HK1231948B - Methods and devices to hydraulic consumer devices - Google Patents

Description

Method and apparatus for consumer hydraulic devices

Technical Field

The present invention relates to consumer devices and, in particular, to consumer devices that utilize fluid control and activation.

Background Art

In the prior art, fluidic devices available to consumers are generally limited to a wide range of air-based massagers, such as leg massagers, which provide simple, cyclical application of pressure and subsequent release of pressure to the thighs and calves. However, these represent a very small fraction of the overall number and variety of other manual and electric massagers available to consumers. These electric massagers are primarily vibration-based and offer a limited number of settings to the user, thus generally depending on the user applying the pressure and operating over a relatively small area at any given moment. Air-based leg massagers, on the other hand, operate over a wider area, but generally apply and release pressure in a steady, slowly increasing manner.

Similarly, motorized toys used as educational or entertainment devices for infants, children, and/or adults are generally limited to wheeled toys using a single motor or larger robotic toys using multiple motors. In both instances, their application is limited by the availability of compact, low-cost motors that can be used to provide distributed power for motion generation and pressure generation. Compared to other technologies, fluidics provides an efficient means of distributing power away from the power source to activate elements because pressure/fluid flow can be used directly to generate pressure and/or motion without the need for an additional transducer (e.g., a motor) to convert electricity into mechanical force. Therefore, compared to vibrating massagers, fluidics can allow for different sizes, designs, and performances, providing air and/or liquid-based fluid massagers suitable for other areas of the user's body, or allowing for the use of multiple motors (actuators) within a small area (e.g., a small toy).

For fluid pumps that can be used as part of a hydraulic device, there are naturally several pump designs in the prior art. However, with respect to fluid devices and pumps in these prior art, despite the fluid concepts in the prior art noted above, to date, no compact hydraulic devices have been developed or commercially deployed. This may be due to the fact that fluid pumps are large, inefficient, and do not operate in the modes required for such devices, such as, for example, low frequency, variable duration, and pulse modulation for those with a primary pump for dimensional adjustment, or high frequency operation for example for those with a secondary pump for vibration and other types of motion/excitation. For example, conventional rotary pumps provide poor pressure at lower revolutions per minute (rpm), have complex motors and separate pumps, multiple moving parts, are relatively large and expensive, and even have small impellers that provide a low effective flow rate.

Therefore, there is a need for pumps, valves, and actuators that allow devices with multiple ranges of motion, both in overall configuration and size, as well as localized variations, and that can utilize fluidics to implement multiple moving elements, wherein the use of fluids allows for control of pressure and/or fluid flow to cause movement of element(s) within the device or expansion/contraction of element(s) within the device. As noted, commercial deployment of devices utilizing fluidics is limited. Therefore, there remains a need for methods and devices that provide these desired beneficial features. It would be particularly beneficial to provide a fluidic device that possesses all of the aforementioned functionalities, and the ability to provide these functionalities within a deformable device and/or within a device having deformable element(s), relative to prior art devices. Furthermore, it would be beneficial to provide a device that utilizes a fluidic actuator that is essentially non-mechanical and therefore less susceptible to wear, such as from drive gear stripping, thereby improving reliability and reducing noise. Fluidic devices allow for high efficiency, high power-to-size ratios, low cost, limited or single moving part(s), and allow for springless mechanical designs and functional reset by providing a piston that acts as both a pump and a vibrator.

Other aspects and features of the present invention will become apparent to those skilled in the art upon review of the following description of specific embodiments of the invention in conjunction with the accompanying drawings.

Summary of the Invention

The present invention aims to alleviate the limitations of the prior art associated with devices for consumers and more particularly with devices for consumers that utilize fluid control and activation.

According to one embodiment of the present invention, a device is provided that includes a plurality of fluid actuators coupled to a fluid pump and a control system, wherein each of the plurality of fluid actuators provides motion within a predetermined area of the device through a joint.

According to one embodiment of the present invention, a device is provided, which includes a plurality of fluid actuators connected to a fluid pump and a control system, wherein each of the plurality of fluid actuators provides dimensional adjustment of the device within a predetermined area while allowing the predetermined area of the device to be deformed through action of a user of the device.

According to one embodiment of the present invention, a device is provided, which includes a plurality of fluid actuators connected to a fluid pump and a control system, wherein each of the plurality of fluid actuators provides physical engagement with a predetermined area of a user's body, and the plurality of fluid actuators can be actuated under the action of the fluid pump and the control system to produce simulated movement of an object in the predetermined area of the user's body.

According to an embodiment of the present invention, there is provided a device for providing a massage function for a user, comprising at least one electronically controlled linear pump and a fluid actuator coupled to the linear pump.

According to one embodiment of the present invention, there is provided a toy for use by an individual that includes at least one electronically controlled linear pump and a fluid actuator coupled to the linear pump.

According to one embodiment of the present invention, an educational device for simulating the motion of a biological system is provided. The biological system includes at least one electronically controlled linear pump and a fluid actuator coupled to the linear pump.

According to one embodiment of the present invention, there is provided a pump comprising:

a piston having a first end and a second end;

a first cylinder head provided to one end of the chamber containing the piston and including an inlet and an outlet;

a second cylinder head disposed to a second distal end of the chamber containing the piston and further comprising an inlet and an outlet;

a first vane array located at one end of the piston and having a plurality of vanes angled in a first direction;

a second vane array located at a second distal end of the piston and having a plurality of vanes angled in a second direction;

a first swirl nozzle disposed in one of the inlet and the outlet of the first cylinder head; and

A second swirl nozzle is disposed in each of the inlet and the outlet of the second cylinder head.

According to one embodiment of the present invention, a linear pump is provided, which includes a housing for a coil, the housing having at least first and second end walls, an outer wall and predetermined portions of an inner wall; and also includes first and second magnets arranged adjacent to the first and second end walls.

Other aspects and features of the present invention will become apparent to those skilled in the art upon review of the following description of specific embodiments of the invention in conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

FIG1 depicts a deformable element based on a fluid actuator according to one embodiment of the present invention;

FIG2A depicts a pressure element based on a fluid actuator according to one embodiment of the present invention;

FIG2B depicts a surface friction element based on a fluid actuator according to one embodiment of the present invention;

FIG. 3 depicts a surface friction element based on a fluid actuator according to an embodiment of the present invention.

FIG4 depicts a fluid actuator-based pressure conversion structure according to an embodiment of the present invention;

FIG5 depicts a progressive position pressure element based on a fluid actuator according to one embodiment of the present invention;

FIG6 depicts an element based on a linear expansion fluid actuator according to an embodiment of the present invention;

7A and 7B depict elements based on a buckling fluid actuator according to one embodiment of the present invention;

FIG8 depicts an apparatus for providing rotational motion using a fluid actuator according to an embodiment of the present invention;

FIG9 depicts a combination of a fluid pump, a reservoir, and a valve utilizing parallel and series element actuation of fluid elements according to an embodiment of the present invention;

FIG10 depicts a series element configuration utilizing a secondary fluid pump and fluidic elements in conjunction with a primary fluid pump, a reservoir, and valves according to an embodiment of the present invention;

FIG11 depicts a low-resistance extension fluid actuator and a linear piston fluid actuator according to an embodiment of the present invention;

FIG12 depicts an embodiment of the present invention in which the motion of a fluid actuator is adjusted depending on the state of other fluid actuators;

13A and 13B depict flow charts of process(es) associated with configuring a device utilizing single and multiple function fluidic elements according to device user preferences, according to embodiments of the present invention;

14 depicts a flow chart illustrating a process associated with establishing personalized settings for a device utilizing fluidic elements and their subsequent storage/retrieval from a remote location, in accordance with an embodiment of the present invention;

15 depicts a flow chart of a process associated with establishing personalized settings for a device utilizing fluidic elements and their subsequent storage/retrieval from a remote location to a user device or another device, in accordance with an embodiment of the present invention;

FIG. 16 depicts the expansion/deflation of a component under fluid control using a fluid pump, a fluid reservoir, a check valve, and a valve according to one embodiment of the present invention;

FIG. 17 depicts an electronically activated valve (EAV) or electronically activated switch for a fluid system according to one embodiment of the present invention;

18 and 19 depict an electronically controlled pump (ECPUMP) utilizing full cycle fluid motion according to one embodiment of the present invention;

20A and 20B depict a compact ECPUMP according to one embodiment of the present invention;

FIG21 depicts a compact electronically controlled fluid valve/switch according to one embodiment of the present invention;

FIG22A depicts a programmable latch-check fluid valve according to one embodiment of the present invention;

FIG. 22B depicts the use of a lock check fluid valve within a fluid system according to an embodiment of the present invention within a device;

FIG. 23 depicts an exemplary power drive circuit for an ECPUMP-based toy according to an embodiment of the present invention;

FIG. 24 depicts an example diagram-based toy utilizing fluid actuator(s) and an ECPUMP, according to an embodiment of the present invention;

FIG. 25 depicts an exemplary toy utilizing fluid actuator(s) and an ECPUMP according to an embodiment of the present invention;

FIG. 26 depicts an exemplary toy utilizing fluid actuator(s) and an ECPUMP according to an embodiment of the present invention;

FIG. 27 depicts an exemplary massage device utilizing fluid actuator(s) and an ECPUMP, according to an embodiment of the present invention;

FIG. 28 depicts exemplary facial changes that may be achieved for toys and educational devices utilizing fluid actuator(s) and an ECPUMP, according to an embodiment of the present invention;

FIG. 29 depicts an exemplary massage device utilizing fluid actuator(s) and an ECPUMP, according to an embodiment of the present invention;

FIG30 depicts an ECPUMP variant according to an embodiment of the present invention;

FIG31 depicts an ECPUMP variant according to an embodiment of the present invention; and

FIG32A depicts the application of a blade to a piston on an ECPUMP according to one embodiment of the present invention;

FIG32B depicts the application of a nozzle feature to induce fluid swirl between the piston end and the cylinder head of an ECPUMP, according to one embodiment of the present invention; and

FIG. 33 depicts an ECPUMP variant according to an embodiment of the present invention.

DETAILED DESCRIPTION

The present invention relates to consumer devices and, in particular, to consumer devices that utilize fluid control and activation.

The following description provides only representative (multiple) embodiments and is not intended to limit the scope, applicability or configuration of the present disclosure. On the contrary, the following description of (multiple) embodiments will provide those skilled in the art with a feasible description of implementing one or more embodiments of the present invention. It should be understood that various changes may be made to the functions and arrangements of the elements without departing from the spirit and scope set forth in the appended claims. Therefore, the embodiments are examples or implementations of the present invention, not the only implementations. Various forms such as "one embodiment", "one embodiment" or "some embodiments" do not necessarily refer to the same embodiment. Although the various features of the present invention may be described in the context of a single embodiment, these features may also be provided separately or in any suitable combination. On the contrary, for clarity, although the present invention may be described herein in the context of separate embodiments, the present invention may also be implemented in a single embodiment or any combination of embodiments.

References in the specification to "one embodiment," "an embodiment," "some embodiments," or "other embodiments" mean that the particular features, structures, or characteristics described in connection with those embodiments are included in at least one, but not necessarily all, embodiments of the present invention. The phraseology and terminology used herein are not to be construed as limiting and are for descriptive purposes only. It should be understood that where a claim or specification refers to "an" element, such reference should not be construed as implying that there is only one of that element. It should be understood that where the specification states that a component feature, structure, or characteristic "may," "might," "could," or "can" be included, that particular component, feature, structure, or characteristic is not required to be included.

References to terms such as "left," "right," "top," "bottom," "front," and "back" are intended to be used with respect to the orientation of particular features, structures, or components within the drawings depicting embodiments of the present invention. It should be apparent that such directional terms have no specific meaning with respect to actual use of the device, as the device can be used in a variety of orientations by one or more users.

Reference to terms such as "comprising," "including," "consisting of," and grammatical variations thereof do not preclude the addition of one or more components, features, steps, integers, or groups thereof, and the terms are not to be construed as limiting the components, features, steps, or integers. Similarly, when the phrase "consisting essentially of," and grammatical variations thereof, is used herein, it is not to be construed as excluding additional components, steps, features, integers, or groups thereof, provided that such additional features, integers, steps, components, or groups thereof do not materially alter the basic and novel characteristics of the claimed composition, apparatus, or method. If the specification or claims refer to "additional" elements, this does not preclude the presence of more than one additional element.

As used herein and throughout this disclosure, a "personal electronic device" (PED) refers to a wireless device used for communication and/or information transmission that requires batteries or other independent forms of energy to power it. This includes, but is not limited to, devices such as mobile phones, smartphones, personal digital assistants (PDAs), portable computers, pagers, portable multimedia players, remote controls, portable game consoles, laptop computers, tablet computers, and e-readers.

As used herein and throughout this disclosure, a "fixed electronic device" (FED) is a device that requires a wired interface to provide power. However, the device may use wired and/or wireless interfaces to access one or more networks. This includes, but is not limited to, televisions, computers, laptops, game consoles, kiosks, terminals, and interactive displays.

As used herein and throughout this disclosure, a "server" refers to a physical computer that hosts other computers, PEDs, FEDs, etc., and runs one or more services to meet the needs of these other users. This includes, but is not limited to, a database server, file server, mail server, print server, web server, game server, or virtual environment server.

As used herein and throughout this disclosure, a "user" refers to an individual who engages with an apparatus according to embodiments of the present invention, where such engagement is a result of their personal use of the apparatus, or with another individual who uses the apparatus.

As used herein and throughout this disclosure, "ECPUMP" refers to an electronically controlled pump.

As used herein and throughout this disclosure, a "configuration file" refers to a computer and/or microprocessor-readable data file that includes data related to the settings and/or limitations of a device. Such a configuration file may be established by the manufacturer of the device or by an individual through a user interface of a PED/FED connected to or in communication with the device.

As used herein and throughout this disclosure, a "knuckle" or "knuckles" refers to a protrusion or protrusions on the surface of a device that provide additional physical interaction. The knuckles can be a fixed part of the device or can be replaced or interchangeable to provide additional variability to the device.

As used herein and throughout this disclosure, "balloon" refers to an element that adjusts its physical geometry after ejecting a fluid within it. Such balloons can be formed from a variety of elastic and inelastic materials and have varying uninflated and inflated profiles, including, for example, spherical, elongated, wide, thin, and the like. Balloons can also be used to transmit pressure or pressure fluctuations to a device surface and a user with negligible or very low changes in balloon volume.

As used herein and throughout this disclosure, "toy" refers to any item that can be used for play with adults, children, and pets. These include, but are not limited to, toys used to discover identity, help the body become strong, understand cause and effect, explore relationships, and practice skills needed as adults. Adult toys include, but are not limited to, toys that are used to form and strengthen social connections, teach, remember, and reinforce lessons for youth, discover identity, exercise the mind and body, explore relationships, practice skills, and decorate the living space. Pet toys include, but are not limited to, toys that are related to physical and mental exercise.

As used herein and throughout this disclosure, a "massager" refers to any item that can be used to manipulate superficial and deep layers of muscle and connective tissue using various techniques to enhance function, aid in the healing process, reduce muscle reflex activity, inhibit motor neuron excitability, promote relaxation and well-being, and as a recreational activity. Thus, such massagers can be used on tissue including, but not limited to, muscles, tendons, ligaments, aponeuroses, skin, joints, or other connective tissue, lymphatic vessels, organs of the gastrointestinal system, hands, fingers, elbows, knees, legs, arms, and feet.

In the following description, descriptions of specific product categories or products (e.g., massagers or toys) are intended to provide references associated with embodiments of the present invention. However, such associations are intended only to enhance the reader's understanding of the embodiments of the present invention and are not intended to limit or restrict the application of different aspects of the present invention and embodiments of the present invention.

When considering the user of the prior art devices described above, these present several limitations and drawbacks, such as in providing enhanced functionality, dynamic device adaptability during use, and user-specific configuration. For example, a single device would be desirable that supports dimensional changes in length and radial diameter during use, even when the user holds the device stationary and adapts the device to the user or individual playing with the toy. It would be further advantageous if the device could change form (i.e., shape) during use in ways not previously proposed in the prior art, and it would be even more advantageous if these changes were integral to and/or additional to the conventional operation of the device in many instances. It would also be desirable to provide dimensional and shape-variable features on the device in an asymmetrical manner, so that the device provides further sensory control. Such dimensional and shape-variable features, such as bumps, undulations, knobs, and ridges, could advantageously appear and disappear during use, either discretely or in combination with one or more other motions. In some instances, it may be desirable to provide for radial/length increases along selected portions of the device to accommodate specific physical aspects of human physiology or user preferences. In some device embodiments, it will be desirable to move the outer surface or "skin" of the device within the plane of the skin, such that one or more areas of the skin provide frictional capabilities to the user relative to the bulk of the skin outside the device. Optionally, these areas can also simultaneously move perpendicular to the plane of the skin surface. In addition to these various effects, it would also be beneficial to individually vary characteristics such as frequency and amplitude over a wide range, as well as to be able to control pulse shape to achieve variable acceleration for initial contact and subsequent physical action, and to be able to simulate/provide a more natural physiological sensation. For example, the motion of a predefined "shock" at a low frequency could be modified for vibration at the end of a cycle.

It will be necessary to make these dynamic changes transparent to normal use of the device while also being interchangeably controllable, including the ability to insert, remove, rotate, and actuate variable features using one hand (without having to readjust or reposition the hands), two hands, or no hands. In some embodiments of the device, it will be necessary to provide two, or perhaps more, independently controllable ranges of shape changes in the same device, so that in one configuration, a first range of overall shape, vibration, undulation, movement, etc. is available, while a second range of second configurations is available. These configurations can be provided sequentially or in different stages. In another embodiment of the invention, these configurations can be remotely stored and called up by an individual to an existing device, a new device, or another device encountered as part of another individual having another device. Optionally, storage and transmission of such configuration files can also be provided for remote users to control the individual's device.

Thus, fluidics can be used to achieve a desired range of motion for the device, both in overall configuration and size, as well as in localized variations and movements, wherein the use of fluids allows for control of pressure and/or fluid flow to cause movement of elements within the device or expansion/contraction of elements within the device. Embodiments of the present invention allow for a wide range of device variations and provide operation in a frequency range from near DC to hundreds of hertz. Yet another embodiment of the present invention provides for efficient continuous flow/pressure and more power-efficient pulsed actuation. Yet another embodiment of the present invention provides for a design utilizing a compact ECPUMPS, wherein the piston has no seals or has sealing rings.

Fluid actuator systems

Fluid Actuator-Based Suction: Referring to FIG1 , a fluid actuator-based deformable/suction element is depicted in first and second states 100A and 100B, respectively, according to an embodiment of the present invention. As depicted in the first state 100A, the fluid actuator-based deformable/suction element includes a shaped elastic frame 110 and an elastomer 130 in which a plurality of dependently or independently controlled expanded fluid chambers 120 are disposed. The side of the elastomer 130 opposite the shaped elastic frame 110 defines a first profile 140 in the first state 100A. In the second state 100B, the expanded chambers 120 are folded to form reduced fluid chamber(s) 125, wherein the elastomer 130 is now relaxed back toward the shaped elastic frame 110 such that the side of the elastomer 130 opposite the shaped elastic frame 110 defines a second profile 145 in the second state 100B. Thus, the fluid actuator deformable/suction element can be transformed from the first state 100A to the second state 100B by removing fluid from the expanded chamber 135 to compress the expanded chamber, or conversely, the fluid actuator deformable/suction element can be transformed from the second state 100B to the first state 100A by injecting fluid into the compressed chamber 135. Optionally, in various configurations, the fluid chambers can be expanded/contracted together or individually to apply varying sensations to the user. For example, if attached to a user's areola and nipple, these can be stimulated simultaneously, separately, sequentially, or in any order by making adjustments in the electronic controller program that controls the fluid system to which the fluid actuator is connected.

According to the overall design of the fluid actuation system that is connected to the fluid chamber in the deformable/suction element based on the fluid actuator, the shutdown state can be the first state 100A, the second state 100B or the intermediate state between the first state 100A and the second state 100B. Therefore, in operation, when placed against the area of the user, the deformable/suction element based on the fluid actuator provides a deformable/suction effect when transitioning from the first state 100A to the second state 100B, and provides a pressure effect when transitioning from the second state 100B to the first state 100A. Therefore, as the pressure in the elastomer 130 inner chamber changes, the user experiences the suction/pressure that is changing. In different devices, the size and shape of the shaped elastic frame 110 can be adjusted according to the expected function, product type and user preference. Alternatively, a plurality of fluid actuators can be arranged on the same elastic frame.

Fluid-Based Pressure Actuator: Referring now to FIG. 2A , a fluid-based pressure element according to one embodiment of the present invention is depicted between a first retracted state 200A and a second extended state 200B. As depicted in the first retracted state 200A, the resilient base element 210 and the first housing layer 240 surround a filler 230, wherein a gap within the filler 230 is provided within its reduced fluid chamber 220 and the pressure element 260. The resilient layer 250 is disposed atop the first housing layer 240. Thus, as depicted in the first retracted state 200A, the dimensions of the fluid chamber 220 are such that the top of the pressure element 260 is flush with or below the top of the first housing layer 240. In the second extended state 200B, the fluid chamber is an expanded fluid chamber 225, such that the top of the pressure element 260 is above the top of the first housing layer 240, thereby distorting the resilient layer 250 into a deformed configuration 255.

Within the fluid-actuated pressure element, depending on the overall design of the fluid-actuated system coupled to the chamber, the shutdown state can be a first withdrawn state 200A, a second extended state 200B, or an intermediate state between the first withdrawn state 200A and the second extended state 200B. Therefore, in operation, when the fluid-actuated pressure element is placed against the user's area, it provides pressure against the user when transitioning from the first withdrawn state 200A to the second extended state 200B. Consequently, as the pressure within the fluid chamber changes, the pressure element 260 provides varying pressure and/or tissue displacement to the user. It will be apparent that the size, shape, and stroke of the pressure element 260, as determined by the fluid chamber, can be adjusted in different devices based on the intended function, product type, and user experience. The extended area of the fluid actuator relative to the surface area of the fluid actuator can effectively amplify the force applied to the user's body to a certain extent relative to the pressure of the fluid within the fluid actuator, as will be apparent to those skilled in the art. Furthermore, it will be apparent that multiple pressure elements, as well as pressure elements on opposite sides of the device, can be controlled via a single fluid chamber. Optionally, the first and second housing layers 240 and 250, depicted in the first removed state 200A, are each a single-piece component, wherein the region associated with the pressure element 260 is thinned relative to the remaining layers. Similarly, the resilient base element 210 and filler 230 can be molded from the same single-piece component, wherein a recess is molded therein to accommodate the fluid chamber and the pressure element 260. Optionally, the resilient layer 250 can directly engage the bladder fluid actuator without the need for an additional element 250, or alternatively, the resilient layer 250 can be a thinned region of the outer body of the device, which otherwise presents a "hard" surface to the user, while these thinned regions provide stimulation through pressure.

Fluid-Based Friction Actuator: Referring to FIG. 2B , a fluid-based friction actuator according to an embodiment of the present invention is depicted between a first, retracted state 200C and a second, extended state 200D. As depicted in the first, retracted state 200C, a resilient base element 2010 and a first housing layer 2060 surround a filler 2020, wherein a gap within the filler 2020 is provided between its reduced fluid chamber 2030 and a first pressure element 2040A. Atop the first housing layer 2060, a second filler 2070 is positioned, with a gap therebetween, and an outer housing 2080 containing a second pressure element 2040B having a plurality of protrusions 2045. The outer housing 2080 also includes a plurality of openings 2050 that mirror the plurality of protrusions 2045. Thus, as depicted in the first, retracted state 200C, the dimensions of the assembly are such that the top of the second pressure element 2040B is flush with or below the top of the outer housing layer 2080. In the second extended state 200D, the fluid chamber is an expanded fluid chamber 2035 such that the first and second pressure elements 2040A and 2040B are both disposed toward the outer housing such that the plurality of protrusions 2045 protrude through the plurality of openings 2050 .

In some embodiments of the present invention, the plurality of protrusions 2045 can be formed of a hard material, such that they apply pressure at multiple locations, such as against an individual's skin. In other embodiments of the present invention, the plurality of protrusions 2045 can be formed of a soft and/or viscous material, such that they apply pressure at multiple locations against a surface, but also can provide friction, allowing a device (e.g., a toy) to be inserted into an area where the plurality of protrusions 2045 touch the surface, thereby allowing two such areas, such as those connected by linear expansion and/or rotational elements, to be combined with compression/expansion of, for example, an existing expansion element, to provide alternating friction/non-contact action in one area and in the opposite order in another area. In this way, a hydraulic equivalent of certain biological systems can be achieved, such that a repeating sequence causes a device (e.g., a toy) to move.

Referring now to FIG. 3 , a fluid-actuated surface friction element according to an embodiment of the present invention is depicted in first through third states 300A through 300C, respectively. As depicted in FIG. 3 , the fluid-actuated surface friction element includes an upper layer 340 having first protrusions 350 disposed thereon, defining a recess therebetween on the lower surface of the upper layer 340. A flexible layer 360 is disposed below the upper layer 340, spaced apart therefrom. The flexible layer has second protrusions 330 on its upper surface, extending into the recess formed between the pair of first protrusions 350 and positioned therebetween. Disposed to the left of the second protrusions 330 between the flexible layer 360 and the upper layer 340 is a first fluid chamber 310, while disposed to the right of the second protrusions 330 between the flexible layer 360 and the upper layer 340 is a second fluid chamber 320. As depicted in the first state 300A, the first and second fluid chambers 310 and 320, respectively, have substantially the same size, such that the flexible layer 360 is defined as having first left and right regions 360A and 360B, respectively, which are visibly similar in contour from beneath the textured surface of the flexible layer 360.

Referring now to the second state 300B, the right fluid chamber has expanded to become the expanded right fluid chamber 324, while the left fluid chamber has shrunk to become the shrunk left fluid chamber 314. Thus, the resulting movement of the second protrusion 330 results in the flexible layer now being defined by second left and right regions 360C and 360D, respectively, wherein the textured surface is now different on the left and right sides. Referring now to the third state 300C, the left fluid chamber has expanded to become the expanded left fluid chamber 318, while the right fluid chamber has shrunk to become the shrunk right fluid chamber 328. Thus, the resulting movement of the second protrusion 330 results in the flexible layer now being defined by third left and right regions 360E and 360F, respectively, wherein the textured surface is now different on the left and right sides. Thus, based on the overall design of the fluidic actuation system coupled to the left and right fluid chambers within the device (of which the fluidic actuator-based surface friction element is an integral part), fluid can then be pumped in and out of the first and second fluid chambers 310 and 320 in a predetermined pattern, causing the lower surface of the elastic layer 360 to move back and forth, wherein the movement, combined with the surface texture of the elastic layer 360, when placed against the user's skin, creates friction, thereby delivering a sensation depending on the area of the user contacted by the elastic layer 360. As will be apparent, the first protrusion 350 and the upper layer 340 can be formed from the same single-piece part, as can the second protrusion 330 and the elastic layer 360.

It is apparent that, in contrast to mechanically coupled systems, fluidic systems allow the user to manually manipulate the shape of the device for easy completion/adaptation without the significant added complexity of providing flexible or semi-flexible tubing in such areas rather than complex mechanical joints, etc. Thus, within a massager, for example, this allows the surface of the massager to conform to the user's body, allowing movement across large areas of the user's skin without the need to apply significant pressure to the massager to bring the solid surface into contact with the user's skin.

Fluid Actuator-Based Conversion Pressure for Male and Female Devices: Referring to FIG4 , a fluid actuator-based conversion pressure structure utilizing a fluid actuator-based conversion pressure element is depicted in accordance with an embodiment of the present invention. In FIG4 , a pair of fluid actuator-based conversion pressure elements 420A and 420B are depicted adjacent to each other within a material 410. The material 410 is locally different for each pressure element 420A and 420B such that the expansion behavior upon injection of fluid into each pressure element 420A and 420B is different. Thus, as depicted in the first through fifth images 400A through 400C , respectively, injection of fluid into/out of the second pressure element 420B results in lateral expansion/compression of the second pressure element 420B. Due to the characteristics of the material 410, the expansion of the first pressure element 420A locally results in the first pressure element 420A expanding out from the surface of the material 410. Thus, as depicted in fourth and fifth images 400D and 400E, injecting fluid into first pressure element 420A and injecting/removing fluid from second pressure element 420B results in lateral movement of the raised area of material formed by first pressure element 420A. It is apparent, therefore, that providing a pair of such opposing fluid-actuator-based switching pressure structures allows for massaging areas of a user, such as the calf, thigh, arm, forearm, fingers, and thumb. Similarly, a lateral array of such fluid-actuator-based switching pressure structures can be used to massage areas of a user's body. Within a toy, such a fluid-actuator-based switching pressure structure can provide tactile feedback and user interaction/engagement.

Fluid Actuator-Based Progressive Position Pressure: Referring to FIG. 5 , a fluid actuator-based progressive position pressure element according to one embodiment of the present invention is illustrated. FIG. 5 depicts the fluid actuator-based progressive position pressure element in first through third states 500A through 500C, respectively. Within the fluid actuator-based progressive position pressure element, multiple fluid chambers are disposed within a telescoping layer 580, which is positioned above an elastic layer 590 in a repeating pattern of three elements. Therefore, expansion of the fluid chambers results in localized expansion due to the thinning of the telescoping layer 580 in conjunction with the elastic layer 590. Consequently, as depicted in the first through third states 500A through 500C in FIG. 5 , the first through third fluid chambers 510 through 530, respectively, cycle between a compressed state "A" and an expanded state "B," resulting in a user experiencing an overall pressure shift along the length of the device. Although only a single sequence of the first to third fluid chambers 510 to 530 is depicted, it will be apparent to those skilled in the art that the fluid chambers 510 to 530 may be arranged in a sequence and in a specific array at multiple locations on the device, or in discrete locations on the device, in one, two, three, or more groups. Therefore, when the toy for children is held and activated, it may actively press against the palm of the child's hand according to a predetermined trigger (such as a specific human voice, a spoken keyword, a user action, etc.).

Linear Expansion of a Fluid-Based Actuator: Referring now to FIG6 , there are depicted elements of first and second linear expansion-based fluidic actuators in a sequence of first and second states 600A through 600C and 650A through 650D, respectively, according to embodiments of the present invention. In each instance, a portion of the device comprises an outer body comprising outer regions 620 and flexible segments 610 disposed between the outer regions 620. Internally disposed are rigid protrusions 630 associated with each outer region 620. Between the sequential rigid protrusions 630 are fluid chambers 640 that can be increased/decreased in size by adding or removing fluid from one or more of the fluid chambers 640 under the control of an overall fluid control system.

As depicted with respect to the first linear expansion fluid actuator-based element according to one embodiment of the present invention, each of the fluid chambers 640 expands simultaneously. In contrast, the second linear expansion fluid actuator-based element, operating in a second state sequence 650A to 650D, respectively, expands sequentially within each fluid chamber 640. It will be apparent that, while the plurality of fluid chambers 640 can be connected to a fluid source in parallel when operating together, in the second linear expansion fluid actuator-based element, the plurality of fluid chambers 640 can be connected to a fluid source individually via valves that individually control the flow of fluid to each fluid chamber 640, or can be connected in series with a fluid regulator between each fluid chamber 640 to restrict flow to subsequent fluid chambers 640 until a predetermined pressure is reached, relative to the first linear expansion fluid actuator-based element. Where multiple fluid chambers 640 are individually connected to a fluid source via valves that control the flow of fluid to each fluid chamber 640, it will be apparent that in addition to basic extension/retraction, more complex movements can be performed whereby predetermined portions of the device are extended while other portions are retracted, or vice versa.

Fluid Actuator-Based Buckling: Referring to Figures 7A and 7B, a portion of an element including a buckling-based fluid actuator according to an embodiment of the present invention is depicted. In Figure 7A, a dual-chamber buckling fluid actuator is depicted in first through third states 700A through 700C, respectively. As depicted, the device in the first state 700A includes a core 730 disposed on either side of first and second telescoping elements 710 and 720, respectively. The first and second telescoping elements 710 and 720 contain first and second fluid chambers 715 and 725, respectively. Within the device, elastic walls or elements 780 are also disposed on either side of the various elements, surrounding the fluid chambers and limiting lateral expansion of the fluid chambers without limiting expansion in the plane of the elastic elements 780. As a result, as the fluid chambers expand, the individual telescoping elements lengthen without widening.

Because the first and second fluid chambers 715 and 725 are comparable in size, the tensile stresses are balanced and the device is linearly oriented. In the second state 700B, the size of the first fluid chamber 715 has been reduced to a third reduced fluid chamber 740, while the second fluid chamber 725 has been increased to a fourth expanded fluid chamber 750, such that the resulting effect on the device is to bend the device to the left, resulting in a left-side curved core 730A and left-side curved sides 710A and 720A, respectively. In the third state 700C, the size of the first fluid chamber 715 has been increased to a fifth expanded fluid chamber 760, and the second fluid chamber 725 has been reduced to a sixth reduced fluid chamber 770, such that the resulting effect on the device is to bend the device to the right, resulting in a right-side curved core 730B and right-side curved sides 710B and 720B, respectively. Optionally, the elastic element 780 is omitted. In particular, if the core 730 is sufficiently rigid and/or if the fluid chamber is configured to allow only axial or approximately axial expansion/contraction, the elastic element 780 may not be necessary.

Fluid Actuator-Based Rotational Motion: Referring now to FIG. 8 , first and second devices 800A and 800B, respectively, are depicted, each providing rotational motion using a fluid actuator-based element according to an embodiment of the present invention. As depicted, first device 800A includes a body 860 within which are disposed first and second rotating fluid elements 870A and 870B, each of which is disposed between upper and lower protrusions 850 coupled to an outer body element 855. Each of first and second rotating fluid elements 870A and 870B includes an outer ring 810 and an inner packing 820 within which a fluid chamber 830 is disposed. Disposed at the bottom of body 860 are first and second fluid chambers 840 and 845, respectively, housing a fluid control circuit. The fluid control circuit includes, for example, a pump, valves, and a reservoir, as well as electrical control circuitry. The electrical control circuitry provides, for example, an on/off selector, a power supply, power management, and a processor to control the fluid control circuitry.

Second device 800B has a substantially identical structure, except that a second fluid chamber 835 is provided in addition to fluid chamber 830. This results in third and fourth fluid rotation elements 875A and 875B. Referring now to first and second cross-sections 800C and 800D, these represent section X-X through first device 800A and section Y-Y through second device 800B, respectively. In first cross-section 800C, it is apparent that, in the extended state, fluid chamber 830 extends between movable protrusion 880A and constraining protrusion 880B. In the collapsed state, fluid chamber 830 is collapsed toward constraining protrusion 880B, causing movable protrusion 880A to rotate back due to the elasticity of internal filler 820. Movable protrusion 880A is attached to outer ring 810, so that expansion/contraction of fluid chamber 830 translates into movement of movable protrusion 880A and, consequently, outer ring 810.

The second cross-section 800D depicts section Y-Y, wherein each of the fluid chamber 830 and the second fluid chamber 835 engages a constraining protrusion 880A and a movable protrusion 880B at one end. Thus, expansion/contraction of the fluid chamber 830 and the second fluid chamber 835 translates into movement of the movable protrusion 880A and, consequently, movement of the outer ring 830. Thus, each of the first and second devices 800A and 800B provides rotational movement of the device body under the control of an electrical control circuit that executes a predetermined program or sequence established by a user.

Twisting motion based on fluid actuators: The concepts discussed above with respect to Figure 10 regarding fluid actuators providing rotational motion can be based on the design of fluid expansion elements (e.g., air bags), and the positioning of elastic constraints and movable protrusions can provide parallel linear expansion and rotation in the elements of the device. Similarly, the simultaneous expansion of a pair of fluid chambers that are connected to each other rather than separated allows one end of an element of the device to rotate relative to the other end of the device through an angle of 2, and the rotating end to rotate through 2, each of which is rotated by an angle of 2. Optionally, electronically controlled or hydraulically activated links can be provided between the vertically stacked elements so that they operate in a rotational mode, a twisting mode, or multiple twisting modes depending on the configuration of the links. Such links can, for example, be electromagnetically activated pins that engage holes in adjacent elements or hydraulically activated protrusions that engage holes in adjacent elements.

[0014] Fluid Actuator Configuration: Referring now to Figure 9, schematic diagrams 900A and 900B, respectively, of element actuation utilizing parallel and series connections of fluidic elements are depicted, according to embodiments of the present invention. In the parallel actuation schematic 900A, first through third fluidic actuators 930A through 930C are depicted as being connected on one side to a first pump 920A via first through third inlet valves 940A through 940C, respectively, and on the other side to a second pump 920B via first through third outlet valves 950A through 950C, respectively. The first and second pumps 920A and 920B are coupled at their other ends to a reservoir 910 such that, for example, the first pump 920A pumps fluid toward the first through third fluidic actuators 930A through 930C, respectively, and the second pump 920B pumps fluid away from the first through third fluidic actuators 930A through 930C, respectively, and to the reservoir. Thus, each of the first to third fluid actuators 930A to 930C can pump fluid by opening its respective inlet valve, thereby increasing internal pressure and triggering movement depending on its design (such as described above with respect to Figures 1 to 8) or other means, as Figures 1 to 8 are merely exemplary embodiments of the present invention. Each of the first to third fluid actuators 930A to 930C can be maintained at an elevated pressure until its respective outlet valve is opened and fluid is removed from the actuator. Thus, the pressure of each of the first to third fluid actuators 930A to 930C can be individually controlled by valves and pumps.

In contrast, in the serial actuation schematic 900B, the first through third fluid actuators 980A through 980C are depicted as being coupled on one side to a first pump 970A and on the other side to a second pump 970B. The first and second pumps 970A and 970B are each coupled at their other ends to a reservoir 960 such that, for example, the first pump 970A pumps fluid toward the first through third fluid actuators 980A through 980C, respectively, and the second pump 970B pumps fluid away from them to the reservoir. However, in the series actuation schematic 900B, the first pump 970A is connected only to the first reservoir 980A, wherein operation of the first pump 970A will increase the pressure within the first reservoir 980A if the first valve 990A is closed, increase the pressure within the second reservoir 980B if the first valve 990A is open and the second valve 990B is closed, or increase the pressure within the third reservoir 980C if the first and second valves 990A and 990B are respectively open and the third valve 990C is closed. Thus, while some actuator pressurization and intermediate pressurization available in the parallel actuation schematic 900A are unavailable, these limitations are balanced by the reduced complexity of requiring fewer valves. However, by separately controlling the first through third valves 990A through 990C, the first through third fluid actuators 980A through 980C can be pressurized separately. It will be apparent to those skilled in the art that fluid pumps, reservoirs, and valves according to embodiments of the present invention can be combined within the same device using multiple pumps or a single pump configuration, employing parallel and series element actuation schematics 900A and 900B, respectively, utilizing fluid elements. In a single pump configuration, an additional valve can be provided before the first actuator 980A to isolate the actuator from the pump while the pump is driving other fluid-actuated elements.

Referring now to FIG. 10 , first and second serial activation schematics 1000A and 1000B are depicted, respectively, in which a secondary fluid pump and fluidic element are employed in conjunction with first and second primary fluid pumps 1020A and 1020B, a reservoir 1010, and valves according to embodiments of the present invention. In the first serial activation schematic 1000A, the first through third fluid actuators 1040A through 1040C are arranged in a configuration similar to the serial actuation schematic 900B of FIG. 9 . However, the secondary fluid pump 1030 is positioned between the first primary fluid pump 1020A and the first fluid actuator 1040A. Thus, the secondary fluid pump 1030 can provide additional fluid motion beyond that provided by the first primary fluid pump 1020A through the individual configuration of the fluid actuators. This additional fluid motion can, for example, be a periodic pulse applied to a linear or sinusoidal pressurization, where the periodic pulse can be at a higher frequency than the pressurization. For example, the first primary fluid pump 1020A can be programmed to sequentially drive the first through third fluid actuators 1040A through 1040C to extend the length of the device over a 1-second period, followed by the second primary pump 1020B sequentially pumping fluid over a similar 1-second period, resulting in the device having a linear expansion frequency of 0.5 Hz. However, the secondary fluid pump 1030 provides a continuous 10 Hz sinusoidal pressure over this overall ramp and taper, superimposing the device's piston motion as a vibration. According to embodiments of the present invention, the primary pump can provide operation at a few or tens of hertz, while the secondary pump can provide operation ranging from a similar range as the primary pump to hundreds of hertz and tens of kilohertz.

A second series activation schematic 1000B illustrates a variation in which first and second secondary fluid pumps 1030 and 1050 are employed within the fluidic circuit prior to the first and third fluid actuators 1040A and 1040C, respectively, such that each of the first and second secondary fluid pumps 1030 and 1050 can apply different overlapping pressure signals from the first primary pump 1020A to the overall pressurization of the device. Thus, using the example described above, the first fluid pump 1030 can apply a 10 Hz oscillating signal to the overall expansion of the device at 0.5 Hz, but when the third fluid actuator 1040C engages the opening of the valve between it and the second fluid actuator 1040B, the second fluid pump 1050 applies a 2 Hz spike to the third fluid actuator 1040C, where, in addition to the linear expansion and vibration, the user also perceives a "kick" or "thrust." The second fluid pump 1050 may be activated only when the valve between the second and third fluid actuators 1040B and 1040C is open, and fluid is pumped by the first primary pump 1020A.

FIG10 also depicts a parallel activation schematic 1000C, which illustrates a similar circuit to the parallel actuation schematic 900A in FIG9 . However, a first fluid pump 1030 is now positioned before the fluid flow to the first and second fluid actuators 1040A and 1040B, respectively, and a second fluid pump 1050 is coupled to the third fluid actuator 1040C. Thus, using the same example as the second series activation schematic 1000B described above, the first primary pump 1020A increases the overall pressure by 0.5 Hz, which drives the first and second fluid actuators 1040A and 1040B, as well as the third fluid actuator 1040C, when its valve is open. The first fluid pump 1030 provides a 10 Hz oscillating signal to the first and second fluid actuators 1040A and 1040B, while the second fluid pump provides a 5 Hz oscillating signal to the third fluid actuator 1040C. Optionally, the first and second fluid pumps, or one of the first and second fluid pumps, are combined in series to provide a higher pressure within the fluid system, or their series combination allows them to provide different fluid pulse shapes that each could provide individually.

Low-Drag Airbag: Referring to FIG11 , first through fourth low-drag expansion fluid actuators 11100 through 11400, and a linear piston fluid actuator 1100C, respectively, are depicted according to embodiments of the present invention. The first through fourth low-drag expansion fluid actuators 11100 through 11400 are each formed from an elastic sheet material that may or may not have elastic properties. Previously employed elastic airbags require a certain pressure to be exceeded in order to overcome the elastic forces of the airbag material before they begin to expand, which typically then begins near the ends of the airbag and continues away from the source of pressurizing fluid. In contrast, low-drag fluid actuators, such as the first through fourth low-drag expansion fluid actuators 11100 through 11400, begin to expand immediately upon the application of fluid. Furthermore, by virtue of profiling, the inventors have determined that proper profiling also results in a rapid and progressive expansion of the fluid along the length of the present "airbag," resulting in increased uniformity of expansion compared to the prior art. Thus, a user of a device employing such a bladder will experience a more uniform pressure as the bladder "expands" toward its final geometry. Such contouring can be applied to portions of the surface of the tubular material or to the entire surface of the tubular material, as will be apparent to one skilled in the art. In this example of partial application, the intervening areas can form the "passive" portions, while those that are contoured form the "active" portions. The filling of the first through fourth low-resistance expanding fluidic actuators 11100 through 11400, respectively, can be thought of more as flattening and filling than as expansion, thereby minimizing the energy required to perform the expansion and the volume of fluid used for the same physical effect.

Fluid Actuators Acting Together: Referring now to FIG. 12 , an embodiment of the present invention is illustrated in which the motion of a fluid actuator is adjusted independently of the state of the other fluid actuators, as depicted in first through sixth states 1200A through 1200F, respectively. As depicted in first state 1200A, first and second actuators 1230 and 1240 are each disposed within a telescoping body 1210, which also includes resilient members 1220 disposed on either side of the first and second actuators 1230 and 1240, respectively. As depicted in second state 1200B, both actuators are pressurized in parallel, resulting in yielding of the actuators in the depicted first expanded state by the third and fourth actuators 1230A and 1240A, respectively.

Alternatively, one or the other actuator is pressurized, such as depicted in the third and fourth states 1200C and 1200D, wherein the pressurized actuator expands to compress the other actuator, resulting in expanded actuators 1230B and 1240C in the third and fourth states 1200C and 1200D, respectively, and compressed actuators 1240B and 1230C. However, pressurization of the other actuator now results in reduced actuators 1240D and 1230E in the fifth and sixth states, respectively, wherein the other pressurized actuators 1230D and 1240E from previous steps in the device operating sequence, in conjunction with the resilient member 1220 providing lateral resistance, cause the reduced actuators 1240D and 1230E to expand the telescoping body 1210 further than if a single actuator were pressurized.

The devices described above in Figures 1 to 12 can use separate fluid actuators to provide the desired features for that particular device, or they can use mechanical elements (including but not limited to, such as motors with off-axis weights, drive screws, crankshafts, rods, pulleys, cables, etc., and piezoelectric elements, etc.), which will be apparent to those skilled in the art. Some can use additional electrical elements such as to support electrical stimulation. For example, a fluid actuator can be used in conjunction with a pulley assembly to achieve movement of a cable attached to the other end of the device so that the retraction of the cable deforms the device to provide, for example, a variable curvature, or simulate finger movement, such as exciting a female "G-spot" or a male prostate. Most mechanical systems must convert high-speed rotation into low-speed linear motion through eccentric gears and gearboxes, while fluid actuators provide linear motion in 1, 2 or 3 axes by default, depending on the design of the actuator.

Other embodiments of the present invention may provide for reconfiguration and/or adjustment by the user. For example, the device may include a base unit that includes a pump, battery, controller, etc.; and an active unit that includes only the fluid actuator or in combination with other mechanical and non-mechanical elements. Thus, the active unit may be designed to slide relative to the active unit and be fixed at one or more predetermined offsets from an initial reduced state, so that, for example, the user can adjust the length of the toy to, for example, 0 inches, 1 inch, and 2 inches, while the maximum adjustment of the fluid length may be inches, so that the length variation provided by the same device in combination is, for example, more than 3 inches. It will also be apparent that in other embodiments of the present invention, subsequent fluid diameter adjustment can be used to mechanically manually pump or expand the core of the device (e.g., a plug) to different widths. Other variations will be apparent by combining fluid actuated devices and mechanical elements to provide a wider range of variations to accommodate, for example, the physiology of the user.

Personalized Control of Fluid Actuators: Referring to FIG. 13A , a flowchart 1300 depicts a process related to configuring a device utilizing fluidic elements according to the preferences of a user of the device, according to an embodiment of the present invention. As depicted, the process begins at step 1305 , where the process begins and proceeds to step 1310 , where the user triggers device configuration. Next, at step 1315 , the user selects a function to be configured, where the process proceeds to step 1320 and the device controller configures the device to the first setting for that function. Next, at step 1325 , the device checks whether the user has entered a stop command. If not, the process proceeds to step 1330 , increments the function setting, and returns to step 1325 to repeat the determination. If the user has entered a stop command, the process proceeds to step 1335 , where the setting for that function is stored in memory. Next, at step 1340 , the process determines whether the last function of the device has been configured. If not, the process returns to step 1315 ; otherwise, the process proceeds to step 1345 and stops.

Thus, the process outlined in flowchart 1300 allows a user to adjust the device's settings according to their personal preferences. For example, such settings may include, but are not limited to, the device's maximum radial expansion, the device's maximum linear expansion, the vibration frequency, the pressure element amplitude, and the expansion frequency. Referring now to FIG. 13B , flowchart 13000 depicts a process associated with configuring a device utilizing a fluidic element with multiple functions according to the device user's preferences, according to an embodiment of the present invention. As depicted, the process begins at step 13005 and proceeds to step 13010, where the first element of the device (e.g., the eyes described below with respect to third toy 2530 of FIG. 25 ) is configured. Next, the process proceeds to step 1300A, which includes steps 1315 through 1340 as previously described with respect to FIG. 13A . After completing the first element, the process determines at step 13020 whether the last element of the device has been configured. If not, the process loops back to execute step 1300A again for the next element of the device; otherwise, the process proceeds to step 13030 and stops.

For example, for the third toy 2530, the process may loop back and forth based on the user-set properties of the second component (e.g., the mouth of the third toy 2530). In other examples, the user may choose to set only one of the device components, some of the device components, or all of the device components. Alternatively, the user may choose to set only some settings for one device component, and none or all of the settings for another device component. In the case where process 13000 is used with respect to a multi-component device component (such as a pair of third toys 2530), the user making the setting determination may change the settings associated with each of the pair of third toys 2530 components, as will be apparent to one skilled in the art.

Referring now to FIG. 14 , a flowchart 1400 depicts a process associated with personalizing settings for a device 1405 utilizing fluidic elements and their subsequent storage/retrieval from a remote location (e.g., from a PED 1420) according to an embodiment of the present invention. Flowchart 1400 begins at step 1425 and proceeds to step 1300A, as previously described with respect to process 1300 , where the user establishes preferences for the device. Upon completion of step 1300A, the process proceeds to step 1430 and transmits the user's preferences to a remote electronic device, such as a PED. The process then proceeds to step 1435, where the user can invoke personalized settings on the remote electronic device and select a setting in step 1440. The selected setting is then transmitted to the device in step 1445, where the process then continues to provide the user with the option to change the selected setting(s) in step 1455. Based on the decision at step 1455, the process proceeds to step 1475 and stops, where the user now uses the previously selected settings, or to step 1460, where the user is prompted with options for adjusting the device's settings. These are, for example, changing settings on the device or remote control, wherein the process proceeds to steps 1465 and 1470, respectively, depending on these decisions, and continues back to step 1435.

Thus, as depicted in FIG14 , device 1405 may include a wireless interface 1410, such as Bluetooth, allowing the device to communicate with a remote electronic device, such as a user's PED 1420. Remote electronic device 1420 stores one or more user settings, for example, FIG14 depicts three, designated "Natasha 1," "Natasha 2," and "John 1." For example, "Natasha 1" and "Natasha 2" may differ in the speed, radial extension, extension length, and duration of the extension motion, which, in combination, represent different settings for user "Natasha," such as, for example, a gentle tissue massage and a deep tissue massage. Alternatively, for a toy, different settings may be associated with users who have already established different facial movements on toy 2530 in FIG25 , for example, such that one is a slow yawn and the other is a rapid mouth opening/closing and rapid eye glare/closure. Thus, in the case of a massager, the device may be employed in an initial setting that can then be altered by the user, or as the child grows from simply being entertained by the toy to adjusting its behavior and programming multiple behaviors/features.

In addition to these variations, user programming can provide the ability to change characteristics such as frequency and amplitude over a wide range, as well as the ability to control pulse shape with variable acceleration for initial contact, and add other motions to better simulate/provide natural physiological sensations or unnatural sensations. For example, a user may be able to vary the pulse width, repetition rate, and amplitude for a predefined "shock" motion, and then modify this to provide vibrations for all or part of the "shock motion" and between the "shock" pulses. Thus, with a massage-type device, the user can adjust the device characteristics to reflect their personal preferences/experiences and/or the area of the body to which the massager is applied.

Referring to FIG. 15 , a flowchart 1500 is depicted illustrating a process for personalizing settings for a device utilizing a fluidic element and the subsequent storage/retrieval of the settings from a remote location to a user device or another device, according to an embodiment of the present invention. Accordingly, the process begins at step 1510 and proceeds to step 1300A, as previously described with respect to process 1300 , where the user establishes preferences for the device. After step 1300A is completed, the process proceeds to step 1515 and transmits the user preferences to the remote electronic device, and then proceeds to step 1520 , where the user selects whether to store the device settings on a remote web service. A positive selection results in the process proceeding to step 1525 and storing the user preferences (settings) on the remote web service before proceeding to step 1530 . Otherwise, the process proceeds directly to step 1530 .

In step 1530, the process is informed whether all fluid subassemblies of the device have been set. If not, the process proceeds to step 2100A, otherwise, it proceeds to one of steps 1535 to 1550 based on the user's selection of whether to store the user's preferences on the network service. These steps are as follows:

Step 1535 - retrieving the remote configuration file for transmission to the user's remote electronic device;

Step 1540 - retrieving the remote configuration file for transmission to another user's remote electronic device;

Step 1545 - Allowing access to other users to adjust the user's remote profile;

Step 1550 - The user adds the purchased device settings profile to the user's remote profile; and

Step 1570 - The user purchases multimedia content having an associated user profile for one or more devices.

Next, in step 1555, where a process step requesting the transfer of user preferences to a remote electronic device is selected and then transferred to the device, this step is performed before the device settings are updated on the device associated with the selected remote electronic device in step 1560, and the process proceeds to step 1565 and stops. Thus, in step 1535, the user can retrieve their personal profile and use it on their device or a new device they purchase, while in step 1540, the user can associate the profile with another user's remote electronic device, where the profile is then downloaded to the remote electronic device and transferred to the device associated with the remote electronic device. Thus, a user can load their established profile and send it to a friend for use, or to a partner to load onto their device, either individually or in combination with another profile associated with the partner. Thus, a user can load their profile onto a device associated with an activity and then switch it for use with another activity, or alternatively, adjust the profile for different children or adults using the toy. Alternatively, at step 1545, the process allows another user to control the profile, thereby allowing, for example, a remote user to control the device via an updated profile while viewing the device user on a webcam. At step 1550, the process provides for the user to purchase a new profile from the device manufacturer, a third party, or a friend/another user for their own use. In an extension of step 1550, the process continues via step 1570, and the user purchases an item with multimedia content, such as, for example, an audio book, song, or video, that has an associated profile for a device according to an embodiment of the present invention. When the user plays the item's multimedia content, the profile is provided to the device via a remote electronic device (e.g., the user's PED or Bluetooth-enabled television) and executed in a manner dependent on the playback of the multimedia content, wherein the profile was set by the provider of the multimedia content. Alternatively, the multimedia content can have multiple profiles or multiple modules for profiles, allowing a single item with multimedia content to be used with multiple devices having different functions and/or components.

Devices according to embodiments of the present invention can obtain data related to the user's physiological state, associated with other lifestyle and/or environmental parameters of the user or individuals associated with the user. In embodiments of the present invention, this information/data with appropriate content can be subsequently collected and transmitted in real time to another device and/or another system, preferably remote from the user, where it can be stored for later characterization, processing, manipulation, and presentation (preferably on an electronic network such as the Internet) to a recipient (e.g., the user), or used to communicate with a device or devices associated with the user to adjust, modify, or add/delete parameters, programs, etc. Environmental parameters can include, but are not limited to, parameters related to the individual's environment, surroundings, and location, including, but not limited to, air quality, sound quality, ambient temperature, global positioning, related individuals, etc. Thus, referring to FIG15B , a user has a device according to one or more embodiments of the present invention, which includes one or more sensors 15112A to 155112N. The device 15100 can be adapted to be placed in proximity to at least a portion of the human body or used by the user. One or more sensors 15112A to 15112N are adapted to generate signals responsive to physiological characteristics of an individual and provide the signals to a microprocessor. As used herein, "proximity" refers to, but is not limited to, direct physical contact, or separation from the user's body by materials forming part of the device, or application to the device/user's body such that the sensor is not obstructed in providing accurate measurements.

Device 15100 generates data indicative of various physiological parameters of the user, such as, for example, the user's heart rate, pulse rate, EKG or ECG, respiratory rate, skin temperature, galvanic skin response (GSR), EMG, EEG, blood pressure, activity level, oxygen consumption, glucose or blood sugar level, body position, and pressure on muscles or bones. In some instances, the data indicative of the various physiological parameters are one or more signals generated by one or more sensors themselves, and in certain other cases, the data is calculated by a microprocessor based on one or more signals generated by one or more sensors. These techniques for generating data indicative of various physiological parameters and the sensors to be used are well known to those skilled in the art, as is apparent from the listing of some common physiological parameters in Table 1.

Table 1: Examples of measurands and sensors

The microprocessor within device 15100 can be programmed to summarize and analyze data, or in other instances, to process raw data or perform limited signal processing. For example, the microprocessor can be programmed to calculate the average, minimum, or maximum value of heart rate or respiratory rate over a defined time period (e.g., one minute), or to calculate a moving average, or to filter using a filter with a predetermined time constant. In other embodiments, device 15100 may be able to derive information related to the user's physiological state based on data indicating one or more other physiological parameters. Furthermore, device 15100 may also generate data indicating various environmental parameters related to the user's surroundings. For example, device 15100 may generate data indicating sound level/quality, music/audiovisual environment, lighting, ambient temperature, global location, or local location within a building (e.g., a bathroom, living room, bedroom, etc. in a user's residence). As depicted in FIG. 15B , the device includes one or more sensors 15112A to 15112N and a microprocessor 15120. Depending on the nature of the signals generated by one or more sensors 15112A through 15112N, they may be routed to microprocessor 15120 via one or more amplifiers 15114, signal processing circuitry 15116, and analog-to-digital converters (ADCs) 15118 before being sent to microprocessor 15120. For example, if first sensor 15112A generates an analog signal that requires amplification and filtering, the signal may be sent to amplifier 15114 and then to signal processing circuitry 15116, which may be, for example, a bandwidth filter. The amplified and modulated analog signal may then be passed to ADC 15118, where it is converted to a digital signal. The digital signal is then sent to microprocessor 15120. Alternatively, if sensor 15112 generates a digital signal, the signal may be sent directly to microprocessor 15120. A digital signal or signals representing some physiological and/or environmental characteristic of the user, as well as analog signals from the sensors, may be used by microprocessor 15120 to calculate or generate data indicative of the user's physiological and/or contextual characteristics.

According to one embodiment of the present invention, data indicating physiological and/or contextual parameters stored in memory 15122 is stored until uploaded to remote processing unit (RPU) 15300 via device I/O 15124. Although memory 15122 is shown as a separate component, it can be part of or all of microprocessor 15120. In some embodiments of the present invention, device 15100 communicates directly with RMU 15300, while in other embodiments, it communicates with PED 15200 before PED 15200 communicates with RPU 15300. In some embodiments of the present invention, PED 15200, when communicating with RPU 15300, provides additional physiological/environmental data associated with the data provided by device 15100, or provides the additional physiological/environmental data to device 15100 for storage and transmission to RPU 15300. In some implementations of the present invention, physiological/environmental data is uploaded continuously and periodically during or after device operation, or based on time/data triggers. For example, in one embodiment of the present invention, device 15100 provides data about the user's heart rate, blood pressure, respiration, and device settings every 15 seconds via PED 15200, wherein the device configuration is modified and/or a program is executed or adjusted based on the analysis provided by RPU 15300. In another embodiment of the present invention, the data is stored until, for example, 1 a.m. for transmission, or until the device is docked in a docking station or connected to a power source for charging.

Data transmission from device 15100 to RPU 15300, either directly or via PED 15200, may be performed using one or more standard communication protocols known in the art. Depending on device 15100, such protocols may include, but are not limited to, a physical connection (e.g., a serial link such as an RS232 or USB port, or power line communication), or a wireless connection such as via Bluetooth, Wi-Fi, WiMAX, GSM, Zigbee, or alternatively, optical, infrared, or radio frequency transmission. Data transmission from device 15100 to RPU 15300, either directly or via PED 15200, may be performed in conjunction with one or more standard data compression and/or data encryption techniques known in the art. Thus, data collected by the device 15100, after being encrypted and optionally compressed by the microprocessor 15120, can be transmitted to a PED 15200, such as a mobile phone, laptop computer, etc., for subsequent wireless transmission over long distances to a local telecommunications provider using wired or wireless protocols (such as email, file transfer data, short message service (SMS), etc., as are known in the art for transmitting data from an electronic device, such as a PED or FED, to a remote service, remote server, remote PED, or remote FED). While FIG15B depicts communication via the PED 15200, it will be apparent that alternatively, an FED may provide the same functionality and capabilities, such as a network set-top box, Internet TV, etc.

Optionally, in addition to collecting such data through automated sensing in the manner described above, users can also provide additional data through PED 15200, in a manner that is monitored through blogs, user groups, and the like and associated with the user through RPU 15300, or in response to questions, surveys, and the like provided to the user from RPU 15300. Thus, if a new control algorithm is provided to device 15100 and adopted by the user, this situation can be identified and a survey provided to the user. Such a survey can include incentives related to the provider of device 15100 or the provider of the enhanced control algorithm. Such inquiries can be made via email, text message, SMS, website, and the like, as is known in the art.

Referring now to RPU 15300 in FIG. 15B , an exemplary block diagram is depicted, which includes a network interface 15170 connected to a router 15175. The router's primary function is to receive incoming and outgoing data requests or traffic and direct such requests and traffic to RPU 15300 for processing or to device 15100. Connected to router 15175 is firewall 15180. The primary purpose of firewall 15180 is to protect the rest of RPU 15300 from unauthorized or malicious intrusion. Switch 15185 is connected to firewall 15180, directing data flows between middleware servers 15195A through 15195N and database server 15110, respectively. Middleware servers No. 1 to No. N 15195A to 15195N are respectively connected to a load balancer 15190, which spreads the processing of incoming data/requests among the middleware servers No. 1 to No. N 15195A to 15195N of the same configuration.

As depicted, RPU 15300 includes a network storage device 15100, such as a storage area network or SAN, which serves as a central repository for data. For example, network storage device 15100 may include a database that stores all collected data for each user in the manner described above. Alternatively, network storage device 15100 may be associated with a single device type, vendor, or the like. While only one network storage device 15100 is shown, it should be understood that multiple network storage devices with varying capabilities may be used depending on the data storage needs of RPU 15300. Furthermore, multiple RPUs 15300 may be associated geographically, by device vendor, device type, or device identity. The primary function of database server 15110 involves providing access to data stored in network storage device 15100 upon request and populating network storage device 15100 with new data. Controller 15115 is coupled to network storage device 15100 to manage the data stored therein.

Middleware servers 15195A through 15195N each contain software for generating and maintaining one of the following aspects: communication, support, data processing, and registration, as required by RPU 15300. For example, a middleware server may host one or more websites and/or webpages that provide users with downloadable upgrades to device 15100, a social network associated with device 15100 and/or the user, and the like. Alternatively, the middleware server may process data received from device 15100 associated with a user and provide dynamic, real-time adjustments to device 15100. Alternatively, the middleware server may host a social network that allows users and devices 15100 to identify each other locally and/or interact remotely, where actions associated with device 15100 associated with a first user can be temporarily transferred and overwritten by another user within the social network with the first user's authorization. Alternatively, the social network may be resilient, allowing ongoing user interactions to continue through the social network in addition to those via device 15100, and/or be temporarily established as needed.

Middleware servers 15195A through 15195N may also include software for requesting data from and writing data to network storage device 15100 via database server 15110. When a user wishes to initiate a session with RPU 15300 to enter data into the database of network storage device 15100, view their own database data stored on network storage device 15100, or both, the user can, for example, use an internet browser to access the homepage of the service provider/device provider associated with RPU 15300 and log in as a registered user. Load balancer 15190 assigns the user to one of middleware servers 15195A through 15195N and identifies it as the selected middleware server. Preferably, the user is assigned to the selected middleware server for each complete session. The selected middleware server authenticates the user using any of a number of methods known in the art to ensure that only genuine users are allowed to access their own information in the database from outside sources. Users registered with a service provider/device provider, etc., associated with RPU 15300, may have authorization provided to the service provider/device provider, etc., to access their data, although this may be less personal due to the removal of personally identifiable data. Depending on the type of device 15100, the user may also authorize third parties (such as partners, healthcare providers, personal trainers, etc.) to access their data. Each authorized third party may be assigned a unique password and may use a conventional browser to view the member user's data. Thus, both the user and the third party may be recipients of data. It will be apparent that in some embodiments of the present invention, a browser may provide another user with the ability to adjust/control the user device 15100, while in other embodiments, these capabilities may be provided by a software application downloaded and installed on each user's PED/FED, using corresponding user credentials/authorizations, etc.

When the user authenticates, the selected middleware server may request the user's data for a predetermined period of time from the network storage device 15100 through the database server 15110. Once the requested data is received from the network storage device 15100, the data is temporarily stored in the cache memory by the selected middleware server. The selected middleware server uses the cached data as a basis for providing information, controlling the device 15100, interacting with the user, etc. Alternatively, the selected middleware server may request permission to store the user's raw data and/or processed data to the network storage device 15100 through the database server 15110. For example, in some instances, this may be a summary of the user's use of the device 15100, such as;

"John Doerr, Massage, Sequence 1, Monday, March 9, 2015, 10:15, 15 minutes," which stores user, program, and time/date information;

"Debbie Dallas, vibrator, Tuesday, March 10, 2015, 17:45, 25 minutes, 2 events, {field1:field2}"; this stores user, program, and time/date information, as well as summary information (e.g., 2 events) and device data (e.g., fields 1 and 2 are data derived from the device);

“Mary Jane, vibrator, Tuesday, March 10, 2015, 17:45, paired with Debbie Dallas, controlled, sequence (2,4,3), 25 minutes,” where the user “Mary Jane” is identified as being paired to another user “Debbie Dallas” under control (“controlled”) and indicates the device procedure to be executed; and

“Bill Smith, Robot 1234, Wednesday, March 11, 2015, 9:15, 15 minutes, Remote, Video,” wherein a user is identified as remotely using a device “Robot 1234” and is provided with video content during their use of “Robot 1234,” wherein the provided video may optionally be captured and stored in association with the user record.

As described above, the microprocessor of device 15100 can be programmed to derive information related to the user's physiological state based on data indicating one or more physiological parameters. RPU 15300, and preferably middleware servers 15195A to 15195N, can also be similarly programmed to derive such information based on data indicating one or more physiological parameters.

Thus, embodiments of the present invention associated with devices connected to PEDs 15200, FEDs, RFPs 15300, and the like provide users with a variety of options. For example, a Bluetooth-enabled pet toy can be triggered to perform an action, attract a pet, or have the toy found. Thus, a user can remotely view the results of their device control or be provided with data related to their control. Healthcare professionals can access and download a user's entire device (e.g., massager) usage history by combining data from wearable devices such as PEDs and FEDs with data captured and stored within the RPU 15300. As will be apparent, embodiments of the present invention provide for remote use, remote control, local use, and local control of device 15100, either separately or in combination, for one user, between two users, or more. In embodiments of the present invention, control can be based on physiological data/characteristics, rather than the "manual" control of the prior art. Thus, rather than simply adjusting controls on a device 1510 associated with a first user by a remote or second user, control is based on the second user's use of another device 15100 and its physiological data/characteristics. Such control may include changing the specific programming executed by the device, or adjusting aspects of the device's programming without changing the programming.

In the processes described above with respect to Figures 13A to 15B, different actuation modes associated with different control parameters can be user-provided. These control parameters can be provided for a single fluidic actuator or multiple fluidic actuators. For example, the user can be provided with varying frequencies, varying pressures (and drive signal amplitude/power), varying pulse shapes, and varying slew rates. In embodiments of the present invention described as a device communicating with a remote electronic device, this could be, for example, the user's PED. Optionally, the device can receive data other than configuration files (including, for example, music or other audiovisual/multimedia data) as part of the user experience, allowing the electronic controller within the device to directly play the audio portion or adjust other aspects of the device based on the received data. The ECPUMP can be considered a low- to mid-frequency actuator, which can be combined with higher-frequency actuators or, with appropriate ECPUMPs and electrical controls, provide full frequency band coverage. Optionally, when multimedia content is connected to a device other than the device operating directly in response to the multimedia content, the controller can apply the original or processed multimedia content while maintaining the device's operation according to the user's preferences. Similarly, where multimedia content includes a profile that is provided to the device and executed in sync with the multimedia content, the profile may define actions that are then established as a control profile by the controller under the user's set preferences.

Optionally, after initial purchase and use of the device, or after subsequent use, the user may choose to perform a personalization process, such as that depicted in FIG. 14 with respect to process 1400. However, it will be apparent that the user may perform some or all of the personalization process while using the device. For example, a user may be using a massage device and, while in use, may limit device characteristics such as maximum length extension and maximum radial extension to different values while the massager box is in place. Due to the nature of the sensations experienced by users with such devices, it will be apparent that the personalization profiles formed in the following process may subdivide the device, allowing for the setting and adjustment of a subset of parameters in conjunction with one another before adjusting other aspects. For example, frequency and pulse duration (the duration of extension of a protruding element) may be linked, with amplitude and frequency, for example, varying over a wide range within a constant pulse duration.

Fluid assembly

The device described herein includes a fluidic assembly that controls the expansion/contraction of (a plurality of) fluid chambers within the device. The fluidic assembly includes a combination of fluid channels, pumps, and valves, as well as an appropriate control system. Examples of specific fluidic assemblies are described in detail below, however, it should be understood that alternative assemblies may be incorporated into the present device.

In the previously described apparatus of embodiments of the present invention and the fluidic schematics of Figures 9 and 10, a fluidic control system comprising a pump and valves interconnected with fluidic couplings has been described for providing pressure to various fluidic control components, such as those described above with respect to Figures 1 through 12. Referring to Figure 16, this fluidic expansion/contraction of components according to embodiments of the present invention using a single valve is depicted in first and second states 1600A and 1600B, respectively. As depicted, fluid pump 1610 is coupled to outflow and inflow reservoirs 1640 and 1650, respectively, via outflow and inflow fluid capacitors 1620 and 1630, respectively. Second ports on outflow and inflow reservoirs 1640 and 1650 are coupled to the valves via check valves, respectively, as depicted in first and second configurations 1650A and 1650B, respectively, in first and second states 1600A and 1600B. In a first configuration 1650A, a valve couples the outlet of the pump via outlet reservoir 1640 to the fluid actuator in expansion mode 1660A to increase pressure in the fluid actuator. In a second configuration 1650B, a valve couples the fluid actuator in contraction mode 1660B to the inlet of the pump via inlet reservoir 1650 to reduce pressure within the fluid actuator. Thus, the fluid control circuit of FIG16 provides an alternative control method to those described above with respect to FIG9 and 10. Alternatively, the check valve may be omitted.

Referring now to FIG. 17 , an electronically activated valve (EAV) for a fluid system according to one embodiment of the present invention, as described above with respect to FIG. 16 , is depicted, but which may also form the basis of a valve for deployment within the fluid control schematics described above with respect to FIG. 12 and 13 . Thus, as shown, fluid channel 1720 has an inlet 1790A and a first outlet 2050B, both located on one side of chamber 1795. Two ports merging into a second outlet 1790C are located on the other side of chamber 1795. A magnetic spool is positioned within chamber 1795 that can move from a first position blocking inlet 1790A and the associated chamber outlet to a second position blocking first outlet 1790B and the associated chamber outlet. A first coil 1730 is positioned at one end of chamber 1795, and a second coil 1760 is positioned at the other end. Thus, in operation, the magnetic valve core can be moved from one end of the chamber 1795 to the other end by the selected activation of the first and second coils 1730 and 1760, respectively, thereby selectively blocking one or the other fluid channel from the inlet 1790A to the second outlet 1790C or from the first outlet 1790B to the second outlet 1790C as depicted and described with respect to Figure 24, so as to provide the selected expansion/contraction of the fluid actuator by the injection/removal of fluid.

In operation using magnetic poles, the orientation of the magnetic spool is then depicted to determine a first position 1710A, with the north pole (N) being pulled to the left under operation of the first coil 1730, which generates an effective south pole (S) toward the center of the EAV 1700, and the south pole being pushed to the left under operation of the second coil 1760, which generates an effective south pole toward the center of the EAV 1700, i.e., the current in the second coil 1760 is diverted relative to the first coil 1730. Thus, to determine a second position 1710B, the current in the first coil 1730 is diverted relative to the previous direction, thereby generating an effective north pole toward the center of the EAV 1700, which generates a force pushing to the right, and the south pole of the magnetic spool is pulled to the right under operation of the second coil 1760, which generates an effective north pole toward the center of the EAV 1700. Alternatively, depending on the design of the control circuit and available power, only one coil may be activated in each instance to generate the force to move the magnetic spool.

Alternatively, to provide a latching mechanism for the EAV 1700 and reduce power consumption, based on the fact that activation of the first and second coils 1730 and 1760 only requires movement of the magnetic spool between the first and second positions 1710A and 1710B, first and second magnets 1740 and 1770 may be positioned at either end of the chamber, with the electrodes positioned to provide attraction to the magnetic spool when located at the corresponding end of chamber 1795. Once moved to this position under electromagnetic control of the first and/or second coils 1730 and 1760, respectively, the force provided by each of the first and second magnets 1740 and 1770 is sufficient to retain the magnetic spool at each end. Alternatively, other embodiments of the present invention may be reversed to those having magnetic pistons/washers.

Alternatively, the first and second magnets 1740 and 1770 can be formed from a soft magnetic material so that they are energized by the first and second coils 1730 and 1760, respectively. Alternatively, the first and second magnets 1740 and 1770 can be made of a soft magnetic material so that they conduct magnetic flux when in contact with the magnetic valve core and are substantially unmagnetized when the magnetic valve core is in another valve position. It will be apparent that variations of the electronically activated valve 1700 can be configured to include, but are not limited to, non-latching designs, latching designs, single-inlet/single-outlet designs, single-inlet/multiple-outlet designs, multiple-inlet/single-outlet designs, and variations in chambers and inlet/outlet fluid passages and connections to the chambers without departing from the scope of the present invention. Alternatively, in the absence of electrical activation, the magnetic valve core can be positioned between the first and second positions 1710A and 1710B, and with a length relative to the valve position such that multiple ports are "closed," as shown in FIG. 17 by first and second outlets 1790B and 1790C, respectively.

Figures 18 and 19 depict an electronically controlled pump assembly (ECPA) utilizing full-cycle fluid motion according to an embodiment of the present invention. Referring first to the first through third views 1800A through 1800C of Figure 18 , these depict, respectively, a partially exploded end view and a partially exploded side view of the assembled ECPA. As shown, the ECPA comprises an upper clamshell 1810 with an inlet port 1815 and a lower clamshell 1830 with an outlet port 1835, which are mounted on either side of a motor frame 1820, upon which the electronically controlled fluid pump assembly (ECFPA) is mounted. As can be seen from the first through third perspective views 1900A through 1900C of Figure 19 , the ECFPA 1840 comprises first and second valve assemblies (VALVAS) positioned at either end of an electronically controlled magnetically actuated fluid pump (ECPUMP) 1850. Advantageously, the ECPA depicted in Figures 18 and 19 reduces the weight of the pumped water to a minimum at the outlet after the valves open directly into the fluid body within the ECPA.

Alternatively, when the upper and lower clamshells 1810, 1830 provide elasticity under the action of the ECPUMP, as described in the specification, these act as fluid capacitors. In other embodiments, such fluid actuators may have sufficient volume to function as the device's reservoir, eliminating the need for a separate reservoir. Alternatively, the upper and lower clamshells 1810, 1830 may be rigid, eliminating the fluid capacitance effect. In this case, they will vibrate at the pumping frequency, and the fluid entering and exiting the clamshells will pulsate. Advantageously, in both flexible and rigid shell configurations, the upper and lower clamshells 1810, 1830 can directly provide vibration excitation to the user. In fact, directly coupling the inlet port 1815 to the outlet port 1835 provides a self-contained fluid-actuated device—i.e., a vibrator having flexible upper and lower clamshells 1810, 1830—that is, capable of providing vibrations to the user at frequencies unattainable by prior art mechanical off-axis motors. In contrast, a hard or rigid clamshell will not vibrate with excessive amplitude, but it will provide a pulsating flow.

Referring now to FIG. 20 , various views of a compact ECPUMP 2010 according to an embodiment of the present invention are depicted. When combined with appropriate external connections, the compact ECPUMP 2010, along with inlet and outlet VALVAS 2088, provides full-cycle fluid motion for the ECFPA 2010. Referring to FIG. 20 , an exploded perspective schematic diagram of the interior of the ECPUMP 2010 is shown, exploded in perspective and shown in exploded cross-section. The ECPUMP 2010 includes a piston 2030, a bobbin core 2040, a bobbin jacket 2050 with a spacer washer 2060, an outer washer 2095, an inner washer 2090, a magnet 2080, and a magnet housing 2070. These are supported by a body sleeve 2020, which can be injection molded after the ECPUMP 2010 has been assembled in an assembly fixture. As depicted in FIG20B and the exploded cross-sectional details, the self-alignment of the inner washer 2090 with the inner profile of the bobbin core 2040 can be seen. For the sake of simplicity, the isolation washer 2060 has been omitted. Therefore, for the subsequent positioning of the magnet 2080 and the magnet housing 2070, it is apparent that, despite the self-alignment of the bobbin core, the resulting magnetic field distribution is properly aligned by the washer. End views 2030A and 2030B of the piston 2030 are also depicted, showing different geometries of the grooves machined or formed in the piston 2030, which disrupt the formation of radial/circular eddy currents, currents, and/or radial/circular magnetic fields within the piston 2030.

The dimensions of one embodiment of the ECPUMP 2010 can be implemented based on the overall requirements of the fluid system. For example, the ECPUMP has a diameter of 1.4" (approximately 35.6 mm) and a length of 1.175" (approximately 30 mm), the piston has a diameter of 0.5" (approximately 12.7 mm) and a length of 1" (approximately 25.4 mm), and the pump generates 7 pounds of pressure at a flow rate of 3 liters per minute. Therefore, the pump occupies approximately 2.7 cubic inches and weighs approximately 150 grams. The inventors have constructed and tested other variations for ECPUMPs with diameters ranging from 1.25" to 1.5", although ECPUMPs of other sizes can be constructed.

The VALVAS can, for example, be mounted at the end of the first row 2040. Alternatively, a multi-segment bobbin core 2040 can be employed, assembled in stages along with the other components of the ECPUMP 2010. In either case, the design of the ECPUMP 2010 tends to be low-complexity, easy-to-assemble, and compatible with both low-cost manufactured assembly for commodity (high-volume production) and low-cost niche (low-volume production) applications, such as devices. An embodiment of the micro-ECPUMP 2000 assembled and tested by the inventors has an outer diameter between 0.5" (approximately 12.7 mm) and 0.625" (approximately 16 mm), a length of 0.75" (approximately 19 mm), and utilizes a piston with a diameter of 0.25" (approximately 6 mm) and a length of 0.5" (approximately 12.5 mm). This micro-ECPUMP 3000 maintains a pressure of approximately 7 psi, with a commensurately lower flow rate, and weighs approximately 20 g. Alternatively, the magnetic bracket 2040 can be omitted.

In addition to all other design issues identified previously and subsequently for ECPUMPs and ECFPAs according to embodiments of the present invention, thermal expansion is an issue to be addressed during the design phase, based on factors such as the recommended ambient operating temperature range and the actual temperature of the ECPUMP during the duration of user use. For example, piston expansion must be allowed for, and the inner and outer gaskets 2090 and 2095, respectively, in FIG20 are designed with larger inner diameters to allow for expansion as the ECPUMP heats up during operation. It should be apparent that since components of an ECPUMP/EAV according to embodiments of the present invention can utilize a variety of different materials, such as iron for the piston and plastic for the mandrel, design analysis should include the adoption of tight tolerances to accommodate thermal expansion of adjacent components.

It will be apparent that an ECPUMP such as that described herein can be implemented without the need for check valves on the input and output ports. Further, it will be apparent that an ECPUMP such as that described herein can form the basis for variations of other electromagnetically driven fluid pumps such as those described above with respect to embodiments of the present invention.

Referring now to FIG. 21 , first through fourth views 2100A through 2100D of a compact electronically controlled fluid flow valve/switch (ECFVS) according to an embodiment of the present invention are depicted, respectively. As depicted in the first and second views 2100A and 2100B, the ECFVS comprises first and second bodies 2110 and 2120, respectively. Disposed between these bodies is a coupling 2130 for connecting the two ports of these components, and an electronically controlled actuator (ECA) comprising magnetic washers 2140 and 2160. For the sake of brevity, other aspects of the ECA, such as the coil, have been omitted, though they would be apparent to one skilled in the art. As can be seen in the third and fourth views, operation of the coil causes magnet 2170 to move left or right, thereby blocking/opening either the right or left path within the second and first bodies 2130 and 2110, respectively. Magnetic washers 2140 and 2160 provide the locking operation of the ECA.

The ECFVS depicted in FIG21 can be viewed as two valves coupled back-to-back, where the ECFVS requires only one of Port B and Port C to be active at any time. This is depicted in the third and fourth views 2100C and 2100D, respectively. One such implementation of the ECFVS is as follows: Port A is coupled to a fluid actuator, Port B is coupled to an ECPUMP, and Port C is coupled to the inlet of (or another) ECPUMP. Thus, when Port C is "closed," fluid is pumped from Port B to Port A, thereby actuating the fluid actuator. Then, when Port C is "open," fluid is returned from the fluid actuator from Port A to Port C. In another configuration, the fluid input to Port A can be switched to either Port B or Port C, with appropriate electronic control used to adjust the position of the pistons to Ports B and C. Alternatively, the ECFVS in the first configuration can be "dithered" by applying variable pulse width modulation (PWM) to the control signals, so that even when all fluid actuators are fully extended, a small amount of fluid is still inserted/extracted, thereby keeping fluid moving within the fluid system. In the latter configuration, variable PWM mode operation can allow the actuator to be filled and/or driven simultaneously at different fill/flow rates. A fifth view 2100E of an alternative valve is also depicted, in which only one or the other of the two independent flow paths is active. As noted, variable pulse operation of the activated coil allows for a variable opening ratio, enabling the valve to function as a variable fluid distributor. The on/off time of embodiments of the present invention is reduced to 5 milliseconds, despite the commonly employed coil energization period of 10-15 milliseconds.

It will be readily apparent to those skilled in the art that an efficient latching valve has a magnetic attraction force that is as small as possible relative to the pressure head when it closes, retaining the piston within the valve. For most applications, the valve needs to be small, fast, operate with low power, and be easy to manufacture. The valve can be one of multiple valves integrated into a manifold. In some valves, more power may be required to overcome the pressure to close the valve than when the pressure is actually helping to push the piston when the valve is open. Any of the coil/magnetic drive motors described in this specification can be implemented in alternative designs that latch and operate like a valve rather than a pump. "Switch valves" typically do not utilize a one-way valve, such as might be incorporated into a reciprocating pump. Alternatively, the switch valve can be partially powered in DC mode, thereby controlling the holding force of the latching piston and allowing the closed valve to partially open, or conversely, partially close an open valve. Alternatively, the switch valve can incorporate closed-loop feedback to influence the coil drive signal and, therefore, the piston holding force.

In an EAV such as the one depicted in FIG21 , a perfect seal is not always required. In some applications, a certain degree of leakage from the closed valve, such as 1%, can be tolerated because it does not materially affect the operation or overall efficiency of the system. For the EAV design depicted in FIG21 , or another valve/switch, the gate of the sealed switch valve can be formed of a softer contoured material so that it seats well with the piston face, or the gate can be made of the same harder plastic as the rest of the body. Alternatively, the piston can be iron and the gasket a magnet, or the piston can be a magnet and the gasket a soft magnetic material. Similarly, single coil, double coil, and other aspects of various ECPUMP designs can be employed in the EAV design. Alternatively, the EAV can be closed at only one end, or there can be an alternative design with a gate/port at one end of the EAV (rather than both ends). With proper design, cascaded EAV elements can form the basis of fluid switching and regulation circuits.

Referring to FIG22A , a programmable and latching one-way fluid valve according to an embodiment of the present invention is depicted. First view 2200A depicts a programmable one-way valve comprising a body 2210, a threaded valve body 2220, a spring 2250, a spring retainer 2230, a bearing holder 2240, and a ball bearing 2260. As the threaded valve body 2220 is threaded into the body 2210, the spring 2250 is compressed by the action of the spring retainer 2230 and the bearing holder 2240, causing the pressure required to open the programmable check valve by displacing the ball bearing 2260 and overcome the spring pressure. Second view 2200B depicts an exploded view of the programmable check valve. Third view 2200C depicts a latching programmable check valve, wherein a check valve 2200, such as that previously described with respect to first and second views 2200A and 2200B, respectively, is additionally mounted to the threaded valve body via a pin 2275 controlled by an electromagnetic actuator 2270 connected to a drive cable 2280. Thus, under the direction of the drive circuit 2280, the pin 2275 can be engaged behind the ball bearing via the electromagnetic actuator 2270. When engaged, the pin 2275 prevents the ball bearing from moving and accordingly prevents the check valve from operating. Therefore, this latching programmable check valve or latching check valve can solve the hysteresis problem existing in the prior art pressure relief valve, as will be apparent to those skilled in the art.

It is apparent that the programmable check valve according to an embodiment of the present invention depicted in the first view 2200A of Figure 22 provides a programmable pressure relief valve/regulator. Thus, once the pressure within the device exceeds the set pressure, the valve will open and fluid will flow, but once the pressure drops below the set pressure, the valve will close and no fluid will flow. Due to hysteresis caused by the design, the pressures used to open and close are actually offset above and below the set pressure, respectively, thereby eliminating valve "chatter" when the pressure is at the set pressure. Therefore, the programmable check valve allows the device to adjust a softer airbag, for example, when the pump pressure is higher (for example, 7PSI), it can be used to operate at a maximum of 3 pounds per square inch (PSI). Alternatively, by forcing the pump suction port to pass through such a regulator (achieved by a programmable check valve or a fixed pressure check valve), the regulator can be used to maintain a smaller airbag suction (0.5PSI) within the device. In this manner, the regulator can be used as a maximum pressure bypass so that if the positive displacement pump is operating but the bladder volume to be filled is insufficient at that instant, the pressure will increase and the regulator will open, dumping the pumped water back into the inlet pump chamber.

Referring to FIG22B , first and second check valves 2220 and 2230 are implemented as pressure valves in fluid system 2200D and are positioned between reservoir 2210 and ECPUMP 2240. ECPUMP 2240 is also connected to first through fourth valves 2250A through 2250D, respectively, such as, for example, the ECFVS depicted in FIG21 . These valves 2250A through 2250D are also coupled to the return path of the ECPUMP and first through fourth fluid actuators 2260A through 2260D, respectively. For example, ECPUMP 2240 may have a configuration such that the fluid capacity of fluid system 2200D operates under normal conditions without requiring fluid from reservoir 2210. If normal operation refers to a pressure of 6 psi within fluid circuit 2270, first check valve 2220 may be set to 0.5 psi, and second check valve 2230 may be set to 6.5 psi. Thus, if the pressure within circuit 2270 increases above 6.5 psi, second check valve 2230 opens to release pressure via reservoir 2210. In contrast, if the pressure drops below 0.5 psi, first check valve 2220 opens to add fluid from reservoir 2210 to the circuit. Because typical prior art check valves require a relatively large surface area for the pressure element (e.g., ball bearing 2260) to achieve accurate on/off pressure settings, compact check valves with small ball bearings, such as those depicted in FIG22A, typically have poor accuracy. However, as discussed with respect to FIG21 , if the first and second check valves are latching check valves, the valves can have greater accuracy because pin 2275 can force the check valves to close earlier than they would in an automatic mode, and the undersetting of the check valves means that rapid opening will occur under pressure upon disengagement of pin 2275. Alternatively, a latching pressure relief valve that is open or closed by default can be employed, with the pressure relief valve controlled via a pressure sensor disposed within fluid system 2200D to determine when to engage or release pin 2275. While the pin 2275 shown in the third view 2200C of FIG22A is perpendicular to the latching programmable check valve, other embodiments may include, for example, a pin that is angled relative to the latching programmable check valve, or multiple pins. The check valve described above can also be considered a pressure relief valve or pressure regulator.

Referring to FIG. 23 , an example of control circuitry for an ECPUMP according to one embodiment of the present invention is depicted. As depicted, digital circuitry 2300A includes a high-performance digital signal controller, such as a Microchip dsPIC33FJ128MC302 16-bit digital signal controller, which generates output pulse-width modulated (PWM) drive signals PWML and PWMH, coupled to first and second driver circuits 2320 and 2330, and which generate current drive signals applied to coils within the ECPUMP 2010. The drive current generated according to one embodiment of the present invention can be a variable-amplitude pulse at an 18 kHz frequency, rather than a continuous signal. Thus, for one embodiment of the present invention, a 450 ms drive current signal is composed of approximately 8,000 discrete, amplitude-weighted cycles of this 18 kHz signal.

Operation of the ECPUMP using drive signals, such as those generated by a drive circuit as depicted in FIG23 , provides continuous operation of the ECPUMP, which provides a constant fluid pressure/flow to the fluid system and valves via a fluid capacitor. However, it will be apparent that, under the direction of a controller utilizing PWM technology for driving the EAV, the EAV can be rapidly opened and closed to maintain a fluid actuator (such as an airbag) at a predetermined fill level, such as 25%, 50%, and 100%. For example, for an EAV oscillating at 40 Hz, the pulse width modulation of the valve can be in the range of 0.1 Hz to 40 Hz, depending on the desired fill level. In this way, a single ECPUMP can fill and/or maintain the fill levels of multiple airbags based on the actuation of valves, switches, etc. throughout the fluid system. Similarly, the ECPUMP can operate at different frequencies, such as 10 Hz to 60 Hz. Other frequency stimulations can be achieved through the timing of a series of valves. It will be apparent that physical interactions (such as pressure applied by a finger touching a user's skin can be mimicked by PWM-based controller technology) allow for the generation of complex actuator expansion or effect profiles. Thus, the fluid actuator can expand to provide a pressure profile that mimics the finger of another individual touching it.

In the description and accompanying drawings of the ECPUMP and ECFPA according to embodiments of the present invention, the construction or presence of field coils is not shown or described, as would be apparent to one skilled in the art. The design and winding of such coils are known in the art and are omitted for simplicity in depicting the remaining components of the ECPUMP and/or ECFPA. For example, in FIG20 , the coils are wound or formed onto a bobbin core 2040 and housed within a bobbin sleeve 2050, which includes openings for feeding in/out wires for connection to external electrical drive and control circuitry. Examples of such coils include, for example, 170/22, 209/23, 216/24, 320/24, 352/24, 192/28 (e.g., 8 layers of 24 turns each), 234/28, 468/32, and 574/33. Each pair of numbers represents the number of windings and the American Wire Gauge (AWG) of the wire employed.

It will be apparent to those skilled in the art that other configurations including telescopic elements, elastic elements, and fluid actuators can be implemented, wherein one or more aspects of the motion, size, etc. of the device elements and the device itself are varied based on the sequence of actuation of the same subset of fluid actuators within the device elements and/or the device itself. Furthermore, it will be apparent that one or more active elements (such as fluid pump(s) and fluid valve(s)) can be designed as a single module rather than as multiple modules.

By appropriately designing the ECPUMPs described above, in addition to providing pumping action and functioning as primary pumps (such as described with respect to Figures 12 and 13 ), they can also function as secondary pumps as depicted in these figures, while also providing vibrator-like functionality, as will be apparent to those skilled in the art. Furthermore, while the embodiments of the present invention described above with respect to electronically controlled pumps have been described using fluid capacitors, it will be apparent to those skilled in the art that aspects of these can be omitted, depending on the overall device design, including, but not limited to, piping used to connect the various elements of the fluid system together, or portions of the fluid system similar to the fluid pump(s). In some instances, removing the fluid capacitors may result in a cyclic/periodic pressure profile being applied to the overall profile established by the electronic controller, wherein the cyclic/periodic pressure profile provides additional stimulation to the device user. It will be apparent that in other embodiments of the present invention, the fluid capacitors may function as high-pass filters, suppressing low-frequency pressure variations while transmitting high-frequency pressure variations. In other embodiments of the present invention, the ECPUMPs may form the basis of compact RAM/hammer pumps.

In other embodiments of the invention, the fluid actuator can function as a fluid capacitor, and in some instances, it can be configured so that any fluid capacitor is coupled from the fluid actuator rather than directly from the pump or via a valve. In other embodiments of the invention, the fluid capacitor can be provided on one side of the pump, such as, for example, the inlet.

Alternatively, the inlet fluid capacitor can be designed to provide minimal impact on device movement or to affect device movement, such as, for example, by not adjusting its size in response to the action of the pump. In this example, when the pump piston attempts to draw fluid and the control valve of one or more fluid actuators is open so that there is an active fluid connection between the pump and (multiple) fluid actuators, fluid will be drawn from the (multiple) fluid actuators to the piston. However, if one or more valves are not opened or the fluid actuators are collapsed, then the "vacuum" at the pump piston inlet will increase, and accordingly, the pressure relief valve may allow fluid to flow out of the high-pressure inlet of the fluid capacitor or directly out of the valve, or allow fluid to flow when the volume of the fluid actuator does not change. In this way, the pump can continue to operate, such as to provide vibration, even when the device is in a state where the volume of the fluid actuator is not adjusted.

In devices according to embodiments of the present invention, the fluid within the device can be heated or cooled to provide additional sensations to the user during use of the device. Optionally, the degree of hot or cold applied to the user's skin can be varied on the surface of the device by varying the thermal conductivity of the device body in different areas and/or by varying the thickness of an external device skin between the fluid and the user's skin. In other embodiments, dual fluid pathways can provide hot and cold fluids within the same device. Heating the fluid is relatively straightforward, while cooling (such as, for example, by using a thermoelectric cooler to cool a metal element against or around which the fluid flows) requires extracting heat from the fluid. In some embodiments of the present invention, this can be achieved through the use of heat sinks and/or forced air cooling or through the device skin/exterior. In another embodiment, a thermoelectric cooler on one side cools the fluid in a first fluid circuit, while on the other side, the fluid in a second fluid circuit is heated.

In some embodiments of the present invention, the fluid capacitor function can be eliminated, allowing the fluid system to direct all possible pressures. That is, all pump pistons can influence the fluid actuator through rigid tubing and control valves, so that the movement of the pump pistons is converted into fluid movement in and out of the fluid actuator. This can be used in situations where the distance between the fluid actuator and the pump is relatively short and the volume/weight of the fluid driven by the pump pistons is not large. Therefore, depending on the fluid path design, if more than one valve is open, the fluid flow will be shared. If no valve is open, or if a valve is open but the fluid actuator cannot expand or contract further due to certain pressure/vacuum limitations controlled by the design of the fluid actuator and surrounding materials, the backpressure/vacuum on the pump pistons will increase/decrease until the pressure relief valve opens and allows fluid to flow again from the pump outlet to the pump inlet. Thus, the pump pistons can maintain operation without any movement of the device. Obviously, in this embodiment of the present invention, the fluid system with capacitors can include only a small reservoir or no reservoir at all.

Fluidic systems with reservoirs and/or fluid capacitors, such as those described above with respect to embodiments of the present invention, can still employ pressure relief valves, or alternatively, monitor pressure to shut down the pump, such as when it stops due to valve closure or inaction of the fluid actuator, or when pressure exceeds a predetermined threshold. For example, a hard squeeze device can prevent expansion when necessary, thereby stopping the pump, but pressure monitoring can already be disabled. Alternatively, thermal cutoffs can be employed within the overall control circuit. Alternatively, the pump frequency can be adjusted or valves can be triggered to place the ECPUMP in a closed loop, isolated from the actuator, for a predetermined period of time or until the pressure drops to an acceptable level. Obviously, more complex decisions can be made, such as assessing whether pressure is cyclical/acyclical and whether it indicates, for example, a strong vaginal orgasm rather than an individual squeezing the device. Obviously, using ECPUMPs, one can vary the pump frequency, pump stroke length, pump pulse profile, and so forth, to alter the effective pressure, flow rate, and pulse frequency of fluid movement within the device, and accordingly alter the action from the fluid actuator, which is coupled to the fluid actuator via valves, switches, shunts, and the like. In other embodiments of the present invention, the ECPUMP may be allowed to shut down and not overheat through proper design.

In the case of an embedded pressure sensor, this can inherently establish the desired pressure that the user wishes to experience, and then determine the pump drive signal that achieves this desired result despite changes in other pump parameters, such as maintaining the pressure profile if the user adjusts the frequency running during the user configuration phase. It will be apparent that the performance of the ECPUMP can be monitored. For example, the generated back electromagnetic field (EMF) can be measured to determine the position of the piston within the ECPUMP and compared to the expected position and the derived position-time curve to determine whether the control signal needs to be adjusted to achieve the desired device and/or ECPUMP performance. Alternatively, capacitive or other sensors can derive piston position, acceleration, etc., and fluid flow and pressure at the ECPUMP head can also be monitored to confirm performance.

Alternatively, the fluid system can be designed so that the pump is always running and the RPM is varied according to some desired pattern, including a secondary variation pattern, and the valves open and close so that the device is always moving in one direction or the other, and thus the pump will not need to be shut down in design scenarios where there is no fluid capacitor or the fluid capacitor, reservoir or pressure relief bypass valve is insufficient.

Material

In the fluidic assemblies, actuators, devices, fluid valves, and fluid pumps described above with respect to Figures 1 to 22, the fluid can be either a gas or a liquid. In the event of a physical failure of the device to leak fluid, the fluid can be non-toxic to the user and non-corrosive to the materials used within the device, particularly with respect to the various components that come into contact with the fluid. In other embodiments of the present invention, the temperature of the fluid can be adjusted, such as by heating. For example, the fluid can be a simple saline (salt-containing) solution or a mixture of 50% propylene glycol and 50% water, although other ratios can be used depending on the desired fluid viscosity. A variety of other materials can be used based on the desired fluid properties, which may include (but are not limited to) the following properties: anti-fungal, lubricity, lubrication enhancement, freeze resistance during storage and/or operation, anti-bacterial, anti-foaming, corrosion resistance, non-toxicity, and long service life within sealed fluid systems. Examples of such fluids may include, but are not limited to, vegetable oils, mineral oils, silicones, water, oils, and synthetic oils.

As for the materials of construction of the device, a variety of materials can be used in conjunction with the fluid actuator, including, for example: closed-cell foam, open-cell foam, polystyrene, expanded polystyrene, extruded polystyrene foam, polyurethane foam, phenolic foam, rubber, latex, jelly glue, silicone rubber, elastomer, stainless steel, aluminum, virtual skin, fabric, real fur, artificial fur and plastic. In many embodiments of the present invention, the fluid actuator is designed to expand under increased pressure (or fluid injection) and to collapse under reduced pressure (or fluid extraction). Therefore, the fluid actuator will typically be formed of a telescopic material, examples of which include rubber, latex, silicone rubber and elastomer. In some embodiments of the present invention, the (multiple) fluid actuators between the fluid pump and/or valve can be formed of the same material as the fluid actuator, rather than another material. In this case, the fluid actuator can be formed by reducing the wall thickness of the material. Examples of manufacturing processes include, but are not limited to, dip coating, blow molding, vacuum forming, thermoforming and injection molding. It is also obvious that multiple actuators can be simultaneously formed into a single piece part in a single process step. Alternatively, multiple discrete actuators can be coupled together directly or via intermediate conduits by processes such as thermal bonding, ultrasonic bonding, mechanical properties, adhesives, etc. Similar processes can then be applied to attach the fluid actuators to valves, switches, ECPUMPs, ECFPAs, EAVs, etc.

Device Configuration

Referring to FIG. 24 , a robot 2400A and a simulated robot 2400B are depicted for use as toys, utilizing one or more fluid actuators, control systems, and the like, such as discussed above with respect to FIGs. 1 through 23 . As shown, robot 2400A has a head 2410A, a torso 2435, a pair of legs 2415, a pair of arms 2405, and a pair of feet 2435. Each arm 2405 has multiple joints, namely, a shoulder 2420, an elbow 2425, and a wrist 2430. Each leg has a hip 2440A and a knee 2440B. The joints are named after human joints for ease of reference and understanding, even though they may function differently, as is apparent with the knee 2440B. Multiple joints in conventional manually manipulated toys are typically formed using ball-and-socket joints or swivel joints. Consequently, swivel joints that are forced out of the intended plane of rotation often result in the user breaking the swivel joint. Excessive force applied to the ball-and-socket joint by the toy user can cause the ball to be forced out of the socket or the socket to break. Typically in the aforementioned situations, the ball can be reinserted, allowing the toy to be "repaired." Although motorized toy movement is generally through wheels, pivoting legs and other structures can often be implemented with electric rotary motors within each joint. Therefore, such toys tend to be expensive and large. For example, the WowWee Robosapiens robot, which looks similar to robot 2400A, is approximately 34 cm high (13.5 inches), 32 cm long (12.5 inches) and 15 cm (6 inches) wide, and weighs approximately 2.25 kg (5 pounds). Forcing limbs or moving elements in a similar manner will typically result in broken or damaged gears and damage to some part of the toy. In contrast, fluid-based toys that utilize fluid actuators within limbs and other structures can be designed to bend in different directions and recover due to continued, unobstructed subsequent actuation of the fluid actuators.

Thus, using the ECPUMP, for example, the body 2435 of the robot 2400A allows fluid actuators to be used in one or more of the shoulders 2420, elbows 2425, wrists 2430, hips 2440A, and knees 2440B. Furthermore, as discussed below with respect to FIG. 27 , animation effects can be implemented for the head 2410A, including tilting and turning, smiling, opening the mouth, and the like, along with bulging eyes. Furthermore, the gripper 2405A and other aspects of the robot 2400, such as muscle bulging, can be animated. Similarly, a compact fluid pump would allow fluid actuators to be incorporated into smaller, more compact toys, such as the lifelike robot 2400B, where the head 2410B, shoulders 2450, elbows 2455, wrists 2460, knees 2465, hips 2470, and ankles 2475 could all include fluid actuators or include fluid actuators in key, predetermined locations. Other fluid actuators may be included in the male, female, or androgynous forms of the humanoid robot 2400B.

Referring now to FIG25 , first through fourth toys 2510 through 2540 are depicted, respectively, representing a bull, a hedgehog, an imaginary monster, and a jack-in-the-box. With respect to the first toy 2510 , the illustrative bull, fluid actuators can be used to generate animation effects such as the face, arm lifts, horn resizing, and ear resizing. Other features can also be provided, such as popping nostrils, a tongue sticking out, and a convex body. Similarly, with respect to the second toy 2520 , the illustrative hedgehog, fluid actuators can provide similar toy variations, as well as the extension/retraction of one or more of the hedgehog's "fingers" or "toes" and "spines." Using multiple internal valves, the array of "spines" can be controlled in subarrays (such as a head, back, or rows of backs), enabling the provision of changing patterns that, for example, capture and maintain a child's attention. With respect to the third toy 2530 , the imaginary monster, fluid actuators can be used to control both eyes simultaneously or individually, to extend/retract the arms, or to extend/retract the teeth within the third toy 2530. Advantageously, such fluid actuators allow this third toy to be formed in a manner that provides a flexible, child-grabable toy while providing functionality for engagement, entertainment, etc. With respect to the fourth toy 2540 , the jack-in-the-box, the fluid actuators can control the extension/contraction of the “spring” as well as aspects of the head attached to the “spring,” such as the unfolding or curling of the tongue.

Referring to FIG. 26 , first to fourth toys 2610 to 2640 are depicted, respectively, representing an armored vehicle, an animated soccer ball, a spaceship, and a robotic arm. Regarding the first toy 2610 , the armored vehicle, electric motors may be used in wheels with fluid-actuated elements (such as linear extension elements) to fire rockets from its launcher, giving it an animated face or a morphing turret. Similarly, the second toy 2620 may have fluid actuators for the eyes, eyelids, arms, fingers, thumb, and portions of the exterior surface of the "soccer ball." Thus, the second toy 2620 may react to user touch and grip. Similarly, the third toy 2630 , the spaceship, may have fluid actuators that vibrate portions of the exterior surface, increase or decrease the rear dome, and/or form patterns within the rear ring structure. Regarding the fourth toy 2640 , the robotic arm, the connection between the base joint and the first joint may include fluid pathways to drive/control other subsequent stages and gripper methods, allowing pumps, valves, fluid reservoirs, and the like to be included within the base.

In addition to the toys, referring to FIG. 27 , first through fifth massage devices 2710 through 2750 are depicted, respectively, representing a handheld massager, a tabletop massage system, a footbath, a knee support, and a wrist support. Regarding the first massage device 2710 , a handheld massager, the handheld body may include an electric pump, while a valve assembly is provided within the head of the first massage device 2710 to control the activation of multiple massage points, either with pre-programmed settings or user-configurable settings as discussed above. These settings are adjustable, storable, modifiable, and upgradeable according to embodiments of the present invention. Thus, a user can establish a high-frequency pulse pattern for, for example, massaging their calves or shoulders, and sinusoidally change a lower-frequency pattern for, for example, their neck. The second massage device 2720 , a tabletop unit, includes a central control unit with four massage heads, each of which is a fluid-controller-based friction element, such as that depicted and described above with respect to FIG. 2B , thereby providing multiple pressure points with variable configurations according to the controller within the central control unit. As shown, the massage heads are connected via tubing. The third massage device 2730, a footbath, includes a plurality of protruding nodes on the bottom plate of the footbath as shown, which can provide variable pressure, variable pressure distribution of pulse duration, pulse intensity and frequency, etc. via a fluid control system. In other variations of the third massage device 2730, other actuators, for example, such as the friction element based on the fluid actuator depicted and described above with respect to FIG. 2B or the pressure element based on the fluid actuator depicted and described with respect to FIG. 2A , can be used. Similarly, the fourth and fifth massage devices 740 and 750 (respectively, a knee support and a wrist support) can each include a plurality of fluid-actuated massage elements (intended to massage the user's body) within the portion directed to the user's body. For example, in the knee support, the massage elements can, for example, work on the ligaments on either side of the kneecap, while in the wrist support, the massage elements can, for example, work on the flexor muscles.

Referring to FIG. 28 , first through third anatomical devices 2810 through 2830 are depicted, respectively. First anatomical device 2810 represents a human head, wherein fluid actuators can be used to animate the face, such as, for example, opening/closing the mouth, sticking out the tongue, opening/closing the eyes, and puffing the cheeks. In some embodiments of the present invention, multiple actuator elements can be coupled to the same valve. Thus, a head-forming portion of a toy or an animatronic device can be animated to produce a range of facial expressions, such as those shown in face array 2840 or a predetermined subset thereof. Second anatomical device 2820 represents a human heart, which can be animated as an educational toy using a combination of fluid actuators, wherein the fluid actuators can be sequenced to simulate a heart and/or common heart anomalies. Similarly, third anatomical device 2830 can utilize a combination of fluid actuators in conjunction with elastic elements to provide an anatomical educational device.

Referring to FIG. 29 , depicted are first, second, and third massage devices 2910 to 2930, respectively, representing a combination leg massager, an arm massager, and a calf massager. The first massage device 2910 includes a pair of lower leg/ankle/foot massagers and a pair of thigh massagers. Formed from a flexible fabric that allows for initial manual tensioning or from an elastic material designed to automatically conform to the user, multiple fluid actuators are employed in conjunction with an external ECPUMP. Through the action of the actuators and associated valves, the first massage device 2910 can provide a range of pressure/frequency/duration sequences, as well as alter the user's currently manipulated/massaged area, which can be changed according to a predetermined sequence or based on user control. Similar to the first massage device 2910, the second massage device 2920 provides similar functionality, but is targeted at the user's arms, while the third massage device 2930 is solely for the user's calves.

As previously described with respect to FIG. 20A , the ECPUMP can be formed with relatively low complexity from a piston 2030, a bobbin core 2040, a bobbin housing 2050, an insulating washer 2060, an outer washer 2095, an inner washer 2090, a magnet 2080, and a magnet housing 2070, all of which are supported and retained by the body sleeve 2020. Thus, the ECPUMP can be assembled with relatively low technical requirements using a set of standard parts. Referring now to FIG. 30 , an ECPUMP according to one embodiment of the present invention is depicted in a first cross-section 3000A, with a comparison of design options 1 and 2 depicted in second and third cross-sections 3000B and 3000C. The first cross-section 3000A includes an outer body 3010, an electromagnet 3020, a magnet 3030, a washer 3040, an outer washer 3050, a bobbin core 3060, a piston 3070, and an inner washer 3080, with the geometries being similar to those of FIG. 20A . Thus, the first and second optional variations of the ECPUMP are depicted in second and third cross-sections 3000B and 3000C, respectively. With respect to the second cross-section 3000B, magnet 3030 has been replaced by magnet 3030B, which is formed, for example, by molding and works in conjunction with a washer 3080B of soft magnetic material, thereby allowing for a shorter piston and a more compact ECPUMP. Magnet 3030B is now radial and, in conjunction with washer 3080B, forms region 3040B, which may be, for example, an air gap or plastic, such as molded as part of magnetic core 3060.

In the third cross-section 3000C, the washer 3080C is simplified, and the magnet 3030C is shaped to provide, in conjunction with the washer 3080C, an area 3040C. This area 3040C can be, for example, an air gap or plastic, such as molded as part of the core 3060. As evident in the third cross-section 3000C, the ECPUMP's wire-wound electromagnetic core is now formed between the support 3030C and the bobbin core 3060. This Option 2 design now increases the coil area compared to Option 1, while reducing the length of the piston and eliminating the need for an external washer. The outer housing of the coil in the second and third cross-sections 3000B and 3000C, respectively, is shown as a soft magnetic material 3010B and 3010C, which can be, for example, a sintered magnetic composite (SMC) material. SMC is an epoxy-bonded powdered iron composite material that can be molded and cured into a variety of complex and/or simple shapes, providing good electrical insulation and good magnetic flux handling capabilities.

Referring now to FIG. 31 , an ECPUMP according to one embodiment of the present invention is depicted in a first cross-section 3100A, with second and third cross-sections 3100B and 3100C depicting the comparative results of design options 1 and 2. As with FIG. 30 , first cross-section 3100A illustrates a standard geometry comprising an outer body 3010, an electromagnet 3020, a magnet 3030, a spacer 3040, an outer washer 3050, a bobbin core 3060, a piston 3070, and an inner washer 3080, wherein the geometry is similar to that of FIG. 20A . First and second optional variations 1 and 2 of this ECPUMP are depicted in second and third cross-sections 3100B and 3100C, respectively. With respect to second cross-section 3100B, magnet 3030 and outer washer 3050 have been replaced with neodymium magnets 3130B. Spacer material 3140B (e.g., plastic or an air gap) can be formed separately, thereby forming neodymium magnets 3130B. Thus, the piston in the second cross-section 3100B is now aligned with the air gap in its mid-stroke position. A variation of this configuration is depicted in the third cross-section 3100C, which features a shaped neodymium magnet 3130C and a spacer material 3140B (e.g., air or plastic). Thus, the third cross-section 3100C depicts an ECPUMP design, where the piston is again aligned with the air/plastic spacer material 3040C, but now without the requirement for an external spacer to serve both functions as the neodymium magnet 3130C. Furthermore, as shown in the second and third cross-sections 3100B and 3100C, respectively, the piston can be modified from a constant diameter piston 3070 to a wave-shaped piston 3175 having a shaped outer diameter relative to the longitudinal piston. The outer housing of the coil in the second and third cross-sections 3000B and 3000C, respectively, is shown as a soft magnetic material 3010B and 3010C, which can be, for example, a sintered magnetic composite (SMC) material.

32A , a first piston 3100 is depicted. The first piston 3100 is a standard piston 3210 having first and second ends and a generally smaller diameter connector between the first and second ends (not shown for clarity). The resulting area between the first and second ends and the smaller diameter connector is filled with plastic 3240, making the bearing surface of the piston primarily plastic rather than metal. Optionally, a first piston 3100 without plastic 3240 may be employed.

Also depicted is a second piston 3200, which includes a piston 3210 along with first and second vane arrays 3220A and 3220B. Each of the first and second vane arrays 3220A and 3220B includes a plurality of vanes 3230, such that during movement of the second piston 3200, the vanes 3230 impart a rotational motion to the second piston 3200. This enhances the alignment of the second piston 3200 within the ECPUMP and the ability to maintain the piston centered within the ECPUMP by reducing the effect of rotation. As with the first piston 3100, the first and second ends of the piston 3210 are joined by a generally smaller diameter connector (not shown for clarity) between the first and second ends. The resulting area between the first and second ends and the smaller diameter connector is filled with plastic 3240, making the bearing surface of the piston primarily plastic rather than metal. Optionally, the surface of the piston facing each end can be wedge-shaped/beveled to generate hydrodynamic lubrication resulting from the linear motion of the piston, as described in U.S. Patent Application 14/037,581, filed by the present inventor on September 26, 2013, entitled "FLUIDIC METHODS AND DEVICES." This linear reduction in hydrodynamic lift can work alone or in conjunction with a rotational reduction in hydrodynamic lift, or vice versa. Thus, the rotating fluid generated from the ejector 3240 described below with respect to FIG. 32B , along with the blades, provides a rotational motion that, combined with the profiled and/or beveled wedge shape of the piston end, generates hydrodynamic lift to keep the piston buoyant within the bore of the ECPUMP.

Referring now to FIG32B , a second piston 3200 is depicted in first image 3100C. Second piston 3200 includes piston 3210, plastic 3240, and first and second vane arrays 3220A and 3220B as previously described with respect to FIG32A . Left and right-hand side end views are also depicted, depicting each of first and second vane arrays 3220A and 3220B, respectively. It is apparent that the orientation of the vanes at either end is opposite, so that rotational motion of second piston 3200 is maintained while the piston moves in either direction. A swirl ejector 3240, depicted in second image 3200D, is applied to one or both ends of the ECPUMP between second piston 3200 and one or more cylinder heads. As fluid flows into the ECPUMP bore, the central region of swirl ejector 3240 imparts an initial swirl to the fluid in the region between the cylinder head and the corresponding vane array, thereby generating rotational momentum for second piston 3200. Thus, this rotational momentum results in rotational motion of the second piston 3200, which in turn results in an increase in the hydrodynamic pressure between the piston and the bore under appropriate conditions, thereby generating a radial force to position the piston within the bore, thereby reducing drag/friction. It will be apparent that the swirl ejectors 3240 can be provided on either the inlet or outlet port of each cylinder head on each end of the ECPUMP.

According to the variation of the design described in Figure 32 A and 32B respectively, each cylinder head may only be provided with a swirl nozzle.Therefore, when fluid enters the piston chamber (intake stroke), it is caused to swirl by the swirl nozzle and hit the blade of blade array and rotate the piston, during which time, the other end of the piston is now in output stroke. When the stroke is reversed, when fluid leaves the piston chamber and the cylinder head is towards the outlet one-way valve, there may not be a swirl nozzle (or as the inventor refers to the combination of blade array and nozzle element and boring/cylinder head, without swirl chamber), the rotating speed is due to the piston always rotating and the fluid flows accordingly, so the fluid will have swirled. Alternatively, this can be converted to the other end of the piston. Even if there is only one inlet swirl nozzle (no outlet swirl nozzle), the piston will also be driven to rotate from the left end when from left to right, and the piston will be driven to rotate by the right turbine when from right to left. If swirl nozzles are not required at each end of the piston during the inlet and outlet strokes, this will absorb energy due to the swirl restricting the flow. In order to allow full piston rotation, some designs have only one swirl nozzle at each end, which will provide maximum efficiency. Alternatively, swirl nozzles can be located at the inlet on one end and the outlet on the other end.

Referring now to FIG33 , a first cross-section 3100A of an ECPUMP according to an embodiment of the present invention is depicted, which is shown in comparison to design options 1 and 2 in second and third cross-sections 3100B and 3100C. As with FIG30 and 31 , the first cross-section 3100C shows a standard geometry, including an outer body 3010, an electromagnet 3020, a magnet 3030, a spacer 3040, an outer washer 3050, a wound core 3060, a piston 3070, and an inner washer 3080 similar to those of FIG20A . As with the second cross-section 3100B, the magnet 3030 has been replaced with a neodymium magnet 3330B, and the outer washer 3050 has been removed. The outer body of the electromagnet is now a shaped body 3380 formed of a soft magnetic material such as, for example, steel or SMC. Between the neodymium magnet 3330B and the core 3060 is a ring 3310 of soft magnetic material, such as, for example, a steel or SMC ring 3310, to conduct the magnetic flux to the "teeth" at the end of the piston, which has a diameter close to that of the bore 3060. A spacer material 3340B (e.g., plastic or an air gap) is radially disposed between the shaped body 3380B and the bore 3060, and longitudinally disposed between the neodymium magnet 3330B/ring 3310 and the shaped body 3380B.

Similarly, for a design variation of this configuration in the third cross-section 3100C, the design eliminates the external washer 3050 and utilizes a shaped body 3380C, an external neodymium magnet 3330C, and a ring of soft magnetic material 3320. A spacer material 3340B (e.g., plastic or an air gap) is similarly disposed radially between the shaped body 3380C and the bore 3060, and longitudinally between the neodymium magnet 3330C/ring 3320 and the shaped body 3380C.

In each of the examples of options 1 and 2 depicted in the second and third cross-sections 3100B and 3100C, the outer shell of the coil of each soft magnetic material device 3010B and 3010C, respectively, may be, for example, a sintered magnetic composite (SMC) material. Thus, in options 1 and 2 depicted in the second and third cross-sections 3100B and 3100C, respectively, a cost reduction for each ECPUMP is achieved because an electrical isolator having good magnetic properties can now be employed.

While emphasis has been placed on a stand-alone, discrete device, it will be apparent that according to other embodiments of the present invention, the device may be separated into multiple units, such as, for example, a pump assembly, with the device connected to the pump assembly via a flexible tube that may be tens of centimeters, a meter, or several meters long. In other embodiments, a very short tube may be used to isolate the pump assembly from the rest of the device, or as part of a flexible portion of the body, allowing the user to adjust, for example, the arc of their knee, elbow, calf, etc. It will be apparent that devices according to embodiments of the present invention may be configured to be held during trial use; mounted to a harness; mounted to the user's body or to a part of another user's body, such as a hand, thigh, or foot, via an attachment; or mounted to a physical object, such as a wall, floor, or table, via a suction cup or other mounting means.

In the embodiments of the present invention with respect to the device and electronic controls, the foregoing description with respect to the accompanying drawings has described power as being derived from batteries, either standard replaceable (consumable) designs such as alkaline, zinc-carbon, and lithium iron sulfide (LiFeS2) types, or rechargeable designs such as nickel-cadmium (NiCd or Nicad), nickel-zinc, and nickel-metal hydride (NiMH). Typically, such batteries are AAA or AA, although other battery formats include, but are not limited to, C, D, and PP3. Thus, such a device will be self-contained, with the power source, controller, pump(s), valve(s), and actuator(s) all formed within the same body. It will be apparent that when battery-powered operation is considered, the fluid pump, electronic controller, and fluid valves are preferably of a low-power, high-efficiency design, although electrical mains connections may alleviate such design limitations. For example, for a device in which the operating pressure for the fluid actuator is approximately 2-6 psi and with a flow rate for typical geometry and efficiency, the power consumption is approximately 3 W. For a 3.7V lithium-ion rechargeable battery with a capacity of 1 amp-hour, this would provide a power supply of approximately 3.7W. Other devices may include batteries, including those that meet standards such as A, AA, AAA, C, and D. In addition, different batteries may be combined with different pumps, or these may be combined to implement within the device. Other devices may include charging using solar energy, for example.

However, alternative embodiments of the device can be configured to include a power cord and be powered directly from a power source via a transformer. Alternatively, the device can be configured with a battery and power connector connected to a remote transformer via a small electrical connector with a power cord and a power plug therein. However, it will be apparent that other embodiments of the present invention can be configured to house predetermined portions of the pump(s), valve(s), power supply, and control electronics in a single module containing the fluid actuator.

In the embodiments of the present invention described above with respect to Figures 1 to 3 , operating pressures, etc., have been discussed with respect to the airbags, pumps, etc. In some of these descriptions, 7 PSI was used. It will be apparent to those skilled in the art that the corresponding design of components within the fluid system may utilize higher or lower pressures than these. In some instances, for devices such as deep tissue massagers, the pressure may be significantly higher, such as 20 PSI. However, with the ECPUMP, such variations are generally readily achievable, for example, by reducing/enlarging the piston diameter.

In the foregoing description of the apparatus and electronic controls according to embodiments of the invention with respect to the accompanying drawings, a resistance control within the apparatus has been described. However, the controller may alternatively be remote to the apparatus via a cable connection or via indirect means such as, for example, wireless communication. Furthermore, the electronic controller has been primarily described with respect to providing control signals to a fluid pump and valves and other active elements of the apparatus. However, in some embodiments of the invention, the electronic controller may receive input from a sensor embedded in the apparatus or located external to the apparatus. For example, the sensor may provide an output to the user based on the pressure applied to that portion of the apparatus (e.g., from vaginal contractions), wherein the controller is able to adjust one or more aspects of the action of the apparatus in terms of, for example, maximum pressure, slew rate, and extension. Optionally, other sensors may be deployed within the apparatus to monitor the performance of the apparatus, including, for example, a linear transducer for monitoring length extension and a pressure sensor for monitoring fluid pressure at a predetermined point within the apparatus.

In the descriptions provided above with respect to Figures 1 through 23, reference has been made to specific embodiments of fluid actuators, valves, switches, ECPUMPs, ECFPAs, EAVS, etc. While these embodiments represent compact, low-power devices having a range of motions and/or actions based on specific combinations of fluid actuators, valves, switches, ECPUMPs, ECFPAs, EAVS, etc., it will be apparent that alternative technologies and component, subassembly, and assembly designs may be used for one or more of these elements, including, but not limited to, fluid actuators, valves, switches, ECPUMPs, ECFPAs, EAVS, etc., without departing from the scope of the present invention.

From the foregoing description of the embodiments of Figures 1 to 33 , it is apparent that combining a fluid actuator with a fluid pump, such as an ECPUMP, can provide motion within a smaller space, increasing functionality while reducing complexity, and scalability from compact assemblies within children's toys to fluid systems for adult limbs. These compact assemblies can be deployed in spaces too small for conventional prior art motors, gears, levers, and the like. Furthermore, a single generator (e.g., a fluid pump) can power multiple separate components within a device connected solely by one or more flexible hoses, which can be of a small diameter or size appropriate to the varying functions and features induced by the fluid actuator. In this way, devices such as toys can be molded according to their motivating characteristics within a structure that is itself flexible or connected to the rest of the toy via flexible members. Similarly, within larger devices, these can be manipulated to accommodate the user, or rolled, flattened, and so on, without damaging the "power chain" because the flexible hoses move with the skin and/or body of the device.

Furthermore, fluidic systems offer additional advantages, including but not limited to:

The moving parts are soft and flexible, unlike mechanical systems;

By utilizing the hydraulic principle of lever action, high pressure/high tension and greater force can be generated;

Very small aspect ratios can be achieved that are not possible in many mechanical systems;

Motivated actions can be provided in a distributed manner without the need for complex linkage of mechanical assemblies;

Liquid-based fluid systems are generally preferred over gas-based systems because gas compression does not generate heat, while the increased positive displacement of liquids allows for higher energy transfer per equivalent volume; and

Liquid-based fluid pumping and air bladder actuation is quieter than an air pump and air lines and air bladder.

It will be apparent that hydraulic actuators (including but not limited to those that provide torque, linear sizing, diameter expansion, surface area increase, leverage, twisting, rotation, curving, bending, etc.) can be combined with mechanical systems (including combinations of, but not limited to, mechanical levers, actuators, push/pull rods, gears, pivots, hinges, wedges, etc.). An additional benefit lies in the fact that fluid motion can be designed to produce faster or slower motion than mechanical systems of similar size and cost. Further, fluid actuators can be designed to be less expensive to mass produce than mechanical system equivalents because the bladders, tubing, etc. can be molded directly into the device body during device manufacture and utilize lower cost production techniques. In addition, fluid systems provide greater reliability because the number of moving parts is typically only one moving part in a fluid pump and only a single moving part in an actuator control valve.

For massage device applications, these devices can be designed for specific applications to all parts of the body (e.g., neck, shoulders, upper arms and forearms, thighs and calves, etc.) or based on the general flexibility of the overall device (where the device can be applied to multiple body parts). In addition, the fluid can be directly heated, cooled or frozen before distribution without the need for multiple distributed heaters, coolers, etc. Such devices can be battery and/or mains powered. In toy applications for children or pets, the elements of the toy can change, such as the muscles of a superhero can swell, or the filling of air bladders can cause movement for toy motion purposes, or the air bladders can be inflated for visual or tactile purposes only, so that the shape of the toy can be changed by moving liquid from one location to another, or from internal storage elements, so that, for example, the eyes bulge, the eyebrows change, the lips wrinkle, and the ears wiggle. Furthermore, depending on the actuator implemented, the presence or absence of friction elements and the like may result in any movements such as crawling, swimming, jumping, "creeping," snaking, rolling, running, walking, as well as arm waving, throwing, facial expressions, body postures or changes in posture, dancing, imitating animals or people, etc. In addition to vibration, the pressure massager motions may include pulsating, kneading, progressive squeezing, beating, and other massage motions.

Advantageously, massager-based devices can provide the same pressure, speed, and motion as human massage professionals, but without fatigue, fatigue, loss of interest, the need for reservations, etc., and with a lower overall cost of ownership and an increased cost per service hour over time. Advantageously, such fluid-based massagers are portable and can be used anywhere, anytime, in a variety of settings. Furthermore, they can apply other features, such as high and/or low temperature cycles or vibrations, while massaging, allowing the length and complexity of the overall routine to be tailored to target specific muscles beyond the control, repetition rate, consistency, and complexity of a human. This also extends the benefits of massage therapy to all, rather than a select few, in healthcare and/or elder care settings. Massage devices can also be provided that simultaneously cover a larger surface area than a pair of hands can knead, or provide pressure points equivalent to dozens of fingers, or provide manipulation that is physically impossible for a single person to provide.

In other devices, such as a ball containing multiple air pockets near its surface and a central pump, the ball can be made to roll and change direction, reverse, or start/stop, all apparently "by itself," based on controlling the distribution of fluid within the air pockets within the ball. Thus, the fluid can serve as a portable object whose position can be changed and controlled to achieve changes in the toy's balance point, its center of gravity, and so on. The toy can stand still "by itself" and then fall over in response to user action, voice, commands from another toy, or a priority, or alternatively, the toy can be made to sway or not sway as it rolls, curve like a lawn bowling curveball effect. Similarly, changes in center of gravity can be used, for example, to manipulate tabletop game characters in games of chance, reflex or cooperative games, and games of skill. While pet toys will typically require a puncture-resistant flexible cover or specifically a fluid element on the device surface to prevent tooth punctures, they can utilize many of the same effects and actions while combining them with sensor feedback, such as making the pet move, emit sounds, or react to visible signals (such as a laser pointer).

For toy devices utilizing embodiments of the present invention, specific responses can be generated based on controller programming in response to impact, gripping, squeezing, restraining, exposure to darkness or light, high or low temperatures, shaking, static, tilting, pulling, pushing, silence, loud noise, or another measurable condition. Similarly, the controller can trigger specific timer programs in response to triggers or control inputs. For massage devices, these can be based on a variety of selectable, user-adjustable, and/or sensor-based timer programs to control the massage, for example.

For massage devices, the fluid actuators and fluid systems can be combined with other output devices, heaters, coolers, speakers, mechanical vibrators, electrical stimulators for transcutaneous electrical nerve stimulation (TENS), lights, ultrasonic vibrations, or other muscle healing or deep tissue or skin level treatments (e.g., ultraviolet, infrared, etc.), including compression, vacuum, tension, friction. Thus, a massage device according to embodiments of the present invention can be used to provide Swedish massage therapy, aromatherapy massage using an integral oil dispenser in addition to other fluid systems, hot stone massage providing localized heating, deep tissue massage, acupressure massage, Thai massage, reflexology. Advantageously, such massages can now be provided regardless of the user's location and while they are engaged in other activities (such as working, taking a walk, sitting at home, sleeping, etc.).

The above description provides specific details to provide a thorough understanding of the embodiments. However, it should be understood that the embodiments may be practiced without these specific details. For example, circuits may be shown as block diagrams to avoid obscuring the embodiments with unnecessary detail. In other examples, well-known circuits, processes, algorithms, structures, and techniques may be shown without unnecessary detail to avoid obscuring the embodiments.

The implementation of the techniques, blocks, steps, and means described above can be accomplished in various ways. For example, these techniques, blocks, steps, and means can be implemented in hardware, software, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic units designed to perform the above functions and/or combinations thereof.

Furthermore, it should be noted that these embodiments may be described as processes depicted as flow charts, job diagrams, data flow diagrams, structure diagrams, or block diagrams. Although a flow chart may depict operations as a sequential process, many operations may be performed in parallel or simultaneously. Furthermore, the order of the operations may be rearranged. A process terminates when its operations are completed, but may have additional steps not included in the diagram. A process may correspond to a method, function, procedure, subroutine, subprogram, etc. When a process corresponds to a function, its termination corresponds to the function returning to the calling function or main function.

The foregoing disclosure of the embodiments of the present invention has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many variations and modifications of the embodiments described herein will be apparent to those skilled in the art in light of the above disclosure. The scope of the present invention is to be limited solely by the appended claims and their equivalents.

Further, in describing representative embodiments of the present invention, the method and/or process of the present invention may be presented in the specification as a specific order of steps. However, insofar as the method or process does not rely on the specific number of steps set forth herein, the method or process should not be limited to the specific order of steps described. As will be understood by those of ordinary skill in the art, other orders of steps are possible. Therefore, the specific order of steps set forth in the specification should not be interpreted as a limitation on the claims. In addition, the claims relating to the method and/or process of the present invention should not be limited to the written order of steps, and those skilled in the art can readily understand that the order can be changed and still remain within the spirit and scope of the present invention.

Claims (18)

1. A pump, comprising: A bobbin core having a hole arranged along the longitudinal axis of the pump, and a piston disposed in the hole; The piston has a first end and a second end; A first blade array, located at the first end of the piston, has multiple blades; The second blade array is located at the second distal end of the piston and has multiple blades; A first swirl nozzle, located at one end of the pump, includes multiple blades; and A second swirl nozzle, located at the other end of the pump, includes multiple blades; wherein The plurality of blades of the first blade array and the plurality of blades of the second blade array are located in opposite directions. 2. The pump according to claim 1, wherein During the operation of the pump, the combined action of the first and second swirling nozzles and the first and second blade arrays is used to transmit rotational motion to the piston during the linear movement of the piston under the external electromagnetic drive mechanism. 3. The pump according to claim 1, wherein During the operation of the pump, the combined action of the first and second swirling nozzles and the first and second blade arrays is used to transmit rotational motion to the piston that generates hydrodynamic pressure, thereby reducing friction on the piston. 4. The pump according to claim 1, further comprising: A linear motor, constituting a predetermined part of an external electromagnetic drive mechanism for the pump, includes: A housing for a coil, having at least first and second end walls, an outer wall, and predetermined portions of an inner wall; and First and second magnets are disposed adjacent to the first and second end walls. 5. The pump according to claim 4, wherein A region is provided at each end of the linear motor adjacent to the core that defines the bore of the linear motor, a first predetermined portion of the region being located between the housing and the core, and a second predetermined portion of the region being located between the respective magnets and the core. 6. The pump according to claim 4, wherein A first shim is provided at a first end of the linear motor adjacent to the core defining the bore of the linear motor, the first shim being located between the inner surface of the first magnet and the core; and A second shim is provided at the second end of the linear motor adjacent to the core defining the bore of the linear motor, the second shim being located between the inner surface of the second magnet and the core; wherein The first gasket and the second gasket are filled with air or plastic. 7. The pump according to claim 4, further comprising: A pair of gaskets, each gasket disposed at one end of the pump, a first portion of the gasket located between the housing and the spool core, and a second portion of the gasket located between the first portion of the first magnet or the second magnet disposed at the corresponding end of the pump and the spool core; and a pair of rings, each ring disposed at one end of the pump and formed of a soft magnetic material, and located between the second portion of the first magnet or the second magnet disposed at the corresponding end of the pump and the spool core; wherein each gasket is formed of a gasket material; or, A pair of gaskets, each gasket disposed at one end of the pump and located between the spool housing and one of the magnets of the pair of magnets; a pair of rings, each ring being made of a soft magnetic material and disposed between a second predetermined portion of one of the magnets and the spool core; wherein each gasket is formed of a gasket material. 8. A pump, comprising: A spool core that defines an aperture in which a piston can move; The piston is formed of a first magnetic material and is disposed within the hole of the spool core; An electromagnet formed around the spool core, the electromagnet being used to generate a magnetic field within the hole of the spool core in response to a current applied to the electromagnet. A pair of inner washers, the pair of inner washers being formed of a second magnetic material, each inner washer being disposed around the spool core and adjacent to one end of the electromagnet; A pair of washers, each comprising a first non-magnetic material, each washer disposed around the spool core and adjacent to one of the inner washers of the pair of inner washers, and further away from one end of the electromagnet than one of the inner washers of the pair of inner washers; and A pair of magnets, the pair of magnets being formed of a third magnetic material, each magnet being disposed around the spool core and adjacent to one of the inner washers of the pair of inner washers, and being further away from one end of the electromagnet than one of the inner washers of the pair of inner washers. 9. The pump according to claim 8, wherein: Each magnet is mounted on the pad at its respective end of the pump; and A pair of outer washers, each outer washer disposed at one end of the pump, such that the magnet and the gasket are disposed between the outer washer and one of the inner washers of the pair of inner washers. 10. The pump according to claim 8, wherein: Each magnet is mounted on the gasket at its respective end of the pump; Each inner washer has a protrusion adjacent to the spool core, the protrusion extending below the electromagnet; and A pair of outer gaskets are formed from a fourth magnetic material, each outer gasket being disposed at one end of the pump, such that at each pump, the magnet and the gasket are disposed between the outer gasket and one of the inner gaskets of the pair of inner gaskets. 11. The pump according to claim 8, wherein: Each inner washer has an inner surface facing the spool core; each washer is disposed between the inner surface of the inner washer and the spool core; and each magnet is disposed between the inner surface of the inner washer and the spool core. 12. The pump according to claim 8, wherein: Each inner washer has an inner surface facing the spool core; each washer is disposed between the spool core and the inner surface of the inner washer; and Each magnet and the inner washer are combined with the spool core around a washer; and One part of the shim is located between the magnet and the spool core, and another part of the shim is located between the inner washer and the spool core. 13. The pump according to claim 8, wherein, Each shim is surrounded between the spool core, the inner washer, and the magnet; and No part of the shim is between the magnet and the spool core. 14. The pump of claim 8, further comprising: A pair of rings formed of a soft magnetic material; wherein, Each magnet has an inner surface facing the spool core; Each ring is disposed between the inner surface of a magnet and the bobbin core; and Each washer is surrounded between the inner washer, the magnet, one of the rings of the pair of rings, and the spool core. 15. The pump of claim 8, further comprising: A pair of rings formed of a soft magnetic material; wherein, Each magnet has an inner surface facing the spool core; Each ring is disposed between the inner surface of a magnet and the spool core; Each shim is surrounded between the inner washer, the magnet, a ring, and the spool core; The first portion of each shim is disposed between the inner washer and the spool core; and The second portion of each shim is disposed between one of the magnets of the pair of magnets and the spool core. 16. The pump according to claim 8, wherein: The piston includes: A first portion formed of the first magnetic material, the first portion comprising a central body with a diameter smaller than that of the orifice, and an end body at each end of the piston having a diameter substantially the same as that of the orifice; and A second portion formed of plastic is distributed along the outer side of the central body between the end bodies, and the second portion has an outer diameter substantially the same as the diameter of the hole. 17. The pump according to claim 8, wherein, The piston includes: A pair of ends, each end being disposed at one end of the piston and having a diameter substantially the same as the diameter of the orifice; The central portion between the pair of ends has a diameter substantially the same as the diameter of the hole; wherein, Between each of the pair of ends and the central portion, the piston has an irregular outer diameter that varies with longitudinal position, its diameter varying along the longitudinal axis of the piston. 18. The pump of claim 8, further comprising: A first blade array is located on a first end of the piston, and the first blade array has a plurality of blades; A second blade array is located on the second end of the piston, and the second blade array has multiple blades; A first swirl nozzle, disposed at one end of the pump, includes multiple blades; and A second swirl nozzle, disposed at the other end of the pump, includes multiple blades; wherein, The plurality of blades of the first blade array and the plurality of blades of the second blade array are located in opposite directions; and During the operation of the pump, the first swirling nozzle and the second swirling nozzle, in combination with the first blade array and the second blade array, act on the piston during the linear motion of the piston to transmit rotational motion to the piston, or to generate hydrodynamic pressure between the piston and the hole of the spool core to reduce friction on the piston.