HK40072760A - Edible soft robotic systems and methods - Google Patents

Description

Edible soft robotic system and method

Cross reference to related applications

The present disclosure claims priority and benefit of U.S. provisional application No. 62/894405 entitled "edible soft robotic system and method" and filed on 30/8/2019 and U.S. provisional application No. 62/910868 filed on 4/10/2019, entitled "edible soft robotic system and method", the disclosure of which is incorporated by reference for all purposes.

Background

The present disclosure relates generally to the field of amusement parks. More particularly, embodiments of the present disclosure relate to systems and methods for providing and enhancing amusement park experiences in connection with edible soft robotic systems.

Various amusement rides and exhibits have been created to provide unique interactive, athletic, and visual experiences to customers. Such experiences can be designed to stimulate a variety of sensations including touch, smell, and taste. In various rides and shows, the customer experience may be enhanced by employing certain interactive robotic features within the ride and show. However, such robotic features can be expensive and are not suitable for incorporation into disposable and/or consumable products that customers can touch, smell, and taste.

Disclosure of Invention

A summary of certain embodiments disclosed herein is set forth below. It should be understood that these aspects are presented merely to provide the reader with a brief summary of certain embodiments and that these aspects are not intended to limit the scope of this disclosure. Indeed, the disclosure may encompass a variety of aspects that may not be set forth below.

In one embodiment, there is provided an edible soft robotic system, the system comprising: at least one edible inflatable object formed at least in part from an edible material and comprising an interior compartment configured to receive a fluid; and one or more sensors configured to generate sensor data indicative of a parameter of the system. The system also includes a control system coupled to the at least one edible inflatable object. The control system is configured to: receiving sensor data from one or more sensors; adjusting inflation of the at least one edible inflatable object by directing fluid into or out of the interior compartment based on the sensor data; and activating one or more special effects based on the sensor data.

In an embodiment, there is provided an edible inflatable object display system, the system comprising: an edible inflatable object configured to receive a fluid in an interior compartment of the edible inflatable object; and a receptacle to which the edible inflatable object is reversibly coupled. The reversible coupling includes the port of the edible inflatable object being aligned with the fluid conduit such that the fluid conduit fluidly couples the internal compartment. The system also includes a control system configured to receive instructions to adjust the inflation of the internal compartment by activating the flow of fluid into or out of the internal compartment via the fluid conduit. Adjusting inflation of the internal compartment causes actuation of the edible inflatable object on or within the container.

In an embodiment, an edible soft robotic system is provided that includes an interactive surface having a plurality of elements arranged in an array. The plurality of elements includes a fluid conduit element, a sensor element, and an effect element. The edible soft robotic system includes a plurality of edible inflatable objects disposed on the interactive surface such that each individual edible inflatable object is in contact with at least one of the plurality of elements. The edible soft robotic system also includes a control system configured to control activation of the plurality of elements to cause actuation of at least one edible inflatable object of the plurality of edible inflatable objects by adjusting inflation of an internal compartment of the at least one edible inflatable object of the plurality of edible inflatable objects.

In an embodiment, an edible inflatable object display system is provided that includes an edible inflatable object that retains a fluid in a closed interior compartment of the edible inflatable object. The edible inflatable object display system further comprises: a container within which the edible inflatable objects are displayed; a fluid conduit extending into the interior of the container; and a pump configured to activate fluid flow flowing into or out of the interior of the container via the fluid conduit to cause actuation of the edible inflatable object within the container.

In an embodiment, an edible inflatable object system is provided. The system includes an edible inflatable object configured to receive a fluid in a recess of the edible inflatable object. The system also includes a tray to which the edible inflatable object is reversibly coupled, wherein the tray includes a through passage aligned with the recess. The system further comprises: a counter, wherein the tray is positioned between the counter and the edible inflatable object; and a grommet extending through the counter and having a grommet passageway aligned with the through passageway to fluidly couple the recess to the fluid delivery system, wherein the tray and the counter include complementary mating features that align the grommet passageway and the through passageway when mated.

Drawings

These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

FIG. 1 is a schematic illustration of an amusement park including an edible soft robotic system according to embodiments described herein;

FIG. 2 is a block diagram of an edible soft robotic system according to embodiments described herein;

FIG. 3 is a flow diagram of an edible soft robotic system technique according to embodiments described herein;

FIG. 4 is a schematic illustration of a tabletop arrangement of an edible soft robotic system according to embodiments described herein;

FIG. 5 is a schematic illustration of a portable arrangement of an edible soft robotic system according to embodiments described herein;

FIG. 6 is a schematic illustration of a portable arrangement of an edible soft robotic system implemented as an interactive toy according to embodiments described herein;

FIG. 7A is a schematic illustration of a console-based arrangement of an edible soft robotic system according to embodiments described herein;

fig. 7B is a schematic illustration of a console-based arrangement of an edible soft robotic system according to embodiments described herein;

FIG. 8 is a schematic illustration of an interactive surface that can be used in conjunction with an edible soft robotic system according to embodiments described herein;

fig. 9 is a schematic illustration of an edible soft robot including a conformable gasket that can be used in conjunction with an edible soft robot system according to embodiments described herein;

FIG. 10 is a schematic illustration of a tether that may be used to activate an edible inflatable object in conjunction with an edible soft robotic system according to embodiments described herein;

FIG. 11 is a schematic illustration of an edible soft robotic system integrated into a food container according to embodiments described herein;

FIG. 12 is a schematic illustration of a closed volume arrangement of an edible soft robotic system according to embodiments described herein;

FIG. 13 is a schematic illustration of a vacuum chamber arrangement of an edible soft robotic system according to embodiments described herein;

FIG. 14 is a schematic illustration of components of a customizable edible soft robot that can be used in conjunction with an edible soft robot system according to embodiments described herein;

FIG. 15 is a schematic illustration of a tray arrangement of an edible soft robotic system according to embodiments described herein;

FIG. 16 is a perspective view of a grommet that may be used in conjunction with the embodiments described herein;

FIG. 17 is an image of an edible inflatable object in a tray arrangement;

FIG. 18 is a schematic illustration of an arrangement of an edible soft robotic system comprising an adhesive according to embodiments described herein;

FIG. 19 is a schematic illustration of an arrangement of an edible soft robotic system including an internal heating element according to embodiments described herein;

FIG. 20 is a schematic illustration of an arrangement of an edible soft robotic system comprising a flexible membrane according to embodiments described herein;

FIG. 21 is a schematic illustration of an arrangement of an edible soft robotic system comprising a flexible membrane according to embodiments described herein;

FIG. 22 is a schematic illustration of an arrangement of an edible soft robotic system comprising a flexible membrane according to embodiments described herein;

FIG. 23 is a schematic illustration of an arrangement of an edible soft robotic system comprising a flexible membrane according to embodiments described herein;

FIG. 24 is a schematic illustration of an arrangement of an edible soft robotic system comprising a flexible membrane according to embodiments described herein;

FIG. 25 is a schematic illustration of an arrangement of a bulk container system for use with an edible soft robotic system according to embodiments described herein;

fig. 26 is a schematic illustration of a bulk container system in an open configuration; and

FIG. 27 is a schematic illustration of an edible inflatable object having a puppet-style configuration.

Detailed Description

One or more specific embodiments will be described below. In an effort to provide a concise description of these embodiments, not all features of an actual implementation are described in the specification. It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure.

It is now recognized that various mechanisms used in amusement park environments may lack interactive components that may physically contact customers. For example, a robot may have moving joints and rigid surfaces that are not designed to operate when physically contacted by a customer. Moreover, many robots act as mounts and are not designed for portable or consumable products that customers can touch or even eat. Soft robots are provided herein, for example, can be employed to produce dynamically moving and edible and/or consumable pneumatically or hydraulically inflatable objects. In this way, an amusement park or other narrative can be extended to include an interactive experience with taste elements to extend sensory immersion. For example, the edible soft robots may be able to be actuated in conjunction with show effects (such as light effects and/or sound effects) to achieve complex effects not typically associated with food products. The edible soft robot may be coupled to a control system that facilitates actuation and any accompanying show effects to allow for preprogrammed actuation, responsive actuation, and/or customized actuation. Such a control system may be incorporated into a conventional food container (e.g., plate, tray, cup, vessel, food package) to hide the control system that functions to activate the edible soft robot as part of the eating experience. For example, the edible soft robot may be activated to peristaltically in response to being touched. In an embodiment, the soft robot may be implemented in a shape or configuration as follows: rather than traditional food items or food presentations, fun or enhanced narratives may be created as part of an immersive environment. In embodiments, the soft robot may be configured as an edible wearable device, toy, living being, build material, or the like, and actuate in a manner consistent with a desired effect. For example, the edible bracelet may be presented in a display setting that allows one or more "jewelry" to expand (i.e., inflate) as the package is disposed of.

Actuation is achieved by directing gas and/or liquid through a collapsible or inflatable material designed to be consumed by a customer. As used herein, an edible soft robotic system may include a balloon-shaped object or an inflatable object having an internal bladder/bladders or compartment/compartments that receive gas and/or liquid to form discernable shapes or transition between different configurations. In this way, the soft robotic system can be used to form dynamic shapes, bodies, or structures that may be difficult to produce using food materials.

FIG. 1 is a schematic illustration of an implementation of an environment (such as an amusement park 10) that may include one or more edible soft robotic systems that facilitate customer interaction with edible inflatable objects 12, according to a present embodiment. It should be understood that this environment is by way of example, and that other scenarios for use in conjunction with an edible soft robotic system are also contemplated. Amusement park 10 may include features such as attractions or rides 20, restaurants 22, retail locations 24, interactive displays 26, and automated dispensing or interactive kiosks 28. For example, the edible inflatable objects 12 may be available as menu items in a restaurant 22, available as samples or for purchase in an edible inflatable object 12 store, may be distributed as part of a queue for the ride or attraction 20, may interact with the use of a dedicated interaction surface in the interactive display 26, or may be customized, activated, or purchased at a kiosk 28. The embodiments discussed in fig. 2-27 are examples of the types of implementations contemplated. It is to be understood that the disclosed embodiments are by way of example, and that elements of the various embodiments may be combined with or exchanged for each other. Moreover, although certain embodiments are discussed in the context of amusement park 10 and interactions with amusement park customers, other contexts are also contemplated, including at home, stand-alone retail, or other uses.

Fig. 2 is a block diagram of an edible soft robotic system 30 in accordance with the disclosed technology to control the motions and/or effects used in conjunction with the edible inflatable object 12. The edible inflatable object 12 may be formed of any suitable material that can be formed into a desired shape when inflated with a fluid (e.g., a gas or a liquid). In an embodiment, the edible inflatable object 12 is capable of assuming at least two configurations based on varying fluid filling. As provided herein, the edible inflatable object 12 may be formed of a biocompatible and edible material that is capable of being actuated via fluid injection into one or more internal bladders or compartments. In an embodiment, the edible inflatable object 12 may be formed from one or more edible materials, such as starch, cellulose and derivatives, alginate, chitosan, collagen, gelatin, or glycerin. The edible inflatable object 12 may also include one or more flavor and/or color additives or preservatives. In an embodiment, the edible inflatable object 12 is a candy.

The edible inflatable object 12 may be formed by molding or extruding an edible material such that one or more interior compartments are created. The one or more internal compartments may be accessed via respective valves 36 (e.g., check valves) and/or fluid ports, which may be edible components integrally formed with the edible inflatable object 12 or otherwise coupled to the edible inflatable object 12, or may be separate components, such as rigid polymeric or metallic components coupled to the edible inflatable object 12 via a backing or base. In an embodiment, the edible inflatable object 12 may include one or more sealed compartments that are not accessible through any openings or valves 36. Depending on the desired final properties, the edible inflatable object 12 may be formed from a single edible material or from a plurality of different edible materials that are joined together or assembled in layers. In an embodiment, the edible inflatable object 12 may be manufactured as separate components that are assembled to form the edible inflatable object 12. For example, complex or relatively thin workpieces may be molded separately from thicker workpieces to reduce errors resulting from molding parts having different material qualities within a single mold.

Moreover, the edible inflatable object 12 may be at least partially conformable such that, when deflated, the internal compartment folds or collapses on its own in the deflated configuration. Depending on the fill level of the internal compartment, the inflatable object 12 may also assume one or more inflation configurations. In an embodiment, the edible inflatable object 12 may be formed of an elastic material that expands when inflated. Accordingly, certain portions of the edible inflatable object 12 may be thinner or thicker to achieve desired material properties.

In an embodiment, edible inflatable object 12 may be formed from a formulation including cold water, granulated sugar, and corn syrup in a ratio of 1:2/3: 1/3. The formulation may also include gelatin (e.g., in a cold water to gelatin ratio of 1: 1/16) and citric acid (e.g., in a cold water to citric acid ratio of 1:1/150-1: 1/200). Sugar and corn syrup are dissolved in water. Gelatin is added. The mixture is allowed to bloom and is heated above the dual boiler. Citric acid may be added as well as the desired color and flavor. The mixture is poured into a mold, allowed to set, and removed to form the edible inflatable object 12.

The edible inflatable object 12 is coupled to a control system 32, the control system 32 controlling the delivery of fluid to one or more internal compartments of the edible inflatable object 12 via a fluid control system 34. The fluid control system 34 may be coupled to a fluid source 37 stored in a fluid reservoir and/or may be configured to provide ambient air to the edible inflatable object 12. The fluid control system 34 operates under a controller 38, the controller 38 controlling activation of a pump 40, the pump 40 being operable to pump fluid into the edible inflatable object 12 or out of the edible inflatable object 12. The fluid control system 34 may be communicatively coupled to one or more manifolds, one or more valves, one or more flow meters, one or more sensors, one or more conduits (e.g., pipes), and the like, to direct a flow of fluid into the edible inflatable object 12 and/or outward from the edible inflatable object 12.

The fluid control system 34 may be configured to switch between the plurality of fluid sources 37 to change the inflation properties of the edible inflatable object 12 based on instructions from the control system 32. For example, as discussed herein, different selectable flavored liquids may be used to enhance the taste sensation of the edible inflatable object 12. In an embodiment, the edible inflatable object 12 may be configured to provide a liquid effect or a wind effect based on the type of fluid used for inflation.

The control system 32 may include communication circuitry 46, a processor 50, a memory 52, input/output (I/O) ports 54, a power supply 58 (e.g., wired power, battery), and so forth. Communication circuitry 46 may facilitate wired or wireless communication between various components of control system 32 and with an external device 47, such as a user mobile device, an active wearable device, or a central or local controller of amusement park 10 (see fig. 1). The processor 50 may be any suitable type of computer processor or microprocessor capable of executing computer executable code. The processor 50 may also include multiple processors that may perform the operations described herein. The memory 52 may also be used for storing data, various other software applications executed by the processor 50, and the like. Memory 52 may represent a non-transitory computer-readable medium (e.g., any suitable form of memory or storage device) that may store processor-executable code used by processor 50 to carry out the various techniques described herein. The I/O ports 54 may be interfaces that may be coupled to other peripheral components such as input devices (e.g., keyboard, mouse), sensors, input/output (I/O) modules, and the like. The power supply 58 may provide power to one or more components of the control system 32. The components of the control system 32 may be integrated on the receptacle 80 or integrated within the receptacle 80, the receptacle 80 being coupled to the edible inflatable object 12 or holding the edible inflatable object 12. The container 80 may hide at least a portion of the control system 32 from the view of the customer.

The control system 32 may also include an effect control system 60, the effect control system 60 controlling one or more special or show effects that may be activated in conjunction with inflation or configuration changes of the edible inflatable object 12 and under processor control. The effects control system 60 and/or the fluid control system 34 may be controlled based on data from one or more sensors 78. In an embodiment, the effect control system 60 may control the lighting effect via a lighting controller 62 coupled to a light source 64. In an embodiment, an LED or similar light source 64 may be positioned inside the edible inflatable object 12. The light may then illuminate the edible inflatable object 12 from the inside. The light source 64 may be located inside one of the inflatable air chambers in the edible inflatable object 12 or in a non-inflating space embedded in the edible inflatable object 12. The light source 64 may be powered by a wire that passes continuously through an air-tight hole in the wall of the air plenum of the edible inflatable object 12. The light source 64 may be powered via wireless power technology such as magnetic coupling or UHF power harvesting. The light source 64 may be located outside of the edible inflatable object 12 attached to a fiber optic cable or similar internal reflector. The other end of the fiber optic cable is inserted into the edible inflatable object 12 such that the edible inflatable object 12 is illuminated from the interior.

In an embodiment, conventional architectural/theatrical lighting may be used to externally illuminate the edible inflatable object 12. The color and direction of the incoming light may interact with the color/material properties of the edible inflatable object 12 surface and/or sub-surface to create a creative effect. For example, a red edible inflatable object 12 in a green light would appear dark because all incoming red light is absorbed. Another example is an edible inflatable object 12 having a surface texture similar to a diffraction grating having a number of tiny ridges. This can cause diffraction of white light that bounces off the surface. The light/light source(s) 64 may be placed under an edible inflatable object 12 to create an upwardly directed illumination effect. The light may be embedded in a base on which the edible inflatable object 12 rests. For example, LEDs may be built into a table or retail package to illuminate the edible inflatable object 12.

Control system 32 can be configured to generate audio/visual (a/V) effects under the control of a/V controller 68. In an embodiment, the edible inflatable object 12 may include a valve 36, a resonance chamber, a diaphragm, and other conventional music generation hardware that may be made from the material of the edible inflatable object 12. As such, the edible inflatable object 12 may generate its own sound (e.g., inflate and deflate at the appropriate time) in response to the directed fluid flow. Accordingly, control system 32 may coordinate fluid control system 34 to achieve a desired sound. For example, the edible inflatable object 12 character may "sing" different notes to create a song. In an embodiment, the edible inflatable object 12 may communicate wirelessly with another device via ultrasonic waves generated as a result of internal fluid flow. This type of audio can be manipulated in real time by the user touching different portions of the edible inflatable object 12. The force of the user's touch causes the edible inflatable object 12 and/or air to vibrate differently and thus change the sound. Conventional audio effects and music may also be used in conjunction with the edible inflatable object 12 experience. For example, the control system 32 may include a speaker to play music in time with the motion of the animated edible inflatable object 12.

Other types of effects may include olfactory effects. Conventional scent effects may be used in conjunction with the edible inflatable object 12. The scent may be transmitted through the edible inflatable object 12, from another location, or the scent may be in the air inside the edible inflatable object 12 and transmitted when the edible inflatable object 12 is first deflated. In one embodiment, the interior of the edible inflatable object 12 has a strong scent. As the air enters the inner air chamber, the air absorbs some of the odors. As the air exits the edible, inflatable object 12, the air carries the scent with it to the customer.

The wind effect may be created by allowing a controlled release of air outwardly from a portion of the interior compartment of the edible inflatable object 12. This may also be turned on and off, directed or limited based on the movement of the edible inflatable object 12. The wind effect may then reach the skin of the customer so that the customer may perceive the wind effect. In one embodiment, the wind effect reaches other objects in the space to move them in order to achieve the inventive effect. For example, the wind effect leaves the edible inflatable object 12 and blows on nearby confetti, causing the confetti to shake. Conventional wind effects may be used in conjunction with the experience of the edible inflatable object 12. For example, the effects control system 60 may control an external fan that blows onto the edible inflatable object 12 to enhance actuation caused by inflation/deflation changes.

The control system 32 may also be configured to activate a heating effect and a cooling effect. The heating effect and the cooling effect may be applied to the edible inflatable object 12 via the temperature controller 72. This temperature change can have a mechanical and inventive effect on the edible inflatable object 12. For example, the edible inflatable object 12 may be used as a game piece (e.g., in the interactive display 26, see fig. 1), and a portion of the edible inflatable object 12 may melt at the moment when the player loses it in the gaming experience. In an embodiment, the edible inflatable object 12 may be cooled when not in use and not activated (but still displayed) to maintain shape in atmospheric heat. Upon activation or triggering of actuation, the edible inflatable object 12 may be heated to increase flexibility and promote smooth actuation.

In one embodiment, the temperature of the edible inflatable object 12 is changed by heating or cooling the air before the air moves into the interior compartment inside the edible inflatable object 12. This may allow for location-specific heating/cooling based on which internal compartments are used. In one embodiment, the temperature of the edible inflatable object 12 is changed via a heating/cooling element in contact with the edible inflatable object 12. The contact may be heat transfer from a surface on which the edible inflatable object 12 is resting, a surface built into an air barb inside the edible inflatable object 12, or some other location on the surface of the edible inflatable object 12. In one embodiment, the edible inflatable object 12 is heated remotely from the outside. For example, a hot air jet positioned above the edible inflatable object 12 may heat the outer surface of the edible inflatable object 12.

The edible inflatable object 12 may use the liquid within the internal compartment/compartments to create an effect. In one example, water may be sprayed outwardly from the edible inflatable object 12. The water may be stored inside the edible inflatable object 12 or may be pumped into the edible inflatable object 12 by way of a tube connection. The water may be colored, flavored, or otherwise customized to match the themed needs. For example, "blood" is sprayed out of the heart. For example, the edible inflatable object 12 may include one or more one-way valves that release water once the pressure inside the internal compartment reaches a threshold value. The water effect can be achieved by: the pressure in the internal compartment continues to increase by continuing to flow fluid into the internal compartment (under control of the fluid control system 34) until the pressure relief valve is opened.

The water or liquid inside the edible inflatable object 12 may be used to create an effect whereby the edible inflatable object 12 dissolves from inside. The dissolving effect may also be produced using water or other liquid that trickles across the outer surface of the edible inflatable object 12. The water may be used for visual effects inside the chamber of the edible inflatable object 12. This may take the form of a transparent edible inflatable object 12 in which colored water moves on the interior. Conventional water effects may be used in conjunction with the edible inflatable object 12 experience. For example, a nozzle (not mounted to the edible inflatable object 12) may spray water to the customer at a particular time during the experience.

The control system 32 may be configured to generate a haptic effect by actuating the edible inflatable object 12 via air inflation and deflation such that the edible inflatable object 12 itself acts as a haptic device. Additional desired effects include atmospheric effects (such as fog machines) or projection effects. The projected mapping effect may be used in conjunction with the edible inflatable object 12 on both the interior and exterior of the surface of the edible inflatable object 12. The projections may be updated in real time to match the state/pose of the edible inflatable object 12. The video backdrop may be used in conjunction with the edible inflatable object 12 experience, and the video screen may be located underneath the edible inflatable object 12, or may be positioned to be viewed through the edible inflatable object 12. The augmented reality device and the virtual reality device may be used to augment the visual frame experienced around the edible inflatable object 12. The visual representation may be updated in real time to match the state of the edible inflatable object 12. The edible inflatable object 12 may also be updated in real time to match the state of the visual presentation.

As provided herein, the fluid control system 34 and/or the effects control system 60 may be activated in response to a sensed parameter related to the system 30 (such as the proximity of the user or other edible inflatable object 12, the temperature of the system 30 or edible inflatable object 12, the pressure on the edible inflatable object 12, and/or contact with the edible inflatable object 12). That is, one or more of inflation, deflation, and activation of an effect may be responsive to sensor data generated by one or more sensors 78. In an embodiment, the sensor 78 may be a capacitive touch sensor that is attached to the edible inflatable object 12 such that the sensor may detect the edible inflatable object 12 being touched. For example, the control system 32 may detect the proximity of a customer to the edible inflatable object 12/touch of the edible inflatable object 12, and this may be used as an input to trigger actuation. Additionally, this may be used to trigger the association of edible inflatable objects 12 with individual customers, for example, by communicating with customer devices via the trigger communication circuitry 46. The control system 32 may detect the proximity of the edible inflatable object 12 to other edible inflatable objects 12 or physical connection points. This may be useful for an experience with more than one edible inflatable object 12 interacting with each other. The control system 32 may detect whether the edible inflatable object 12 is properly attached to the control system.

The sensor 78 may be a resistive touch sensor that is coupled to the edible inflatable object 12 such that the sensor may detect that a portion of the edible inflatable object 12 touches other portions of the same edible inflatable object 12 or whether the edible inflatable object 12 is properly attached to the control system. The sensor 78 may detect whether another object (part of the circuitry) is touching the edible inflatable object 12, such as a stylus or knife. Additional contemplated sensors 78 include optical sensors, laser range detectors, IR distance sensors, or cameras that sense light passing through the edible inflatable object 12. The sensor 78 may be a pressure sensor coupled to the edible inflatable object 12 or to an air tube attached to the edible inflatable object 12. The sensor 78 may then measure the pressure inside the edible inflatable object 12. Since the air pressure is based on the chamber or compartment volume, the amount of air inside the sensor can be used to sense the inflow/outflow of air and the compression/expansion of the chamber.

In an embodiment, the edible inflatable object 12 may be formed as an audio sensor via a membrane (e.g., a wall of the edible inflatable object 12) that vibrates due to sound waves traveling through the air. This motion can then be detected by means of a microphone. For example, the magnets may be embedded in the membrane, printed on the membrane, slotted into the membrane, or attached to the membrane. The movement of the magnet will then be picked up by the wire coil. In another example, both a vibration source (such as a speaker) and a sensor (such as a microphone) are attached to the edible inflatable object 12. The shape, state, pose, and object touched of the edible inflatable object 12 affect how the vibrations change between the source and the sensor. Thus, information about the shape, state, pose, and object touched may be inferred by analyzing the sensor data. Due to the shape-changing nature of the edible inflatable object 12, a calibration process may be used to generate baseline readings at different states.

A plurality of sensors may be coupled to the edible inflatable object 12. The sections of conductive and non-conductive material of the edible inflatable object 12 may be used to create separate circuit sections inside the single piece edible inflatable object 12. This allows for the simultaneous operation of more than one electrical sensor on the edible inflatable object 12. Time slicing (so that different sensors take turns) may allow more than one sensor to operate simultaneously. Additional sensors 78 may include buttons, cameras, microphones, readers, or bone trackers.

It should be noted that the components described above with respect to control system 32 are exemplary components and that control system 32 may include additional components or fewer components as shown. Moreover, certain components of control system 32 may be integral with control system 32 or may be removable from control system 32.

With the foregoing in mind, fig. 3 illustrates an exemplary flow chart of a method 100 for controlling the edible soft robotic system 30 based on sensor data. At block 102, control system 32 may receive a data set from one or more sensors 78. The data may be proximity data, pressure data, audio data, and the like. At block 104, the control system 32 may adjust the inflation of one or more internal compartments of the edible inflatable object 12 based on the sensor data. Additionally, at block 106, control system 32 may activate one or more special effects based on the sensor data. In a particular example, the control system 32 may activate a cycle of inflation/deflation in the chamber of the edible inflatable object 12 to create an animation effect based on the proximity of the consumer in the store.

The activation may involve a preprogrammed animation (e.g., actuation of the edible inflatable object 12) that uses animation tools (such as key frames, graphical curves, etc.) to control the actuation of the edible inflatable object 12 and coordinate special effects. For example, a preprogrammed animation may include an ordered cycle of inflation and deflation to preset the pressure within the internal compartment/compartments to achieve a desired configuration. The method 100 may access the preprogrammed animations from the memory 52 and execute processor-based instructions for the fluid control system 32 and the effects control system 60.

In an embodiment, the (physical) position of the edible inflatable object 12 is recorded in advance and then played back. The sensor 78 is used to determine that the physical location of the edible inflatable object 12 is at the time of recording. The customer may use the sensor 78 coupled to the edible inflatable object 12 to interact with the logic that controls the edible inflatable object 12 and the activation of special effects. In embodiments, the video game engine may be used to drive the actuation of game logic-based, real-time physical simulation, and/or networked multiplayer games, among others. The system may use inputs such as real-time data feeds including time of day, weather data, stock data, or profile information about the patron(s) viewing/interacting with the edible inflatable object 12 to influence the actuation and/or select a preprogrammed actuation.

The edible inflatable object 12 itself may be actuated by actuation. For example, a Turing complete computer (Turing complete computer) may be constructed using a set of valves 36 made from soft edible inflatable objects 12. Alternatively, simpler computing devices may be used for simple logic and animation functions in a manner similar to microfluidic logic. The edible inflatable object 12 uses a data storage system such as that provided herein to have animation/logic data information stored directly as part of the edible inflatable object 12 itself. Upon attachment of the edible inflatable object 12 to an external system, the data may be read and animation or logic data (e.g., computer code) may be performed. In an embodiment, the sections of the edible inflatable object 12 may have different properties that allow data to be stored, including color, height/wall thickness, and density. When the edible inflatable object 12 is inflated, the thinner sections will expand to a greater extent than the thicker sections, providing a way to read this data. Additional integrated data storage embodiments include the conductivity of the edible inflatable object 12, the capacitance of the edible inflatable object 12, an integrated valve in the edible inflatable object 12 that is blocked or opened by another object, a check valve in the edible inflatable object 12 with an opening (also made from the edible inflatable object 12) that can remain inflated or deflated, a chamber of trigger valves made from the edible inflatable object 12. The disclosed embodiments provide the advantage of providing data storage that directly couples the edible inflatable object 12 (e.g., rather than utilizing a non-edible data storage format such as a metal antenna), and is also edible. The edible inflatable objects 12 may be actuated using punch card instructions that selectively allow air to flow from one side of the card to the other when inserted into an opening in the receptacle 80 so that air may only flow through where a hole is present in the card. The edible inflatable object 12 is positioned on the distal side of the card and is inflated based on the card hole location, while the data is never digitized. The edible inflatable object 12 may be animated by sliding the card forward into the receptacle 80. Other potential data storage patterns may include the use of edible ink to print bar codes, QR codes, text, images, or color codes on the surface of the edible inflatable object 12. The data may be read using an optical reader and then fed into control system 32 to control fluid control system 34 and/or effect control system 60 based on the encoded data.

Fig. 4-27 are examples of arrangements of the arrangement of the edible soft robotic system 30 or individual components thereof. It should be understood that the disclosed embodiments can include all or some of the disclosed elements of the edible soft robotic system 30 of fig. 2. Certain disclosed embodiments of the edible soft robotic system 30 can be implemented as a packaging or display system for the edible inflatable object 12. Thus, the container 80 may be configured as a packaging assembly, box, tray, table, counter, cutlery, display case, and the like.

Fig. 4 is a schematic illustration of a cross-section or profile of a counter or desktop style arrangement of an edible soft robotic system 30 that may be suitable for retail or restaurant display or as a retail package. The various components of the control system 32 are positioned below the surface 108 of the container 80, where the container 80 is embodied as a counter, display case, or table. The edible inflatable object 12 may be reversibly or removably coupled to the surface 108 via the port 109. That is, one or more ports 109 formed in the edible inflatable object 12 allow air or other fluid to flow from a fluid conduit 110 extending through the surface 108 and between the pumps of the fluid control system 34 and into an interior compartment 112 of the edible inflatable object 12. The port 109 may extend from an outer surface 111 of the edible inflatable object 12 to the interior compartment 112 such that the fluid conduit 110 is fluidly coupled to the interior compartment 112.

The edible inflatable object 12 is positioned in alignment with the fluid conduit 110 in the receptacle 80 or on the receptacle 80. Special effects such as up lighting 64 may also be located in the counter surface 108 or below the counter surface 108. As disclosed herein, the show/interaction experience may include the effect and actuation of the edible inflatable object 12 through a series of inflation/deflation events. Once the show/interaction experience is complete, the edible inflatable object 12 may be removed from the counter surface 108 (e.g., from barbs or protrusions formed by the fluid conduit and inserted within the port 109) and consumed. The receptacle 80 may be retained and subsequently reloaded with fresh edible inflatable objects 12.

Fig. 5 is a schematic illustration of a cross-section of a packaging or box style arrangement of the edible soft robotic system 30. Such an arrangement may be portable and may be part of a retail package. The control system 32 is located inside a container 80, and the container 80 may be a box or a portable device such as a tray. The container 80 may serve as a retail display and may include a transparent window portion 113 that allows viewing of the edible inflatable object 12. In one embodiment, the edible inflatable object 12 is displayed inside the container 80 before it is sold. After the edible inflatable object 12 is sold, the customer may carry the container 80 with him or her and continue to view/interact with the edible inflatable object 12 until the customer is ready to remove the edible inflatable object 12 from the box and eat the edible inflatable object 12. The container 80 may have user input means (e.g., buttons) to trigger actuation and activation of any special effects. In one embodiment, the container 80 is a tray that may be carried by an attendant. The attendant may bring a tray with the edible inflatable object 12 attached to display the edible inflatable object 12, which the edible inflatable object 12 may be actively actuating to display to the customer before the edible inflatable object 12 is removed by the customer to be consumed. In a portable arrangement, the container 80 may not include an electrical control system such as a pump, but instead may utilize a portable power storage device such as a compressed air tank. This may allow the cassette to be smaller and cheaper. The tank may be located inside the actual box, but in the case of a waiter with a tray, the tank may be located on the waiter's body (e.g., in a backpack). Fluid conduit 110 may convey air from the canister to container 80.

In embodiments, the edible inflatable object 12 can be used with the receptacle 80 one or a limited number of times using stored energy within the edible inflatable object 12 itself and/or stored energy within the receptacle 80. For example, the effect of the edible inflatable object 12 may be powered by the fluid stored within the compartment of the edible inflatable object 12, the bladder of the receptacle 80, the energy of the coil spring of the receptacle 80, along with the potential energy stored by the elastic material with which the edible inflatable object 12 is formed (e.g., energy stored via wrapping or stretching the elastic material), or other one or limited-capacity effect. However, the system 30 may allow the effect to be manually reset so that the effect may be viewed multiple times. In one example, the bladder of the container 80 may be manually refilled, or the spring may be pressed back into the energy storage position. Also, if the effect is regulated by releasing air or fluid from the compartment of the edible inflatable object 12, a refill object 12 may be purchased and used in conjunction with the container 80.

Fig. 6 is a schematic illustration of a portable container 80 comprising the edible soft robotic system 30 and embodied as an aquarium. The edible inflatable object 12 is shaped like an aquatic creature and is configured to be actuated under the control of the control system 32. The control system 32 may be hidden within the rock or ornamental features of the container 80. The edible inflatable object 12 is coupled to a fluid source or configured to receive ambient air via a fluid conduit 110 (see fig. 4). In an embodiment, the fluid conduit 110 may have separate outlets for separate internal compartments 112 to allow finer control of actuation. For example, an octopus may have a separate internal compartment 112 for each tentacle. In an embodiment, after the edible inflatable object 12 is removed and consumed, a refill may be obtained and connected to the control system 32 to allow the user to continue to enjoy additional iterations of animation in the container 80. Thus, the fluid conduit may have a universal connector that couples to a compatible edible inflatable object 12.

Fig. 7A and 7B are schematic illustrations of cross-sections of a console style arrangement of the edible soft robotic system 30, wherein the control system 32 is enclosed in a console, such as a kiosk or home video game console. The console may be capable of working with multiple types of edible inflatable objects 12 to create different show/interaction experiences. The edible inflatable object 12 is connected to the console (possibly by placing it on the top surface). The connection may include any actuation connection, sensor, or play effect coupled to the edible inflatable object 12 to function. The console may automatically detect the type of edible inflatable object 12 connected, where the connection point is located, and how many pieces of edible inflatable object 12 are attached. Alternatively, the user may manually provide some or all of this information. Once the edible inflatable object 12 has been connected, the console can perform a rendering/interaction experience that is compatible with the connected edible inflatable object 12. Multiple edible inflatable objects 12 may be connected to the console at the same time, allowing the multiple edible inflatable objects 12 to interact with each other during the experience. Rendering effects such as lighting, sound, and/or video may be incorporated into the console to enhance the experience. In the illustrated embodiment of fig. 7A, the console may receive the edible inflatable object 12 of the first type and may activate the first animation mode based on the detected type and any associated media displayed on the display 120 to cause the edible inflatable object 12 of the first type to achieve the first configuration 114. The console may also receive a different second type of edible inflatable object 12 as shown in fig. 7B, and may activate a second animation mode based on the detected type and any associated media displayed on the display 120 to cause the second type of edible inflatable object 12 to achieve the second configuration 118. The animations are consistent with the object types such that the fill or inflation level of the internal compartment 112 and/or the flow rate through the fluid conduit 110 for the respective object type is selected to achieve one or more desired configurations associated with each animation.

In a theme park scenario, the console may be implemented as a kiosk station (e.g., kiosk 28, see FIG. 1) located within the park. A customer purchases a piece or set of edible inflatable objects 12 from a store and takes them to each kiosk, connects them to the kiosk, experiences unique shows/interactions based on the kiosk location, the type of edible inflatable object 12 attached, and/or customer profile information (which may be provided from a mobile device running a dedicated application), such as what other stations the customer has visited.

In a home context, the console model may take a form similar to a home video game console. A customer may purchase an experience in the form of multiple pieces or groups of edible inflatable objects 12. The customer may do this online, in a store, or exclusively from a theme park, where the edible inflatable object 12 may also have been activated in one or more experiences. After bringing their edible inflatable object 12 home, the customer may attach the edible inflatable object 12 to a console to activate the edible inflatable object 12 and begin a compatible experience.

Fig. 8 is a schematic illustration of the interactive surface 130, the interactive surface 130 can be part of an edible soft robotic system 30, and the edible soft robotic system 30 is part of an interactive experience or display. The surface 130 is covered with an array of different types of connectors and effects including air flow input/output conduits 138, electrical contacts 136, lights 134, and the surface 130 may include other performance effects and sensors. These elements are arranged so that individual edible inflatable objects 12 can be placed at any location on the surface 130 and will directly touch at least a minimum number of connectors for the edible inflatable objects 12 to operate. In an embodiment, a minimal connection between the interaction surface 130 and the edible inflatable object 12 is achieved when the edible inflatable object 12 is directly touching at least one array element, at least two array elements, or at least three array elements. The interactive surface 130 may be arranged such that certain adjacent elements are different from each other to promote a combined actuation/special effect when the edible inflatable object 12 is touching multiple elements. Once the edible inflatable object 12 has been activated, the array may move air within the edible inflatable object 12 and/or around the edible inflatable object 12 to move the edible inflatable object 12 from one array of surfaces 130 to another (or to cause the edible inflatable object 12 itself to move). As the edible inflatable object 12 moves, the connector to which the edible inflatable object 12 is attached will change. The control system may only activate elements that are detected as being proximate to or touching the edible inflatable object 12. Multiple pieces of edible inflatable objects 12 may be placed on the surface 130 at the same time and controlled individually. The surface 130 may incorporate show effects, sensing systems, and interactivity. The surface 130 may also be used as a component of other presentation arrangements as disclosed herein. An advantage of the surface 130 is that the control system is more flexible in design and thus may be compatible with multiple types of edible inflatable objects 12. In addition, the surface 130 allows for multiple pieces of edible inflatable objects 12 to be moved about on the surface without tethers or predefined paths. The surface 130 allows for placement without complex coupling to the control system 32 or the absence of an alignment step. That is, the surface 130 may be self-aligned with the edible inflatable object 12 to allow coupling to the control system 32. To facilitate such flexible positioning, the edible inflatable object 12 may be implemented with a tapered valve that is relatively larger at the outer surface of the edible inflatable object 12 and narrows into the interior compartment 112. Surface 130 may be part of an interactive display or game (e.g., interactive display 26, see fig. 1) to allow a user to move his or her piece along the surface.

Fig. 9 illustrates a cross-section of an embodiment of the edible inflatable object 12, the edible inflatable object 12 forming an improved seal with a contact surface that facilitates coupling to the control system 32 (e.g., as in fig. 4-5, 7). The depicted contact surface 150 may include a plurality of through channels that receive respective fluid conduits 110. The integral gasket 156 of the edible inflatable object 12 is positioned around the internal compartment 112, the internal compartment 112 receiving fluid from the fluid conduit 110a and venting via the fluid conduit 110 a. The gasket 156 may include a groove or recess that aligns with the fluid conduit 110 b. The gasket enhances the seal by being drawn downward as the fluid conduit 110b draws a vacuum. This may coincide with inflation and/or deflation of the internal compartment 112 via the fluid conduit 110 a.

The surface 150 may also include a heating element that melts the gasket 156 into the surface 150 to enhance the seal. The seal may be broken when the edible inflatable object 12 is removed for consumption. The gasket may be formed of a different (e.g., harder) material than other portions of the edible inflatable object 12, or may be treated differently (e.g., cross-linked) to enhance sealing properties.

Fig. 10 is a schematic illustration of a cross-sectional and detail view of the tether 160, the tether 160 being coupled to the edible inflatable object 12 and facilitating fluid flow and a show effect. Tether 160 couples edible inflatable object 12 to control system 32, control system 32 being located out of the line of sight of the customer, for example, behind a counter or wall or in a cabinet. The tether 160 may be coupled to the edible inflatable object 12 via a mechanical method, such as a barb, or via another method, such as a vacuum seal(s), a chemical adhesive, a food-safe adhesive, or the tacky nature of the edible inflatable object 12. The tether 160 may include one or more fluid conduits 110 within the housing 164, the fluid conduits 110 for moving air (or other fluid) to and from the internal compartment 112 of the edible inflatable object 12 to actuate the edible inflatable object 12. The illumination effect may be generated by way of a light source 64 located in the distal end of the tether 160 or a light source 64 located at the base of the tether 160, with the light 170 of the light source 64 being reflected internally, and thus illuminating the edible inflatable object 12, using a reflective material 168 along the length of the tether. The tether 160 may also provide electrical connections and sensing (e.g., via sensing wires 166) from the control system 32 to the edible inflatable object 12 and back. These connections may be used to power electrical components for performing a show effect inside the edible inflatable object 12 and for sensing. Once the show/interaction experience is over, the edible inflatable object 12 may be removed from the tether 160 and consumed. The tether 160 may be detachable from the control system 32. Tether 160 may be washable or disposable. The tether 160 may be attached to the edible inflatable object 12 during manufacturing, when the edible inflatable object 12 is placed in a store for display, when the edible inflatable object 12 is purchased, or when the edible inflatable object 12 is ready for use (e.g., animated).

Fig. 11 is a schematic illustration of a cross-section of an edible soft robotic system 30, the edible soft robotic system 30 implemented as part of a food container (e.g., an ice cream cone-style container). For example, control system 32 and/or special effect control system 60 and associated components such as power source 58, fluid source 37 are located in container 80. The container 80 is not edible and is configured as a hand-held device similar in shape and size to an ice cream cone. The edible inflatable object 12 is attached to the top of the cone and coupled to the receptacle 80 via the fluid conduit 110. This attachment allows the control system to actuate the edible inflatable object 12, among other effects. One or more sensors 78 are located in the cone and extend within the edible inflatable object 12 to allow the control system 32 (including the effects control system 60) to detect how and/or when a patron is interacting with the edible inflatable object 12 and the cone. The control system 32 may generate instructions to actuate the edible inflatable object 12 in response to the sensed action, such as licking and biting the edible inflatable object 12. This creates an interactive experience while the edible inflatable object 12 is being consumed. In an embodiment, the sensed contact may cause deflation from a default inflated state such that the edible inflatable object 12 is removed from the user during the attempted consumption. Thus, the customer eats the edible inflatable object 12 while the edible inflatable object 12 is still connected to the control system 32.

Fig. 12 is a schematic illustration of an edible soft robotic system implemented using sealed fluid volume transfer. That is, in addition to or as an alternative to embodiments in which fluid flows into the edible inflatable object 12 and out of the edible inflatable object 12 via an air pump, valve, or pressurized air tank, the edible inflatable object 12 may further include one or more coupled bladders 180, which bladders 180 may be manually compressed and/or released by a user. When the control bladder 180 is compressed, the edible inflatable object 12 inflates. Conversely, fluid may be pushed from the edible inflatable object 12 back into the control bladder/bladders 180. The control bladder 180 may be formed from the material of the edible inflatable object 12 or may be non-edible. The control bladder 180 may be compressed/stretched by a user, puppet operator, or robotic system arm. The control bladder 180 may be attached to the edible inflatable object 12 via the fluid conduit 110 during manufacturing, at the time the edible inflatable object 12 is placed on display, at the time the edible inflatable object 12 is purchased, or at the time the edible inflatable object 12 is ready to be used (e.g., animated). In the depicted embodiment, separate control bladders 180a, 180b may control different actuatable elements of the edible inflatable object 12. For example, control bladder 180a is coupled to internal compartment 112 corresponding to a biological eye (e.g., to cause ballooning when inflated), while control bladder 180b is coupled to internal compartment 112b corresponding to a biological body.

Fig. 13 is a schematic illustration of an edible soft robotic system 30 incorporated into a container 80 configured as a vacuum chamber. The chamber is capable of withstanding both positive and negative pressures. Here, the edible inflatable object 12 may not include any apertures or valves to allow access to the interior compartment of the edible inflatable object 12. Conversely, as the pressure in the interior space 181 in the chamber changes, the edible inflatable object 12 expands or contracts due to the difference in pressure between the interior compartment 182 of the edible inflatable object 12 and the interior space 181 of the receptacle 80 surrounding the edible inflatable object 12. A benefit of the depicted embodiment is that the edible inflatable object 12 is not attached or coupled to an external structure, for example, a vacuum chamber may be used in the following embodiments: wherein free roaming of the edible inflatable object 12 is desirable. In the depicted embodiment, the pressure in the interior space 181 may be adjusted by the control system 32, and the control system 32 may add or remove fluid via a conduit 110 coupled to the interior space 181.

Also, the edible inflatable object 12 may have an amount of energy stored therein that allows for visible actuation within the interior compartment 182 when sealed. The resulting loosening of the elasticity of the edible inflatable object 12 or degradation of the seal to the internal compartment 182 that occurs over time may reduce the visible actuation effect. However, the edible inflatable object 12 may also have a one-way valve that allows the internal compartment to be manually refilled with fluid so that the container can be used multiple times in conjunction with the edible inflatable object 12. In another embodiment, a user may purchase a new edible inflatable object 12 for use with the receptacle 80.

Fig. 14 is a schematic illustration showing a cross-section of a customizable embodiment of an edible inflatable object 12, wherein a customer can provide user input to the control system 32 to make selections regarding the appearance and/or flavor profile of the customized edible inflatable object 12. In embodiments, based on this input, custom molds are made on demand (e.g., 3D printing), or existing modular molds are customized and combined. The edible inflatable object 12 is poured into the mold and allowed to set, and the customer is given the edible inflatable object 12 when ready. In one embodiment, the modular pieces 190, 192 of the edible inflatable object 12 are pre-fabricated and adhered to each other using an edible adhesive or bonding layer and selected based on customer input. This has the advantage of minimizing the time from creation of the customer to completion of the edible inflatable object 12. In the depicted embodiment, each modular piece 190, 192 has a respective interior compartment 112a, 112 b. When first modular piece 190 is adhered to second modular piece 192, the first interior compartment is fluidly accessible via fluid conduit 110a and sealed or separated from second interior compartment 112b, which second interior compartment 112b is fluidly accessible via fluid conduit 110 b. Thus, the modular pieces may include pieces that, when coupled, align to permit desired access by fluid control system 34 via coupled fluid conduits 110. In another embodiment, the edible inflatable object 12 itself may be 3D printed as desired. Customization options may include color, flavor, fillers, surface texture, decorative shapes, mechanical shapes (which affect how the edible inflatable object 12 moves when actuated), interior compartment fillers, and/or customized content such as name stamps on a surface.

Fig. 15 is a schematic illustration of a cross-section of an arrangement of an edible soft robotic system 30, which edible soft robotic system 30 incorporates a tray 200 and may be suitable for retail or restaurant displays. Tray 200 facilitates rapid replacement of candy on a counter as is typically involved in food service and distribution applications that are conducted on a large scale.

In the depicted arrangement, the tray 200 may be removable to quickly replenish the supply of edible inflatable objects 12 on the replacement tray 200. The tray 200 may be configured to hold the edible inflatable object/objects 12 while also being aligned with more complex components of the cart or table to facilitate delivery of fluid through the tray to the edible inflatable objects 12. The tray 200 can serve as an interface to various ports or openings in the fluid delivery system while also isolating the edible inflatable object 12 from the fluid delivery mechanism over time and reused with various trays 200. In this manner, the edible inflatable object 12 may generally remain fresh and separate from the mechanical device, and the more expensive fluid delivery system may not be damaged by contact with the edible inflatable object 12. While the illustrated example shows a single edible inflatable object 12, it should be understood that the system 30 may include a plurality of edible inflatable objects 12 on the tray 200.

A port or recess 202 (e.g., a dome-shaped portion) of the edible inflatable object 12 is positioned on a top surface 204 of the tray 200 and is covering a through passage 206 of the tray 200. As shown, the recess 202 is coupled to the top surface 204 to at least partially seal around the through passage 206. The tray 200 is removably coupled to a counter 210, the counter 210 may be part of a display arrangement, table, or mobile cart (e.g., a buffet cart). The illustrated arrangement may include various fluid delivery, power, and control components as disclosed herein generally located outside of the user's field of view beneath the counter 210. In this way, the service person may remove and replace the tray 200 without the mechanism being visible to the user during the replacement step.

Also, to assist in quickly replacing the tray 200 on the counter 210, the tray 200 and the counter 210 may have complementary mating features to facilitate alignment of the tray 200 with the counter 210. By way of example, the tray 200 may include a recess 212 that reversibly mates with a protrusion 216 extending from a counter surface 218. Alignment of the tray 200 with the counter 210 aligns the through passages 206 with grommets 220, the grommets 220 being coupled to the counter 210 and extending through apertures in the counter 210. Grommet passageway 224 is fluidly coupled to a fluid source 226. In the depicted example, the fluid source 226 is a bladder or dropper-type assembly. However, other arrangements as disclosed herein are also contemplated. As discussed, various components of the system 30 are positioned below the counter 210, including a motor 230 that operates to cause fluid to flow from the fluid source 226 to the recess 202. The grommet 220 seals the tray 200 such that the through passage 206 and the grommet passage 224 are aligned such that the recess 202 of the edible inflatable object 12 and the fluid source 226 are fluidly coupled. Through passage 206 and grommet passage 224 may have substantially the same inner diameter. In an embodiment, the grommet passageway 224 may have a larger inner diameter than the through passageway 206.

The grommet 220 generally functions to fluidly couple the edible inflatable object 12 and the fluid source 226 when the tray 200 is mated to the counter 210 via the mating feature. The disclosed arrangement operates such that the aligned trays 200 on the counter 210 align the various through passages 206 and grommet passages 224 to seal the airflow path for the edible inflatable object 12. Moreover, removing individual edible inflatable objects 12 from the tray 200 does not affect the sealing of the remaining edible inflatable objects 12 on the tray 200, as the respective grommets 220 maintain the seal for those remaining edible inflatable objects 12. When the tray 200 is separated from the counter 210, the edible inflatable object 12 may be sealed to the removable tray using melted candy or other food safe adhesive, allowing for refilling of the tray with candy while away from the air delivery system.

In an embodiment, the tray 200 may be part of a moving conveyor belt to move the edible inflatable objects 12 into position relative to the fluid delivery system. The conveyor can be controlled to stop in a properly aligned position relative to the fluid delivery system. Also, the grommet 220 may be shaped (e.g., elongated) to create a seal along the direction of motion, allowing the edible inflatable object 12 to actuate while the conveyor is moving.

Fig. 16 shows a perspective view of grommet 220. The grommet 220 may be configured to include a flange 250, the flange 250 defining a sealing portion 252 wider than the grommet passageway 224 and the through passageway 206 to accommodate certain tolerances in the alignment of the tray 200 and the counter 210. That is, the flange 250 and sealing portion 252 enlarge the diameter of the grommet passageway 224 and the air path sealed through the passageway 20, thereby allowing imprecise placement of the removable tray 200, which improves the speed of placing the tray on the counter 210. The grommet 220 may be formed of rubber, silicone, or the like, and is designed to fill corresponding passages in the counter 210 and raise the airflow path above the counter 210 so that the removable tray 200 can rest evenly on the grommet 220 and provide an airflow seal to all edible inflatable objects 12 on the tray 200. The grommet 220 and/or counter 210 may be transparent or partially translucent to allow the lighting system to pass light through the edible inflatable object 12.

Fig. 17 shows a perspective view of an example edible inflatable object 12 embodied as an anatomically realistic heart and arranged on a tray 200, the tray 200 in turn being coupled to a counter 210, as shown, for example, in fig. 15. It should be understood that the configuration of the edible inflatable object 12 is by way of example, and that any suitable configuration may be used.

Fig. 18 depicts an embodiment shown in cross-section in which the edible inflatable object 12 is dip coated in an edible adhesive 260 on a surface 262 of the edible inflatable object 12, the edible adhesive 260 sealing or adhering the edible inflatable object 12 to the top surface 204 of the tray 200. As discussed, the tray-based system 200 may prevent edible adhesive from contacting the counter 210. In another example, the edible adhesive 260 may be applied directly to the top surface 204 of the tray 200, and the edible inflatable object 12 may be positioned on the adhesive 260. The edible adhesive may be a molten candy that hardens over time. In another example, the edible adhesive 260 may be a viscous liquid or layer of viscous liquid that is applied to the edible inflatable object 12. The edible adhesive 260 may have different flow properties than the interior or inner layer of the relatively more rigid edible inflatable object 12.

The sealing of the edible inflatable object 12 may also be affected by temperature. Fig. 19 depicts an embodiment shown in cross-section, wherein the tray 200 includes an integral heating element 270. Heating the portion of the edible inflatable object 12 that is in direct contact with the top surface of the tray 200 may result in softening that enhances the seal to the tray 200. Controlling the heating element 270 to terminate operation prior to user contact may allow the edible inflatable object 12 to cool for easier removal from the tray 200. In some embodiments, the heating element 270 may be located on the counter 210 or in the counter 210, and heat may be transferred through the tray 200.

Fig. 20 illustrates an embodiment shown in cross-section, wherein a single fluid source may be used to drive one or more edible inflatable objects using deformation of the flexible membrane 272. The flexible membrane separates the reservoir 274 from the sealed interior space 276 of the edible inflatable object 12. In the illustrated embodiment, the edible inflatable objects 12a, 12b are separated from the fluid reservoir 274 by individual deformable membranes 272a, 272 b. Each individual flexible membrane 272 may have a different stiffness and/or size such that a change in pressure within the fluid reservoir 274 causes a different deformation for the thicker membrane 272a relative to the thinner membrane 272 b. The size and nature of the deformation in turn causes visible actuation in the respective edible inflatable object 12a, 12 b. Based on the deformation caused by the single pressure source supplying the fluid reservoir 274, the edible inflatable object 12a coupled to the thicker membrane 272a may have significantly less or less extensive actuation than the actuation of the edible inflatable object 12b coupled to the thinner membrane 272 b. The fluid reservoir may be coupled to an inlet 277, the inlet 277 permitting a change in pressure to cause a resulting change in actuation of the edible inflatable object 12. In this way, the controller may cause a change in an aspect of the pressure within one chamber, the fluid reservoir 272, and effect a plurality of different types or levels of impacts on the edible inflatable object 12 relative to one another based on the corresponding flexible film properties of the edible inflatable object 12. Moreover, the changes may be regulated by a single non-food safe pressure source (positive or negative). That is, the fluid source does not necessarily need to be food safe, as the membrane 272 separates the fluid reservoir 274 from the edible inflatable object 12.

The fluid or pressure source may be a vacuum pump, an air compressor, another membrane that is mechanically actuated, or any other suitable means for generating a change in pressure. The disclosed arrangement may be used in conjunction with other pressure sources to gain more control over the individual edible inflatable objects 12. In an embodiment, individual fluid reservoirs coupled to individual edible inflatable objects 12 or a plurality of edible inflatable objects 12 may be adjusted (tune) to achieve a desired effect.

Fig. 21 shows the arrangement of the flexible membrane 272 in cross-section. The flexible membrane is coupled to a magnet 282 (e.g., an electromagnet), the magnet 282 moving in response to experiencing a magnetic field or a change in magnetic field force to actuate the flexible membrane 272. The magnet 282 may be contained within an integral pouch formed in the flexible film or may be adhered to the flexible film 272 or embedded within the flexible film 272. The flexible membrane 272 includes a flexible surface 284 that is resilient, folded, shaped, corrugated, textured, and/or volume-retaining, the flexible surface 284 being part of or coupled to a sealing grommet 286. The sealing grommet 286 seals the tray 278 and the tray 278 holds the edible inflatable object 12 to the base 280. The tray 278 has a fluid port 288 that fluidly couples air or fluid in the region 279 above the flexible membrane 272 to the chamber 276 within the edible inflatable object 12. The seal grommet 286 functions to seal the fluid within the region 279 and the chamber 286 from air infiltration or seepage.

Movement of the flexible membrane 272 relative to the fluid port 288 or the tray 278 changes the pressure of the chamber 276 by compressing or allowing expansion of the internal fluid, which in turn causes actuation of the edible inflatable object 12. The base 280 also includes a channel 289 into which the flexible membrane 272 can expand to cause the overall volume of the region 279 to expand, thereby resulting in a decrease in the pressure of the chamber 276 and a deflation effect of the edible inflatable object 12. Moving the flexible membrane 272 into the fluid port 288 causes the overall total volume of the region 279 to decrease, thereby resulting in an increase in the pressure of the chamber 276 and an inflation effect of the edible inflatable object 12. The change in magnetic force may be used to power the flexible membrane 272 (by acting on the magnet 282 via an attractive or repulsive force that causes movement into the tray fluid port 288 or movement into the base channel 289 depending on the activation and polarity of the magnetic field). In one example, activation of the magnetic field is controlled via a controller of the system 30.

As disclosed herein, the movement of the flexible membrane 272 may be via the application of a magnetic force. Additionally or alternatively, the membrane 272 may be actuated by a user to cause a movement effect in the edible inflatable object 12. Fig. 22 shows an example of an edible inflatable object 12 in cross-section that is actuated via user (or motor-driven) movement of a handle 292 coupled to the membrane 272. In an embodiment, the user is able to pull and push on the flexible film 272, the flexible film 272 built into a box or package of the edible inflatable object 12, and integrated into an object base 290 holding a volume of fluid coupled to a chamber of the edible inflatable object 12 via a fluid port 288, as shown. This movement of the membrane 272 causes a positive or negative pressure differential to occur between the interior and exterior of the edible inflatable object 12, and in turn causes motion to occur. As shown in fig. 22, pulling the membrane 272 away from the edible inflatable object 12 causes a deflation effect due to a pressure drop within the edible inflatable object 12. The snap-back or unbiased default position may be the inflated configuration of the edible inflatable object 12.

Fig. 23 is an arrangement shown in cross-section, where magnetic material 293 is integrated into object base 290 and/or flexible membrane 272 and is used to pull or push membrane 272. In this embodiment, the membrane 272 will have a magnet or ferrous metal located within it, embedded within the membrane, or integrated as a layer of the membrane 272. The magnetic material will be pulled by the electromagnet 282 and thus create a pressure differential between the edible inflatable object 12 and the external environment. The counter 294 or other display surface can have an insert therein to allow the film to be pulled toward the electromagnet and to align the film with the counter. In the depicted embodiment, the membrane 272 is shown in an alternative configuration. The configuration of the membrane 272 closer to the electromagnet 282 is associated with a relatively deflated configuration of the edible inflatable object 12 (not shown), and the configuration relatively further from the electromagnet 282 is associated with a more expanded configuration of the edible inflatable object 12 as shown. The electromagnet may be activated by a controller of the system 30. Also, the membrane may additionally include a handle 292 for manual actuation.

Fig. 24 is an arrangement shown in cross-section, wherein movement of the film 272 via the handle 292 as shown and/or via the magnet 282 as discussed herein may be used to generate a floating or moving effect that is viewed through the packaging dome or window 296, the packaging dome or window 296 also acting to create an environment for the edible inflatable object 12 such that a pressure differential between the environment and the sealed chamber 298 of the edible inflatable object 12 caused by the film movement causes the moving effect. The edible inflatable object 12 may rest on a grill 297 that allows air flow within the environment such that membrane movement can increase or decrease the pressure in the environment. The edible inflatable object 12 is capable of moving relative to the grille in response to pressure changes.

The disclosed edible inflatable objects 12 may be sold in individual retail packages (e.g., trays, containers, etc.), wherein the consumer purchases the package with the edible inflatable object 12. Additionally, the disclosed techniques may also be applied to retail display arrangements that allow viewing of features of the edible inflatable objects 12. The various embodiments discussed herein may be implemented with a transparent package (e.g., package 296) such that the effects (e.g., illumination, actuation) of the system 30 are visible and can be activated when the edible inflatable object 12 is located within the package. Moreover, while certain embodiments shown by way of example may be illustrated with a single edible inflatable object 12, it should be understood that the disclosed embodiments may incorporate multiple edible inflatable objects 12.

In an embodiment, the retail display arrangement may include a bulk container, such as a self-service (or operator service) bulk container. As shown in fig. 25, the edible inflatable objects 12 may be contained within a container that facilitates actuation of the edible inflatable objects 12 inside, fig. 25 illustrating a bulk container system 300 that includes a bulk container 304, the bulk container 304 being sized and shaped to hold a plurality of edible inflatable objects 12 inside. The edible inflatable objects 12 inside the bulk container 304 are able to fill the container 304 in positive quantities. Alternatively, a separate dispensing system (conveyor, gravity-powered dispenser, etc.) can deposit individual edible inflatable objects 12 into the bulk container 304 to maintain a desired quantity or fill level. The disclosed arrangement of the bulk container system 300 may alternatively or additionally be implemented as individual retail packages for sale. For example, the container 304 may be sold under a certain amount of vacuum, causing one actuation of the candy when the container 304 is opened by the consumer.

The interior 306 of the bulk container 304 may be accessed through a hinged lid 308 or other mechanism (e.g., door, spring-loaded tray). The interior 306 of the bulk container may be substantially sealed or closed when the cover 308 is closed to prevent exposure of the edible inflatable object 12 to the external environment. The bulk container 304 is capable of varying the pressure of the interior 306 within the bulk container 304 via the reversible air pump 319 to cause an inflation/deflation effect in the edible inflatable object 12. In the depicted embodiment, the reversible pump 319 is fluidly coupled to the interior 306 via a conduit 320.

In an embodiment, each edible inflatable object 12 includes a sealed chamber or sealed interior compartment 318 having an expandable fluid (air, etc.) therein. That is, there is no hole or inlet/outlet to access the sealed interior compartment 318 in each edible inflatable object 12. The sealed interior compartment 318 is separated (i.e., fluidly isolated) from the interior 306 within the bulk container 304 by the wall 316 of the edible inflatable object 12. The sealed interior compartment 318 may have a volume of fluid, e.g., an expandable fluid such as air, within the sealed interior compartment 318. In an embodiment, the volume of fluid sealed within the sealed interior compartment 318 may be selected such that the edible inflatable object 12 appears to be in an inactive or deflated state, e.g., relatively less inflated by default or under the first external pressure condition. When the container pressure in the interior 306 outside of the edible inflatable object 12 changes to the second external pressure condition, the resulting pressure differential with the pressure of the sealed interior compartment 318 inside the confectionery will cause the edible inflatable object 12 to expand or contract ("inflate" or "deflate") and result in a visible deformation in the shape of the wall 316.

A reversible air pump 319 is fluidly coupled to the interior 306 via a conduit 320 and operates according to instructions from the controller 310 to change or maintain the pressure of the interior 306. In an embodiment, the reversible air pump 319 removes air from the interior 306 to reduce the pressure within the interior 306 (e.g., create a vacuum) to cause the edible inflatable object 12 held within the bulk container 304 to expand based on the difference between the container pressure of the bulk container 304 and the chamber pressure of the edible inflatable object 12. In another embodiment, the reversible air pump 319 generates a positive pressure condition in the interior 306 to deflate the edible inflatable object 12 therein. Alternating the pumping direction of the reversible air pump 319 enables the edible inflatable object 12 to be animated via a sequential inflation mode and deflation mode (e.g., pulsing).

The bulk container 304 may be arranged to include one or more interiors 306, each of the interiors 306 being capable of withstanding different container pressures relative to one another to produce different concurrent effects. In the presence of one continuous interior 306 of the bulk container 304, all edible inflatable objects 12 in the bulk container 304 will inflate and deflate together. The multiple interiors 306 can allow for some candies to inflate while other candies deflate. Moreover, the bulk container system 300 may include a plurality of bulk containers under the control of individual controllers 310 and/or a central controller.

In an embodiment, the bulk container 304 is maintained in a negative or positive pressure environment relative to the ambient air 312 outside of the bulk container 304. In embodiments where the system 300 produces an animation effect, the same container 304 may experience both a negative pressure environment and a positive pressure environment at different times as the pump 319 cycles or pulses between positive and negative pressures. In the case of a negative pressure environment (e.g., vacuum conditions), the lid 308 may be relatively more difficult to open than under neutral pressure (i.e., substantially the same neutral pressure as the external ambient environment outside of the bulk container 304). This may be addressed by selecting a negative pressure applied by the reversible pump 319 that is a negative pressure that is high enough to produce an observable change in the edible inflatable object 12 relative to the state of the edible inflatable object 12 at neutral pressure, but low enough to be easily overcome by a force of a customer opening the cover 308 or other access mechanism of the bulk container 304.

During a positive pressure condition within the interior 306 of the bulk container 304, the lid 308 is relatively easy to open. Thus, the controller 310 that alternates control of the pump 319 between suction and positive pressure creates a time when the lid 308 can be easily opened. Switching a short interval (e.g., less than 5 seconds, less than 2 seconds) between pumping directions will allow the cover 308 to be opened at some point during a typical action of a user attempting to open the cover 308.

In one embodiment, the sensor 314 (such as a proximity sensor, a capacitive sensor, or force feedback on the lid hinge) provides feedback to the controller 310 that the user is attempting to open the lid 308, which causes the controller 310 to direct the pump 319 to operate in positive pressure mode for a preset amount of time or to operate in positive pressure mode when the sensor 314 senses that the user is reaching out to remove the lid 308.

Fig. 26 illustrates a bulk container system 300 with lid 308 in an open state. The pressure in the interior 306 may at least partially equalize with the pressure in the external environment 312 when the bulk container 304 is opened. This pressure change may cause the edible inflatable objects 12 within the bulk container 304 to change configuration when the lid 308 is opened, thereby creating an animation effect. In the depicted example, the closed state of the bulk container (fig. 25) may be associated with a negative pressure that causes the edible inflatable object 12 to be in an inflated state. Opening the cover causes an increase in pressure, which transforms the edible inflatable object 12 into a more deflated state. The controller 310 may deactivate the pump 319 when the cover 308 is open. Alternatively, the pump 319 may remain active to compensate for pressure changes caused by the difference between ambient pressure and vessel pressure.

FIG. 27 is a schematic illustration of an instrumental or puppet style edible inflatable object 12 actuated by a user. In this embodiment, the pneumatic pressure (positive and/or negative) is provided by the user's lungs. In the depicted example, positive pressure is provided into one or more pathways 350 (e.g., a left pathway 350a that causes left side actuation of the edible inflatable object 12 and a right pathway 350b that causes right side actuation of the edible inflatable object 12). It should be understood that other arrangements of edible inflatable objects 12 and pathways 250 are included within the scope of the present disclosure. The edible inflatable object 12 can be actuated based on a pressurization (pressure) provided by a user covering, uncovering, closing, or opening one or more air paths 360 fluidly coupled to one or more internal pathways 350. In certain embodiments, a flap or valve can be actuated in response to a user-provided flow of air to selectively close off one pathway.

The edible inflatable object 12 may include a mouth 264 having an interior bore 362 fluidly coupled to the pathway 350. In an embodiment, the mouth 364 is also edible, allowing the user to eat the edible inflatable object 12 from the mouth end, but maintaining some actuation functionality as long as the pathway 350 remains.

While only certain features of the invention have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention. Further, although the steps of the disclosed flowchart are shown in a given order, in some embodiments, the depicted steps may be reordered, altered, deleted and/or occur concurrently.

When introducing elements of various embodiments of the present disclosure, the articles "a," "an," and "the" are intended to mean that there are one or more of the elements. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements. In addition, it should be understood that references to "one embodiment" or "an embodiment" of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features.

The technology proposed and claimed herein is cited and applied to substantive objects and concrete examples of a practical nature which arguably improve the technical field and are therefore not abstract, intangible or purely theoretical. Also, if any claim appended to the end of this specification contains one or more elements designated as "means for [ performing ] … … [ function" or "step for [ performing ] … … [ function"), it is intended that such elements be construed in accordance with 35 u.s.c. 112 (f). However, for any claim that contains elements specified in any other way, it is intended that such elements will not be construed in accordance with 35 u.s.c. 112 (f).

Claims (34)

1. An edible soft robotic system, comprising:

at least one edible inflatable object formed at least in part from an edible material and comprising an interior compartment configured to receive a fluid;

one or more sensors configured to generate sensor data indicative of a parameter of the system;

a control system coupled to the at least one edible inflatable object, wherein the control system is configured to:

receiving sensor data from the one or more sensors;

adjusting inflation of the at least one edible inflatable object by directing fluid into or out of the internal compartment based on the sensor data; and

activating one or more special effects based on the sensor data.

2. The edible soft robotic system of claim 1, wherein the control system comprises a fluid control system coupled to the at least one edible inflatable object, wherein the fluid control system is configured to direct fluid into the internal compartment through an open port formed in the at least one edible inflatable object to adjust the inflation.

3. The edible soft robotic system of claim 1, wherein the control system comprises an effects control system coupled to the at least one edible inflatable object or a container holding the at least one edible inflatable object, wherein the effects control system is configured to activate light, temperature, and/or audio/visual effects based on the sensor data.

4. The edible soft robotic system of claim 1, wherein the one or more sensors comprise a proximity sensor, and wherein the control system is configured to activate the fluid control system to initiate the animation of the at least one edible inflatable object based on the sensor data indicating the proximity of the user.

5. The edible soft robotic system of claim 4, wherein the animation comprises a plurality of inflation adjustments of the internal compartment.

6. The edible soft robotic system of claim 5, wherein the one or more special effects are coordinated with the animation.

7. The edible soft robotic system of claim 1, comprising a special effect system configured to control activation of the one or more special effects, wherein the special effect system is configured to heat or cool a fluid provided to the internal compartment of the at least one edible inflatable object.

8. The edible soft robotic system of claim 1, wherein an edible inflatable object of the at least one edible inflatable object comprises:

a port or valve extending from an opening in an outer surface of the edible inflatable object to the interior compartment of the edible inflatable object; and

a gasket disposed about the opening, wherein the gasket includes a recess formed within the outer surface of the edible inflatable object.

9. The edible soft robotic system of claim 8, comprising a mounting surface on which the edible inflatable object is disposed, wherein the mounting surface comprises a plurality of channels extending through the mounting surface and configured to allow fluid to flow to or from one or more fluid sources, wherein at least a first channel of the plurality of channels is positioned in alignment with the gasket when a second channel of the plurality of channels is aligned with the valve, wherein the control system is configured to draw a vacuum through the first channel when fluid is caused to flow through the second channel into the internal compartment.

10. An edible inflatable object display system, comprising:

an edible inflatable object configured to receive a fluid in an interior compartment of the edible inflatable object;

a receptacle to which the edible inflatable object is reversibly coupled, wherein the reversible coupling of the edible inflatable object to the receptacle comprises the edible inflatable object being reversibly coupled to an aligned port of a fluid conduit such that the fluid conduit is fluidically coupled to the internal compartment; and

a control system configured to:

receiving instructions to adjust inflation of the interior compartment by activating fluid flow into or out of the interior compartment via the fluid conduit, wherein adjusting inflation of the interior compartment causes actuation of the edible inflatable object on or within the container.

11. The edible inflatable object display system of claim 10, wherein the container comprises a tray configured to hold one or more edible inflatable objects.

12. The edible inflatable object display system of claim 10, wherein the reversible coupling comprises a tether inserted into the port, wherein the tether comprises the fluid conduit.

13. The edible inflatable object display system of claim 10, wherein the control system is configured to activate a special effect of the container when the edible inflatable object is being actuated.

14. The edible inflatable object display system of claim 10, comprising a sensor configured to sense contact with an outer surface of the edible inflatable object and send the instructions to the control system based on the sensing.

15. The edible inflatable object display system of claim 10, wherein the control system is configured to heat the edible inflatable object prior to or during the actuation.

16. The edible inflatable object display system of claim 10, wherein the control system is configured to release fluid in the interior compartment through a release valve to cause a spray effect.

17. An edible soft robotic system, comprising:

an interaction surface comprising a plurality of elements arranged in an array, wherein the plurality of elements comprises a fluid conduit element, a sensor element, and an effect element;

a plurality of edible inflatable objects disposed on the interactive surface, wherein each individual edible inflatable object is in contact with at least one element of the plurality of elements; and

a control system configured to control activation of the plurality of elements to cause actuation of at least one edible inflatable object of the plurality of edible inflatable objects by adjusting inflation of an interior compartment of the at least one edible inflatable object of the plurality of edible inflatable objects.

18. The edible soft robotic system of claim 17, wherein the plurality of elements are arranged in the array such that at least some adjacent elements are different from each other.

19. The edible soft robotic system of claim 17, wherein the effect element comprises at least one heating element, and wherein the control system is configured to activate the at least one heating element upon contact with an individual edible inflatable object of the plurality of edible inflatable objects to cause the individual edible inflatable object to stick to the interaction surface.

20. An edible inflatable object display system, comprising:

an edible inflatable object that retains a fluid in a closed interior compartment of the edible inflatable object;

a container within which the edible inflatable object is displayed;

a fluid conduit extending into the interior of the container; and

a pump configured to activate a flow of fluid flowing into or out of the interior of the container via the fluid conduit to cause actuation of the edible inflatable object within the container.

21. The edible inflatable object display system of claim 20, wherein the container is a bulk container containing a plurality of edible inflatable objects.

22. The edible inflatable object display system of claim 20, comprising a controller that directs the pump to activate the fluid flow.

23. The edible inflatable object display system of claim 22, wherein the controller causes the pump to cycle between positive and negative pressure cycles to cause actuation of the edible inflatable objects within the container.

24. The edible inflatable object display system of claim 22, comprising a sensor that generates a signal indicative of proximity of a user or contact with the container, and wherein the controller directs the pump to produce a positive pressure in the interior of the container in response to the signal.

25. The edible inflatable object display system of claim 22, wherein the container comprises a lid or door that provides access to the interior of the container, and wherein the signal indicates user contact with the lid or door.

26. The edible inflatable object display system of claim 20, wherein the pump activates the fluid flow to change a container pressure in the interior of the container to be greater than a pressure of the fluid in the closed interior compartment to cause the fluid in the edible inflatable object to contract.

27. The edible inflatable object display system of claim 20, wherein the pump activates the fluid flow to change a container pressure in the interior of the container to be less than a pressure of the fluid in the closed interior compartment to cause the fluid in the edible inflatable object to expand.

28. The edible inflatable object display system of claim 20, wherein the pump activates the fluid flow to maintain a container pressure in the interior of the container that is different than a pressure of the fluid in the closed interior compartment.

29. The edible inflatable object display system of claim 20, wherein the closed interior compartment is separated from the interior of the container by a flexible membrane that deforms in response to pressure changes in the container.

30. An edible inflatable object display system, comprising:

an edible inflatable object that retains a fluid in a closed interior compartment of the edible inflatable object;

a container within which the edible inflatable object is displayed, wherein a container pressure within the interior of the container is different from a pressure of the fluid in the enclosed interior compartment and different from ambient pressure.

31. An edible inflatable object system comprising:

an edible inflatable object configured to receive a fluid in a recess of the edible inflatable object;

a tray to which the edible inflatable object is reversibly coupled, wherein the tray comprises a through passage aligned with the recess;

a counter, wherein the tray is positioned between the counter and the edible inflatable object; and

a grommet extending through the counter and having a grommet passageway aligned with the through-passageway to fluidly couple the recess to a fluid delivery system, wherein the tray and the counter include complementary mating features that align the grommet passageway and the through-passageway when mated.

32. The edible inflatable object system of claim 31, wherein the edible inflatable object comprises an edible adhesive disposed on a surface of the edible inflatable object.

33. The edible inflatable object system of claim 32, wherein the edible adhesive is a liquid having different flow properties than the edible inflatable object.

34. The edible inflatable object system of claim 31, wherein the grommet includes a flange on which the tray rests and which seals around the through passage of the tray.