness being greater than the magnitude of the second stiffness; and

(e) the surface is configured such that, during the inflation, the third set of regions undergo less strain than the second set of regions.

18. The apparatus of claim 16, wherein the fluid comprises air.

19. The apparatus of claim 16, wherein the fluid comprises a liquid.

20. The apparatus of claim 16, wherein the apparatus further comprises:

(a) one or more pumps;

(b) one or more valves; and

(c) one or more computer processors for controlling the pumps and valves to control the pressure of the fluid.