Electroactive polymer animated devices

• US 7,211,937 B2
• Filed: 04/24/2006
• Issued: 05/01/2007
• Est. Priority Date: 07/20/1999
• Status: Expired due to Term

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: Pei, Qibing, Eckerle, Joseph S., Kornbluh, Roy D., Pelrine, Ronald E.
• Primary Examiner(s): Dougherty, Thomas M.
• Application Number:
  US11/411,007
• Publication Number:
  US 20060290241A1
• Time in Patent Office: 372 Days
• Field of Search: 310/309, 310/328, 310/800, 446/330
• 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 toy comprising:

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

a rolled electroactive polymer 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.

2. The toy of claim 1 wherein the polymer has an elastic modulus below about 100 MPa.

3. The toy 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.

4. The toy of claim 1 wherein the rolled electroactive polymer is pre-strained.

5. The toy of claim 1 wherein the electroactive polymer has a maximum actuation pressure between about 0.05 MPa and about 10 MPa.

6. The toy of claim 1 wherein the rolled electroactive polymer 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 rolled electroactive polymer coupled to the at least two second active area electrodes.

7. The toy of claim 6 wherein the first active area and the second active area are capable of independent actuation.

8. The toy of claim 7 wherein the rolled electroactive polymer transducer is configured to provide two-dimensional motion between a first position and a second position.

9. The toy of claim 8 wherein the rolled electroactive polymer transducer is configured to provide three-dimensional motion between a first position and a second position.

10. The toy of claim 1 wherein the device is backdrivable between the first position and the second position.

11. The toy of claim 10 wherein backdriving is accomplished by overcoming the stiffness of the polymer during motion between the first position and the second position.

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

13. The device of claim 12 wherein the first position and the second position are included in legged locomotive positions of a toy.

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

15. An animated toy comprising:

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

an electroactive polymer 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 a rolled electroactive polymer, the portion capable of deflection in response to a change in electric field provided by the at least two electrodes;

an electroactive polymer sensor configured to detection the motion between a first position and a second position.

16. The toy of claim 15 wherein the electroactive polymer sensor is included in the electroactive polymer transducer.

17. The toy of claim 15 wherein the sensor provides one of haptic and force feedback.

18. The toy of claim 15 wherein the electroactive polymer is pre-strained.

19. The toy of claim 15 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.

20. The toy of claim 15 wherein the polymer has an elastic modulus below about 100 MPa.