Patent Publication Number: US-2022232903-A1

Title: Child soothing devices comprising artificial muscles

Description:
TECHNICAL FIELD 
     The present specification generally relates to child soothing devices and, in particular, to child soothing devices that include artificial muscles for providing gentle pressure to simulate a caregiver. 
     BACKGROUND 
     When a baby is born, the need for touch, warmth, and to be held can be important for health and development purposes. Current options do not harness the stimulation of touch or provide the feeling as though the baby is being held while regulating body temperature. While swaddling blankets and baby sleep sacks embody the main goal of comforting a baby, these are merely articles of clothing that do not contain technology that would allow for the newborn to feel the sensation of touch or as though it is being held. 
     Accordingly, there exists a need for improved simulation caregiver simulation for babies. 
     SUMMARY 
     In one embodiment, a child soothing device includes a soothing structure having an outer layer and an inner layer, and one or more artificial muscles disposed between the inner layer and the outer layer of the soothing structure and communicatively coupled to a controller. Each of the one or more artificial muscles includes a housing comprising an electrode region and an expandable fluid region and a dielectric fluid housed within the housing. Each of the one or more artificial muscles also includes an electrode pair positioned in the electrode region of the housing, the electrode pair including a first electrode and a second electrode. The electrode pair is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs the dielectric fluid into the expandable fluid region, expanding the expandable fluid region, thereby applying pressure to the inner layer of the soothing structure. 
     In another embodiment, a method for actuating a child soothing device includes providing a voltage using a power supply electrically coupled to an electrode pair of an artificial muscle, the artificial muscle disposed between an inner layer and an outer layer of a soothing structure of the child soothing device. The artificial muscle includes a housing having an electrode region and an expandable fluid region. The electrode pair is positioned in the electrode region of the housing. The electrode pair includes a first electrode and a second electrode. A dielectric fluid is housed within the housing. A pressure sensor is affixed to the housing and communicatively coupled to a controller. The method also includes applying the voltage to the electrode pair of the artificial muscle, thereby actuating the electrode pair such that the dielectric fluid is directed into the expandable fluid region of the housing and expands the expandable fluid region, thereby applying pressure to the inner layer of the soothing structure. 
     In yet another embodiment, a child soothing system includes a child soothing device having a soothing structure which includes an outer layer and an inner layer along with network interface hardware communicatively that is coupled to a sensor device and configured to receive heartbeat data from the sensor device pertaining to a user wearing the sensor device. The child soothing device further includes one or more artificial muscles disposed between the inner layer and the outer layer of the soothing structure and communicatively coupled to a controller. Each of the one or more artificial muscles includes a housing comprising an electrode region and an expandable fluid region and a dielectric fluid housed within the housing. Each of the one or more artificial muscles also includes an electrode pair positioned in the electrode region of the housing, the electrode pair including a first electrode and a second electrode. The electrode pair is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs the dielectric fluid into the expandable fluid region, expanding the expandable fluid region, thereby applying pressure to the inner layer of the soothing structure. The child soothing system also includes the sensor device that is communicatively coupled to the child soothing device and is configured to detect the heartbeat of the user and provide heartbeat data corresponding to the user to the child soothing device. 
     These and additional features provided by the embodiments described herein will be more fully understood in view of the following detailed description, in conjunction with the drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The embodiments set forth in the drawings are illustrative and exemplary in nature and not intended to limit the subject matter defined by the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, where like structure is indicated with like reference numerals and in which: 
         FIG. 1A  schematically depicts a swaddle child soothing device with open flaps, according to one or more embodiments shown and described herein; 
         FIG. 1B  schematically depicts a swaddle child soothing device with closed flaps, according to one or more embodiments shown and described herein; 
         FIG. 1C  schematically depicts a swaddle child soothing device with one open flap, according to one or more embodiments shown and described herein; 
         FIG. 2A  schematically depicts a pillow child soothing device, according to one or more embodiments shown and described herein; 
         FIG. 2B  schematically depicts a pillow child soothing device with a baby resting thereon, according to one or more embodiments shown and described herein; 
         FIG. 3A  schematically depicts a sleep sack child soothing device, according to one or more embodiments shown and described herein; 
         FIG. 3B  schematically depicts a sleep sack child soothing with a baby therein, according to one or more embodiments shown and described herein; 
         FIG. 4A  schematically depicts a mattress child soothing device, according to one or more embodiments shown and described herein; 
         FIG. 4B  schematically depicts a mattress child soothing with a baby resting thereon, according to one or more embodiments shown and described herein; 
         FIG. 5  schematically depicts a user wearing a sensor device and utilizing a handheld device, according to one or more embodiments shown and described herein; 
         FIG. 6A  schematically depicts a cross section of the child soothing device of  FIGS. 1A-4B  showing four stacks of artificial muscles of the child soothing device in a non-actuated state, according to one or more embodiments shown and described herein; 
         FIG. 6B  schematically depicts a cross section of an embodiment of the child soothing device of  FIG. 6A  showing the four stacks of artificial muscles of the child soothing device in differing states of actuation, according to one or more embodiments shown and described herein; 
         FIG. 6C  schematically depicts a cross section of the child soothing device of  FIG. 6A  showing the four stacks of artificial muscles of the child soothing device in an actuated state, according to one or more embodiments shown and described herein; 
         FIG. 7  schematically depicts a top view of an illustrative artificial muscle of the child soothing device of  FIGS. 1A-4B  with a pressure sensor affixed thereon, according to one or more embodiments shown and described herein; 
         FIG. 8  schematically depicts an exploded view of the artificial muscle of  FIG. 3  without the pressure sensor affixed thereon, according to one or more embodiments shown and described herein; 
         FIG. 9  schematically depicts a top view of the artificial muscle of  FIG. 8 , according to one or more embodiments shown and described herein; 
         FIG. 10  schematically depicts a cross-sectional view of the artificial muscle of  FIG. 8  taken along line  6 - 6  in  FIG. 8  in a non-actuated state, according to one or more embodiments shown and described herein; 
         FIG. 11  schematically depicts a cross-sectional view of the artificial muscle of  FIG. 8  taken along line  6 - 6  in  FIG. 8  in an actuated state, according to one or more embodiments shown and described herein; 
         FIG. 12  schematically depicts a cross-sectional view of another illustrative artificial muscle in a non-actuated state, according to one or more embodiments shown and described herein; 
         FIG. 13  schematically depicts a cross-sectional view of the artificial muscle of  FIG. 8  in an actuated state, according to one or more embodiments shown and described herein; 
         FIG. 14  schematically depicts an actuation system for operating the child soothing device of  FIGS. 1A-4B , according to one or more embodiments shown and described herein; and 
         FIG. 15  schematically depicts a flowchart for maintaining consistent periodic actuation pressure applied by the child soothing device, according to one or more embodiments shown and described herein. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments described herein are directed to child soothing devices that include one or more artificial muscles configured to apply a selective pressure to a baby. The child soothing devices described herein include a swaddle, pillow, sleep slack, mattress, or the like, using a periodicity parameter to determine a rate of actuation and de-actuation of the one or more artificial muscles to simulate a heartbeat. The child soothing devices described herein include an inner layer, an outer layer, and one or more artificial muscles disposed in a cavity between the inner layer and the outer layer that are actuatable to selectively raise and lower a region of the artificial muscles to provide a selective, on demand inflated expandable fluid region. In particular, the one or more artificial muscles each include an electrode pair that may be drawn together by application of a voltage, thereby pushing dielectric fluid into the expandable fluid region, which applies localized pressure to the baby. Embodiments described herein are further directed to one or more warming elements to provide warmth to a baby. Various embodiments of the child soothing device and warming element, along with and the operation of each, are described in more detail herein. Whenever possible, the same reference numerals will be used throughout the drawings to refer to the same or like parts. 
     Referring now to  FIGS. 1A-4B and 6A-6C , a child soothing device  10  is schematically depicted. In  FIGS. 1A-1C , embodiments of the child soothing device  10  are depicted as a baby swaddle  100  having a central portion  103  and two flaps  105 , although any suitable number of flaps  105  may be utilized in other embodiments. Within the central portion  103  and/or the two flaps  105 , a soothing structure may comprise an outer layer and an inner layer, as discussed in more detail herein. The baby swaddle  100  is one exemplary type of wearable soothing structure. One or both flaps  105  may wrap around the central portion  103  in a way to provide a calming effect to a baby  1 , which may experience a “startle reflex” caused by their own sudden arm movements. In  FIG. 1A , the baby  1  is not swaddled. By keeping both of the baby&#39;s arm&#39;s gently restrained in the swaddle  100  ( FIG. 1B ) or at least keeping one of the baby&#39;s arms swaddled ( FIG. 1C ), the baby  1  can experience a greater sense of calm and/or security. The central portion  103  of the swaddle  100  may be opened/closed by any suitable mechanism/fastener, such as by way of non-limiting example buttons, snaps, zippers, fabric hook and loop fastener, and the like. The central portion  103  and/or flaps  105  may be made of any suitable material, which in some embodiments may feature a suitable amount of flexibility (cotton, polyester, blends, and the like). The swaddle  100  may utilize any number of artificial muscles  101  and/or warming elements  5  in the central portion  103  and/or flaps  105  in any suitable configuration, which in some embodiments may include overlap of one or more artificial muscles  101  with one or more warming elements  5 . Any suitable type of warming element  5  may be utilized such as an insulated wire, carbon fiber, and the like. As described herein, actuation of the one or more artificial muscles  101  may be used to apply appropriate pressure to the baby  1  to create a feeling of held by a caregiver, which may also be done in conjunction with warming elements  5  that can simulate the warmth of a caregiver. As further described herein, actuation/de-actuation of one or more artificial muscles  101  may be utilized to simulate the heartbeat of a caregiver. While all artificial muscles  101  may actuate/de-actuate in unison in this embodiment, in other embodiments not all artificial muscles  101  may actuate/de-actuate together. 
     Referring to  FIGS. 2A-2B , the child soothing device  10  in this embodiment is a nursing pillow  200 , although any suitable type of pillow may be utilized. The nursing pillow  200  is one exemplary type of supportive soothing structure. As depicted in  FIG. 5A , two warming elements  5  are provided and numerous artificial muscles  101  are spread across the nursing pillow  200 , although any number of artificial muscles  101  and/or warming elements  5  may be utilized in any suitable configuration. In  FIG. 2B , the baby  1  is shown in a typical position where the gentle pressure of the artificial muscles  101  and/or warmth from the warming elements  5  can be felt. As discussed above with respect to the swaddle  100  embodiment, any suitable materials may be utilized in the nursing pillow  200 . 
     Referring to  FIGS. 3A-3B , the child soothing device  10  in this embodiment is a sleep sack  300 , which is another exemplary type of wearable soothing structure. As depicted in FIG.  3 A, two warming elements  5  are provided and numerous artificial muscles  101  are spread across the sleep sack  300 , although any number of artificial muscles  101  and/or warming elements  5  may be utilized in any suitable configuration. While snaps are depicted to in  FIG. 3A  to close the sleep sack  300 , any suitable configuration utilizing any suitable open/close mechanism may be utilized, as previously discussed for other embodiments. In  FIG. 3B , the baby  1  is shown in a position where the gentle pressure of the artificial muscles  101  and/or warmth from the warming elements  5  can be felt. As discussed with respect to other embodiments, any suitable materials may be utilized in the sleep sack  300 . 
     Referring to  FIGS. 4A-4B , the child soothing device  10  in this embodiment is a mattress  400 , which is another exemplary type of supportive soothing structure. As depicted in  FIG. 4A , numerous warming elements  5  and artificial muscles  101  are spread across the mattress  400 , although any number of artificial muscles  101  and/or warming elements  5  may be utilized in any suitable configuration. Any suitable type of mattress  400  (spring/coil, memory foam, gel, and the like) may be utilized. In  FIG. 4B , the baby  1  is shown in a position where the gentle pressure of the artificial muscles  101  and/or warmth from the warming elements  5  can be felt. As discussed with respect to other embodiments, any suitable materials may be utilized in the mattress  400 . 
     Referring to  FIG. 5 , a user  500  is depicted wearing a sensor device  502  and utilizing a handheld user device  504 , each of which may comprise computing hardware such a processor(s), memory, communication hardware, and the like. In this embodiment, the sensor device  502  is a wearable device that detects the heartbeat and/or temperature of the user  500 , although any suitable type of data may be utilized. As discussed further below, the sensor device  502  can provide heartbeat and/or temperature data to the child soothing device  10 . For example, the heartbeat of the user  500  obtained by the sensor device  502  may be reproduced by actuation/de-actuation of artificial muscles  101  in the child soothing device  10  to reproduce the heartbeat of the user  500  (a parent, for example) for the baby  1 . Similarly, temperature data obtained from the user  500  by the sensor device  502  may be utilized to adjust the warmth of generated by warming elements  5  in the child soothing device  10 . Although depicted as a wrist-worn device, any suitable device capable of measuring the heartbeat and/or temperature of a user  500  may be utilized. 
     The user device  504  may be any suitable type of device capable of accepting user input, whether portable or stationary, such as a smartphone, tablet, laptop, wearable computer, desktop, server, and the like. The user device may receive, for example, input from the user  500  via a graphical user interface to actuate and/or de-actuate artificial muscles  101  (or more generally the child soothing device  10 ), to activate/deactivate warming elements  5 , and/or to synchronize/desynchronize the child soothing device  10  to/from the heartbeat and/or temperature of the user  500 . In some embodiments, the user  500  may specify a periodicity parameter value to simulate a heartbeat, be able to turn on/off warming elements  5 , manage operation of the warming elements  5 , and/or provide a specific amount of warmth (or a specific temperature) via the warming elements  5 . 
     Referring to  FIGS. 6A-6C , the child soothing device  10  may include a soothing structure that includes an outer layer  20 , an inner layer  30 , and a cavity  15  disposed between the outer layer  20  and the inner layer  30 . The child soothing device  10  also includes one or more artificial muscles  101  disposed between the inner layer  30  and the outer layer  20  of the child soothing device  10 , for example, in the cavity  15 . A schematic cross-section of the child soothing device  10  is shown in various states of actuation. In the embodiments depicted in  FIGS. 6A-6C , each artificial muscle  101  is one of a plurality of artificial muscles  101 . In particular, the plurality of artificial muscles  101  in  FIGS. 6A-6C  are arranged in a plurality of artificial muscle stacks  102 . Moreover, embodiments are contemplated with a plurality of artificial muscles  101  arranged in a single layer within the cavity  15 , in contrast to the artificial muscle stacks  102  of  FIGS. 6A-6C . In operation, the one or more artificial muscles  101  are actuatable to expand and apply a pressure to the inner layer  30  of the child soothing device  10 . As babies are not simple and uniform shapes, actuation of each artificial muscle  101  of the plurality of artificial muscles  101  may be independent and selective to maintain a consistent periodic actuation pressure on the baby  1  (in the swaddle  100  or sleep sack  300  embodiments, by way of non-limiting examples). In operation, actuation of the one or more artificial muscles  101  may be controlled by an actuation system  1400 , which, as described in more detail with respect to  FIG. 14 , may include components housed in an onboard control unit  40  coupled to (or contained within) the child soothing device  10 . This may include, for example, utilizing a pressure value (Pa/pascal, PSI, etc.) to determine the actuation amount of the one or more artificial muscles  101 . 
     The inner layer  30  comprises an inner surface  32  facing the cavity  15  and an outer surface  34 . The inner surface  32  may contact at least one artificial muscle  101  and, when worn, the outer surface  34  may contact the baby  1 . The outer layer  20  comprises an inner surface  22  facing the cavity  15  and an outer surface  24  facing outward from the child soothing device  10 . The inner surface  22  of the outer layer  20  may contact at least one artificial muscle  101 . The inner layer  30  comprises an elastic material such that, when worn, the inner layer  30  may conform to the contours of the baby  1 . In one embodiment, the outer layer  20  comprises a more rigid material than the inner layer  30 , such as a rigid plastic or polymeric material, such that when the one or more artificial muscles  101  are actuated and press against both the inner layer  30  and the outer layer  20 , the inner layer  30  deforms a greater degree than the outer layer  20  (indeed, the outer layer  20  may not deform at all) such that pressure is applied to the baby  1 . As the outer layer  20  is more rigid than the inner layer  30 , the outer layer  20  comprises a higher Young&#39;s modulus than the inner layer  30 . In other embodiments, the outer layer  20  utilizes a less or equally rigid material in comparison to the inner layer  30 . 
     Referring again to  FIGS. 6A-6C , the plurality of artificial muscles  101  are arranged in a plurality of artificial muscles stacks  102 .  FIGS. 6A-6C  depict an embodiment having four artificial muscle stacks  102 A- 102 D in both a non-actuated state ( FIGS. 6A and 6B ) and an actuated state ( FIGS. 6B and 6C ) While these illustrative embodiments comprise four artificial muscle stacks  102 A- 102 D, it should be understood that any number of artificial muscles stacks  102  are contemplated. In some embodiments (such as the swaddle  100 ), the plurality of artificial muscles  101  may be arranged uniformly between the inner layer  30  and the outer layer  20 , encircling the inner layer  30  in a uniform radial array at one or multiple lengthwise positions along the length of the flaps  105 . In some embodiments, the expandable fluid region  196  of each artificial muscle  101  of each of the plurality of artificial muscle stacks  102  are coaxially aligned with one another. However, in other embodiments, there may be some offset between the expandable fluid region  196  at least some of the artificial muscles  101  of the plurality of artificial muscles stacks  102 . Moreover, while  FIG. 6A-6C  depict a plurality of artificial muscle stacks  102 , embodiments are contemplated in which the plurality of artificial muscles  101  are arranged in a single layer within the cavity  15 . This single layer may comprise a radial array of artificial muscles  101  encircling the inner layer  30  (uniformly or non-uniformly) at one or multiple lengthwise positions along the length of the flaps  105  in the swaddle  100  embodiment, by way of non-limiting example. 
     The one or more artificial muscles  101  each include an electrode pair  104  disposed in a housing  110  together with a dielectric fluid  198  ( FIGS. 8-13 ). The electrode pair  104  is disposed in an electrode region  194  of the housing  110 , adjacent an expandable fluid region  196 . In operation, voltage may be applied to the electrode pair  104 , drawing the electrode pair  104  together, which directs dielectric fluid into the expandable fluid region  196 , expanding the expandable fluid region  196 . In  FIGS. 6A and 6B , one or more artificial muscles  101  are each in a non-actuated state. When the plurality of artificial muscles  101  are not actuated, the cavity  15  comprises a non-actuated thickness C N . When the plurality of artificial muscles  101  are actuated, the cavity  15  comprises an actuated thickness C A . As actuation of the plurality of artificial muscles  101  presses the inner layer  30  inward, the actuated thickness C A  of the cavity  15  is larger than the non-actuated thickness C N  of the cavity  15 . In operation, when the baby  1  is wearing the swaddle  100  (for example), radial constriction of the inner layer  30  induced by the actuation of the one or more artificial muscles  101  in the flaps  105  applying encircling pressure to the baby  1 . While  FIG. 6A  shows complete non-actuated states of the cross section of the child soothing device  10 , and complete actuated states of the cross section of the child soothing device  10  is depicted in  FIG. 6C , it should be understood that each individual artificial muscle  101  and each individual artificial muscle stack  102  may be independently actuated to provide selective pressure to the baby  1 , as depicted in  FIG. 6B . 
     Referring again to  FIGS. 6A-6C , in some embodiments, the outer layer  20  of the child soothing device  10  is adjustable to fit onto a variety of different baby sizes. This adjustability may be achieved by a variety of mechanical features, such as adjustable straps. The child soothing device  10  may be operable to apply selective pressure to the baby  1  by actuation of the one or more artificial muscles  101 . To actuate the child soothing device  10 , voltage may be selectively applied to the one or more artificial muscles  101 , expanding the expandable fluid regions  196  of the actuated artificial muscles  101 . 
     In some embodiments, each of the one or more artificial muscles  101  are independently actuatable to apply selective pressure to the inner layer  30  of the child soothing device  10 , which, when worn, applies selective pressure to the baby  1 . In embodiments comprising the plurality of artificial muscle stacks  102 , each artificial muscle stack  102  may be independently actuatable. Moreover, the artificial muscles  101  of a single artificial muscle stack  102  may also be independently actuatable, allowing the displacement stoke applied by a single artificial muscle stack  102  to be altered based on the number of individual artificial muscles  101  of the single artificial muscle stack  102  that are actuated. This facilitates an amount of pressure applied to the child soothing device  10 . For example, a first artificial muscle stack may be actuated to increase the pressure exerted by a child soothing device  10 , while a second artificial muscle stack may not be actuated, or actuated to a lesser extent, based upon the amount of pressure needed at a given time. If further pressure becomes necessary, the second artificial muscle stack can be actuated further. 
     Referring now to  FIGS. 7-9 , an example artificial muscle  101  of the child soothing device  10  is depicted in more detail. The artificial muscle  101  includes the housing  110 , the electrode pair  104 , including a first electrode  106  and a second electrode  108 , fixed to opposite surfaces of the housing  110 , a first electrical insulator layer  111  fixed to the first electrode  106 , and a second electrical insulator layer  112  fixed to the second electrode  108 . In some embodiments, the housing  110  is a one-piece monolithic layer including a pair of opposite inner surfaces, such as a first inner surface  114  and a second inner surface  116 , and a pair of opposite outer surfaces, such as a first outer surface  118  and a second outer surface  120 . In some embodiments, the first inner surface  114  and the second inner surface  116  of the housing  110  are heat-sealable. In other embodiments, the housing  110  may be a pair of individually fabricated film layers, such as a first film layer  122  and a second film layer  124 . Thus, the first film layer  122  includes the first inner surface  114  and the first outer surface  118 , and the second film layer  124  includes the second inner surface  116  and the second outer surface  120 . 
     While the embodiments described herein primarily refer to the housing  110  as comprising the first film layer  122  and the second film layer  124 , as opposed to the one-piece housing, it should be understood that either arrangement is contemplated. In some embodiments, the first film layer  122  and the second film layer  124  generally include the same structure and composition. For example, in some embodiments, the first film layer  122  and the second film layer  124  each comprises biaxially oriented polypropylene. 
     The first electrode  106  and the second electrode  108  are each positioned between the first film layer  122  and the second film layer  124 . In some embodiments, the first electrode  106  and the second electrode  108  are each aluminum-coated polyester such as, for example, Mylar®. In addition, one of the first electrode  106  and the second electrode  108  is a negatively charged electrode and the other of the first electrode  106  and the second electrode  108  is a positively charged electrode. For purposes discussed herein, either electrode  106 ,  108  may be positively charged so long as the other electrode  106 ,  108  of the artificial muscle  101  is negatively charged. 
     The first electrode  106  has a film-facing surface  126  and an opposite inner surface  128 . The first electrode  106  is positioned against the first film layer  122 , specifically, the first inner surface  114  of the first film layer  122 . In addition, the first electrode  106  includes a first terminal  130  extending from the first electrode  106  past an edge of the first film layer  122  such that the first terminal  130  can be connected to a power supply to actuate the first electrode  106 . Specifically, the terminal is coupled, either directly or in series, to a power supply and a controller of an actuation system  1400 , as shown in  FIG. 14 . Similarly, the second electrode  108  has a film-facing surface  148  and an opposite inner surface  150 . The second electrode  108  is positioned against the second film layer  124 , specifically, the second inner surface  116  of the second film layer  124 . The second electrode  108  includes a second terminal  152  extending from the second electrode  108  past an edge of the second film layer  124  such that the second terminal  152  can be connected to a power supply and a controller of the actuation system  1400  to actuate the second electrode  108 . 
     The first electrode  106  includes two or more tab portions  132  and two or more bridge portions  140 . Each bridge portion  140  is positioned between adjacent tab portions  132 , interconnecting these adjacent tab portions  132 . Each tab portion  132  has a first end  134  extending radially from a center axis C of the first electrode  106  to an opposite second end  136  of the tab portion  132 , where the second end  136  defines a portion of an outer perimeter  138  of the first electrode  106 . Each bridge portion  140  has a first end  142  extending radially from the center axis C of the first electrode  106  to an opposite second end  144  of the bridge portion  140  defining another portion of the outer perimeter  138  of the first electrode  106 . Each tab portion  132  has a tab length L 1  and each bridge portion  140  has a bridge length L 2  extending in a radial direction from the center axis C of the first electrode  106 . The tab length L 1  is a distance from the first end  134  to the second end  136  of the tab portion  132  and the bridge length L 2  is a distance from the first end  142  to the second end  144  of the bridge portion  140 . The tab length L 1  of each tab portion  132  is longer than the bridge length L 2  of each bridge portion  140 . In some embodiments, the bridge length L 2  is 20% to 50% of the tab length L 1 , such as 30% to 40% of the tab length L 1 . 
     In some embodiments, the two or more tab portions  132  are arranged in one or more pairs of tab portions  132 . Each pair of tab portions  132  includes two tab portions  132  arranged diametrically opposed to one another. In some embodiments, the first electrode  106  may include only two tab portions  132  positioned on opposite sides or ends of the first electrode  106 . In some embodiments, as shown in  FIGS. 7-9 , the first electrode  106  includes four tab portions  132  and four bridge portions  140  interconnecting adjacent tab portions  132 . In this embodiment, the four tab portion  132  are arranged as two pairs of tab portions  132  diametrically opposed to one another. Furthermore, as shown, the first terminal  130  extends from the second end  136  of one of the tab portions  132  and is integrally formed therewith. 
     Like the first electrode  106 , the second electrode  108  includes at least a pair of tab portions  154  and two or more bridge portions  162 . Each bridge portion  162  is positioned between adjacent tab portions  154 , interconnecting these adjacent tab portions  154 . Each tab portion  154  has a first end  156  extending radially from a center axis C of the second electrode  108  to an opposite second end  158  of the tab portion  154 , where the second end  158  defines a portion of an outer perimeter  160  of the second electrode  108 . Due to the first electrode  106  and the second electrode  108  being coaxial with one another, the center axis C of the first electrode  106  and the second electrode  108  are the same. Each bridge portion  162  has a first end  164  extending radially from the center axis C of the second electrode to an opposite second end  166  of the bridge portion  162  defining another portion of the outer perimeter  160  of the second electrode  108 . Each tab portion  154  has a tab length L 3  and each bridge portion  162  has a bridge length L 4  extending in a radial direction from the center axis C of the second electrode  108 . The tab length L 3  is a distance from the first end  156  to the second end  158  of the tab portion  154  and the bridge length L 4  is a distance from the first end  164  to the second end  166  of the bridge portion  162 . The tab length L 3  is longer than the bridge length L 4  of each bridge portion  162 . In some embodiments, the bridge length L 4  is 20% to 50% of the tab length L 3 , such as 30% to 40% of the tab length L 3 . 
     In some embodiments, the two or more tab portions  154  are arranged in one or more pairs of tab portions  154 . Each pair of tab portions  154  includes two tab portions  154  arranged diametrically opposed to one another. In some embodiments, the second electrode  108  may include only two tab portions  154  positioned on opposite sides or ends of the first electrode  106 . In some embodiments, as shown in  FIGS. 7-9 , the second electrode  108  includes four tab portions  154  and four bridge portions  162  interconnecting adjacent tab portions  154 . In this embodiment, the four tab portions  154  are arranged as two pairs of tab portions  154  diametrically opposed to one another. Furthermore, as shown, the second terminal  152  extends from the second end  158  of one of the tab portions  154  and is integrally formed therewith. 
     Referring now to  FIGS. 7-13 , at least one of the first electrode  106  and the second electrode  108  has a central opening formed therein between the first end  134  of the tab portions  132  and the first end  142  of the bridge portions  140 . In  FIGS. 10 and 11 , the first electrode  106  has a central opening  146 . However, it should be understood that the first electrode  106  does not need to include the central opening  146  when a central opening is provided within the second electrode  108 , as shown in  FIGS. 12 and 13 . Alternatively, the second electrode  108  does not need to include the central opening when the central opening  146  is provided within the first electrode  106 . Referring to  FIGS. 7-13 , the first electrical insulator layer  111  and the second electrical insulator layer  112  have a geometry generally corresponding to the first electrode  106  and the second electrode  108 , respectively. Thus, the first electrical insulator layer  111  and the second electrical insulator layer  112  each have tab portions  170 ,  172  and bridge portions  174 ,  176  corresponding to like portions on the first electrode  106  and the second electrode  108 . Further, the first electrical insulator layer  111  and the second electrical insulator layer  112  each have an outer perimeter  178 ,  180  corresponding to the outer perimeter  138  of the first electrode  106  and the outer perimeter  160  of the second electrode  108 , respectively, when positioned thereon. 
     It should be appreciated that, in some embodiments, the first electrical insulator layer  111  and the second electrical insulator layer  112  generally include the same structure and composition. As such, in some embodiments, the first electrical insulator layer  111  and the second electrical insulator layer  112  each include an adhesive surface  182 ,  184  and an opposite non-sealable surface  186 ,  188 , respectively. Thus, in some embodiments, the first electrical insulator layer  111  and the second electrical insulator layer  112  are each a polymer tape adhered to the inner surface  128  of the first electrode  106  and the inner surface  150  of the second electrode  108 , respectively. 
     Referring again to  FIGS. 7-13 , the artificial muscle  101  is shown in its assembled form with the first terminal  130  of the first electrode  106  and the second terminal  152  of the second electrode  108  extending past an outer perimeter of the housing  110 , i.e., the first film layer  122  and the second film layer  124 . As shown in  FIG. 8 , the second electrode  108  is stacked on top of the first electrode  106  and, therefore, the first electrode  106 , the first film layer  122 , and the second film layer  124  are not shown. In its assembled form, the first electrode  106 , the second electrode  108 , the first electrical insulator layer  111 , and the second electrical insulator layer  112  are sandwiched between the first film layer  122  and the second film layer  124 . The first film layer  122  is partially sealed to the second film layer  124  at an area surrounding the outer perimeter  138  of the first electrode  106  and the outer perimeter  160  of the second electrode  108 . In some embodiments, the first film layer  122  is heat-sealed to the second film layer  124 . Specifically, in some embodiments, the first film layer  122  is sealed to the second film layer  124  to define a sealed portion  190  surrounding the first electrode  106  and the second electrode  108 . The first film layer  122  and the second film layer  124  may be sealed in any suitable manner, such as using an adhesive, heat sealing, or the like. 
     The first electrode  106 , the second electrode  108 , the first electrical insulator layer  111 , and the second electrical insulator layer  112  provide a barrier that prevents the first film layer  122  from sealing to the second film layer  124  forming an unsealed portion  192 . The unsealed portion  192  of the housing  110  includes the electrode region  194 , in which the electrode pair  104  is provided, and the expandable fluid region  196 , which is surrounded by the electrode region  194 . The central openings  146 ,  168  of the first electrode  106  and the second electrode  108  form the expandable fluid region  196  and are arranged to be axially stacked on one another. Although not shown, the housing  110  may be cut to conform to the geometry of the electrode pair  104  and reduce the size of the artificial muscle  101 , namely, the size of the sealed portion  190 . 
     A dielectric fluid  198  is provided within the unsealed portion  192  and flows freely between the first electrode  106  and the second electrode  108 . A “dielectric” fluid as used herein is a medium or material that transmits electrical force without conduction and as such has low electrical conductivity. Some non-limiting example dielectric fluids include perfluoroalkanes, transformer oils, and deionized water. It should be appreciated that the dielectric fluid  198  may be injected into the unsealed portion  192  of the artificial muscle  101  using a needle or other suitable injection device. 
     Referring now to  FIGS. 10 and 11 , the artificial muscle  101  is actuatable between a non-actuated state and an actuated state. In the non-actuated state, as shown in  FIG. 6 , the first electrode  106  and the second electrode  108  are partially spaced apart from one another proximate the central openings  146 ,  168  thereof and the first end  134 ,  156  of the tab portions  132 ,  154 . The second end  136 ,  158  of the tab portions  132 ,  154  remain in position relative to one another due to the housing  110  being sealed at the outer perimeter  138  of the first electrode  106  and the outer perimeter  160  of the second electrode  108 . In  FIGS. 6A and 6B , at least one of the one or more artificial muscles  101  of the child soothing device  10  is in the non-actuated state. In the actuated state, as shown in  FIG. 11 , the first electrode  106  and the second electrode  108  are brought into contact with and oriented parallel to one another to force the dielectric fluid  198  into the expandable fluid region  196 . This causes the dielectric fluid  198  to flow through the central openings  146 ,  168  of the first electrode  106  and the second electrode  108  and inflate the expandable fluid region  196 . In  FIGS. 6B and 6C , at least one of the one or more artificial muscles  101  of the child soothing device  10  is in the actuated state. 
     Referring now to  FIG. 10 , the artificial muscle  101  is shown in the non-actuated state. The electrode pair  104  is provided within the electrode region  194  of the unsealed portion  192  of the housing  110 . The central opening  146  of the first electrode  106  and the central opening  168  of the second electrode  108  are coaxially aligned within the expandable fluid region  196 . In the non-actuated state, the first electrode  106  and the second electrode  108  are partially spaced apart from and non-parallel to one another. Due to the first film layer  122  being sealed to the second film layer  124  around the electrode pair  104 , the second end  136 ,  158  of the tab portions  132 ,  154  are brought into contact with one another. Thus, dielectric fluid  198  is provided between the first electrode  106  and the second electrode  108 , thereby separating the first end  134 ,  156  of the tab portions  132 ,  154  proximate the expandable fluid region  196 . Stated another way, a distance between the first end  134  of the tab portion  132  of the first electrode  106  and the first end  156  of the tab portion  154  of the second electrode  108  is greater than a distance between the second end  136  of the tab portion  132  of the first electrode  106  and the second end  158  of the tab portion  154  of the second electrode  108 . This results in the electrode pair  104  zippering toward the expandable fluid region  196  when actuated. In some embodiments, the first electrode  106  and the second electrode  108  may be flexible. Thus, as shown in  FIG. 8 , the first electrode  106  and the second electrode  108  are convex such that the second ends  136 ,  158  of the tab portions  132 ,  154  thereof may remain close to one another, but spaced apart from one another proximate the central openings  146 ,  168 . In the non-actuated state, the expandable fluid region  196  has a first height H 1 . 
     When actuated, as shown in  FIG. 11 , the first electrode  106  and the second electrode  108  zipper toward one another from the second ends  144 ,  158  of the tab portions  132 ,  154  thereof, thereby pushing the dielectric fluid  198  into the expandable fluid region  196 . As shown, when in the actuated state, the first electrode  106  and the second electrode  108  are parallel to one another. In the actuated state, the dielectric fluid  198  flows into the expandable fluid region  196  to inflate the expandable fluid region  196 . As such, the first film layer  122  and the second film layer  124  expand in opposite directions. In the actuated state, the expandable fluid region  196  has a second height H 2 , which is greater than the first height H 1  of the expandable fluid region  196  when in the non-actuated state. Although not shown, it should be noted that the electrode pair  104  may be partially actuated to a position between the non-actuated state and the actuated state. This would allow for partial inflation of the expandable fluid region  196  and adjustments when necessary. 
     In order to move the first electrode  106  and the second electrode  108  toward one another, a voltage is applied by a power supply (such as power supply  48  of  FIG. 14 ). In some embodiments, a voltage of up to 10 kV may be provided from the power supply to induce an electric field through the dielectric fluid  198 . The resulting attraction between the first electrode  106  and the second electrode  108  pushes the dielectric fluid  198  into the expandable fluid region  196 . Pressure from the dielectric fluid  198  within the expandable fluid region  196  causes the first film layer  122  and the first electrical insulator layer  111  to deform in a first axial direction along the center axis C of the first electrode  106  and causes the second film layer  124  and the second electrical insulator layer  112  to deform in an opposite second axial direction along the center axis C of the second electrode  108 . Once the voltage being supplied to the first electrode  106  and the second electrode  108  is discontinued, the first electrode  106  and the second electrode  108  return to their initial, non-parallel position in the non-actuated state. 
     It should be appreciated that the present embodiments of the artificial muscle  101  disclosed herein, specifically, the tab portions  132 ,  154  with the interconnecting bridge portions  174 ,  176 , provide a number of improvements over actuators that do not include the tab portions  132 ,  154 , such as hydraulically amplified self-healing electrostatic (HASEL) actuators described in the paper titled “ Hydraulically amplified self - healing electrostatic actuators with muscle - like performance ” by E. Acome, S. K. Mitchell, T. G. Morrissey, M. B. Emmett, C. Benjamin, M. King, M. Radakovitz, and C. Keplinger (Science 5 Jan. 2018: Vol. 359, Issue 6371, pp. 61-65). Embodiments of the artificial muscle  101  including two pairs of tab portions  132 ,  154  on each of the first electrode  106  and the second electrode  108 , respectively, reduces the overall mass and thickness of the artificial muscle  101 , reduces the amount of voltage required during actuation, and decreases the total volume of the artificial muscle  101  without reducing the amount of resulting force after actuation as compared to known HASEL actuators including donut-shaped electrodes having a uniform, radially-extending width. More particularly, the tab portions  132 ,  154  of the artificial muscle  101  provide zipping fronts that result in increased actuation power by providing localized and uniform hydraulic actuation of the artificial muscle  101  compared to HASEL actuators including donut-shaped electrodes. Specifically, one pair of tab portions  132 ,  154  provides twice the amount of actuator power per unit volume as compared to donut-shaped HASEL actuators, while two pairs of tab portions  132 ,  154  provide four times the amount of actuator power per unit volume. The bridge portions  174 ,  176  interconnecting the tab portions  132 ,  154  also limit buckling of the tab portions  132 ,  154  by maintaining the distance between adjacent tab portions  132 ,  154  during actuation. Because the bridge portions  174 ,  176  are integrally formed with the tab portions  132 ,  154 , the bridge portions  174 ,  176  also prevent leakage between the tab portions  132 ,  154  by eliminating attachment locations that provide an increased risk of rupturing. 
     In operation, when the artificial muscle  101  is actuated by providing a voltage and applying the voltage to the electrode pair  104  of the artificial muscle  101 , expansion of the expandable fluid region  196  produces a force of 3 Newton-millimeters (N.mm) per cubic centimeter (cm 3 ) of actuator volume or greater, such as 4 N.mm per cm 3  or greater, 5 N.mm per cm 3  or greater, 6 N.mm per cm 3  or greater, 7 N.mm per cm 3  or greater, 8 N.mm per cm 3  or greater, or the like. Providing the voltage may comprise generating the voltage, for example, in an embodiment in which the power supply  48  ( FIG. 14 ) is a battery, converting the voltage, for example in embodiment in which the power supply  48  ( FIG. 14 ) is a power adaptor, or any other known or yet to be developed technique for readying a voltage for application. In one example, when the artificial muscle  101  is actuated by a voltage of 9.5 kilovolts (kV), the artificial muscle  101  provides a resulting force of 5 N. In another example, when the artificial muscle  101  is actuated by a voltage of 10 kV the artificial muscle  101  provides 440% strain under a 500 gram load. 
     Moreover, the size of the first electrode  106  and the second electrode  108  is proportional to the amount of displacement of the dielectric fluid  198 . Therefore, when greater displacement within the expandable fluid region  196  is desired, the size of the electrode pair  104  is increased relative to the size of the expandable fluid region  196 . It should be appreciated that the size of the expandable fluid region  196  is defined by the central openings  146 ,  168  in the first electrode  106  and the second electrode  108 . Thus, the degree of displacement within the expandable fluid region  196  may alternatively, or in addition, be controlled by increasing or reducing the size of the central openings  146 ,  168 . 
     As shown in  FIGS. 12 and 13 , another embodiment of an artificial muscle  201  is illustrated. The artificial muscle  201  is substantially similar to the artificial muscle  101 . As such, like structure is indicated with like reference numerals. However, as shown, the first electrode  106  does not include a central opening. Thus, only the second electrode  108  includes the central opening  168  formed therein. As shown in  FIG. 12 , the artificial muscle  201  is in the non-actuated state with the first electrode  106  being planar and the second electrode  108  being convex relative to the first electrode  106 . In the non-actuated state, the expandable fluid region  196  has a first height H 3 . In the actuated state, as shown in  FIG. 13 , the expandable fluid region  196  has a second height H 4 , which is greater than the first height H 3 . It should be appreciated that by providing the central opening  168  only in the second electrode  108  as opposed to both the first electrode  106  and the second electrode  108 , the total deformation may be formed on one side of the artificial muscle  201 . In addition, because the total deformation is formed on only one side of the artificial muscle  201 , the second height H 4  of the expandable fluid region  196  of the artificial muscle  201  extends further from a longitudinal axis perpendicular to the central axis C of the artificial muscle  201  than the second height H 2  of the expandable fluid region  196  of the artificial muscle  101  when all other dimensions, orientations, and volume of dielectric fluid are the same. It should be understood that embodiments of the artificial muscle  201  may be used together with or in place of the one or more artificial muscles  101  of the child soothing device  10  of  FIGS. 1A-4B and 6A -C. 
     In some embodiments, as shown in  FIG. 7 , a pressure sensor  80  may reside on the housing  110  and be aligned with the central opening  168  or central opening  146 , which are openings in the first electrode  106  and second electrode  108 , respectively. In some embodiments, the pressure sensor  80  may be disposed on the expandable fluid region  196  of the housing  110 . In other embodiments, the pressure sensor  80  may be located on any suitable surface of the housing  110  or an artificial muscle  101 . The pressure sensor  80  is utilized to measure pressure exerted in the child soothing device  10  to maintain proper pressure on a baby  1  within, for example, a swaddle  100  or a sleep sack  300 . 
     In some embodiments, different pressure sensors  80  within the child soothing device  10  may be located at different locations with respect to different housings  110  and/or an artificial muscles  101 . In this embodiment, the pressure sensor  80  has two sensor protrusions  82  that extend outwardly from the pressure sensor  80  and may be disposed between the inner layer  30  and outer layer  20 . Sensor protrusions may be used, for example, to wirelessly communicate with other components, such as a controller  50  (as shown in  FIG. 14 ) and/or other wireless sensors located on other artificial muscles  101 . In other embodiments, any number of sensor protrusions  82  of any shape, size, and/or configuration may be utilized. In still other embodiments, the pressure sensor  80  may have no sensor protrusions  82 . 
     In some embodiments, the pressure sensor  80  may be of any suitable type, such as, by way of non-limiting example, absolute, gauge, or differential pressure sensors. Sensing by the pressure sensor  80  may include any suitable technique such as resistive sensing, capacitive sensing, piezoelectric sensing, optical sensing, micro electro-mechanical system (MEMS), or any other suitable type of pressure sensing technique. Output from the pressure sensor  80  may be by millivolt-output transducers, volt-output transducers, transmitters, or any other suitable components. 
     Referring now to  FIG. 14 , an actuation system  1400  may be provided for operating the child soothing device  10 , in particular, operate the one or more artificial muscles  101  of the child soothing device  10 . The actuation system  1400  may comprise a controller  50 , the one or more pressure sensors  80 , an operating device  46 , a power supply  48 , a display device  42 , network interface hardware  44 , and a communication path  41  communicatively coupled these components, some or all of which may be disposed in the onboard control unit  40 . 
     The controller  50  may comprise a processor  52  and a non-transitory electronic memory  54  to which various components are communicatively coupled. In some embodiments, the processor  52  and the non-transitory electronic memory  54  and/or the other components are included within a single device. In other embodiments, the processor  52  and the non-transitory electronic memory  54  and/or the other components may be distributed among multiple devices that are communicatively coupled. The controller  50  may include non-transitory electronic memory  54  that stores a set of machine-readable instructions. The processor  52  may execute the machine-readable instructions stored in the non-transitory electronic memory  54 . The non-transitory electronic memory  54  may comprise RAM, ROM, flash memories, hard drives, or any device capable of storing machine-readable instructions such that the machine-readable instructions can be accessed by the processor  52 . Accordingly, the actuation system  1400  described herein may be implemented in any computer programming language, as pre-programmed hardware elements, or as a combination of hardware and software components. The non-transitory electronic memory  54  may be implemented as one memory module or a plurality of memory modules. The controller  50  may receive a current periodic actuation pressure value from the pressure sensor  80 , output an updated periodic actuation pressure value the pressure sensor  80 , and/or modify actuation of at least one of the one or more artificial muscles based upon the updated periodic actuation pressure value to maintain the consistent amount of periodic actuation pressure. The artificial muscle may be one of a plurality of artificial muscles such that adjusting the actuation of each of the plurality of muscles maintains the consistent amount of periodic actuation pressure at inner layer  30 . As discussed further with respect to  FIG. 15 , the consistent amount of periodic actuation pressure at an inner surface  32  of the inner layer  30  may be maintained based upon a feedback loop maintained by the controller  50  in coordination with one or more pressure sensors  80 . 
     In some embodiments, the non-transitory electronic memory  54  includes instructions for executing the functions of the actuation system  1400 . The instructions may include instructions for operating the child soothing device  10 , for example, instructions for actuating the one or more artificial muscles  101 , individually or collectively, and actuating the artificial muscles stacks, individually or collectively. 
     The processor  52  may be any device capable of executing machine-readable instructions. For example, the processor  52  may be an integrated circuit, a microchip, a computer, or any other computing device. The non-transitory electronic memory  54  and the processor  52  are coupled to the communication path  41  that provides signal interconnectivity between various components and/or modules of the actuation system  1400 . Accordingly, the communication path  41  may communicatively couple any number of processors with one another, and allow the modules coupled to the communication path  41  to operate in a distributed computing environment. Specifically, each of the modules may operate as a node that may send and/or receive data. As used herein, the term “communicatively coupled” means that coupled components are capable of exchanging data signals with one another such as, for example, electrical signals via conductive medium, electromagnetic signals via air, optical signals via optical waveguides, and the like. 
     As schematically depicted in  FIG. 14 , the communication path  41  communicatively couples the processor  52  and the non-transitory electronic memory  54  of the controller  50  with a plurality of other components of the actuation system  1400 . For example, the actuation system  1400  depicted in  FIG. 14  includes the processor  52  and the non-transitory electronic memory  54  communicatively coupled with the pressure sensor  80 , operating device  46 , and the power supply  48 . 
     The operating device  46  allows for a user to control operation of the artificial muscles  101  of the child soothing device  10 . In some embodiments, the operating device  46  may be a switch, toggle, button, or any combination of controls to provide user operation. The operating device  46  is coupled to the communication path  41  such that the communication path  41  communicatively couples the operating device  46  to other modules of the actuation system  1400 . The operating device  46  may provide a user interface for receiving user instructions as to a specific operating configuration of the warming element  5  and/or child soothing device  10 , such as maintaining a desired temperature of the warming element  5  and/or a periodic actuation pressure value applied to a baby  2  in a swaddle  4  or sleep sack  300  or laying upon a pillow  200  or mattress  400 . 
     The power supply  48  (e.g., battery) provides power to the one or more artificial muscles  101  of the child soothing device  10 . In some embodiments, the power supply  48  is a rechargeable direct current power source. It is to be understood that the power supply  48  may be a single power supply or battery for providing power to the one or more artificial muscles  101  of the child soothing device  10 . A power adapter (not shown) may be provided and electrically coupled via a wiring harness or the like for providing power to the one or more artificial muscles  101  of the child soothing device  10  via the power supply  48 . Indeed, the power supply  48  is a device that can receive power at one level (e.g., one voltage, power level, or current) and output power at a second level (e.g., a second voltage, power level, or current). 
     In some embodiments, the actuation system  1400  also includes a display device  42 . The display device  42  is coupled to the communication path  41  such that the communication path  41  communicatively couples the display device  42  to other modules of the actuation system  1400 . The display device  42  may be located on the child soothing device  10 , for example, as part of the onboard control unit  40 , and may output a notification in response to an actuation state of the artificial muscles  101  of the child soothing device  10  or indication of a change in the actuation state of the one or more artificial muscles  101  of the child soothing device  10 . In other embodiments, the display device  42  may be part of the user device  504  depicted in  FIG. 5 . The display device  42  may be a touchscreen that, in addition to providing optical information, detects the presence and location of a tactile input upon a surface of or adjacent to the display device  42 . Accordingly, the display device  42  may include the operating device  46  and receive mechanical input directly upon the optical output provided by the display device  42 . For example, the user  500  may be able to specify a desired periodic actuation pressure value. 
     In some embodiments, the actuation system  1400  includes network interface hardware  44  for communicatively coupling the actuation system  1400  to a portable device  70  and/or a sensor device  502  via a network  60 . The portable device  70  may correspond in some embodiments to the user device  540  in  FIG. 5 . The portable device  70  may include, without limitation, a smartphone, a tablet, a personal media player, or any other electric device that includes wireless communication functionality. It is to be appreciated that, when provided, the portable device  70  may serve to provide user commands to the controller  50 , instead of the operating device  46 . As such, a user may be able to control or set a program for controlling the artificial muscles  101  of the child soothing device  10  utilizing the controls of the operating device  46 . Thus, the artificial muscles  101  of the child soothing device  10  may be controlled remotely via the portable device  70  wirelessly communicating with the controller  50  via the network  60 . For example, the user may be able to specify a desired pressure value. The portable device  70  may also receive and display pressure readings from one or more pressure sensors  80  associated with one or more of the artificial muscles  101 . 
     In some embodiments, the sensor device  502  may be worn by a user  500  as depicted in  FIG. 5 . For example, the heartbeat or other biorhythm of the user  500  may be detected and transmitted to the onboard control unit  40 . In this example, the heartbeat can then be utilized by a periodicity parameter to control the rate of actuation/de-actuation of the artificial muscles, as further discussed in  FIG. 15 . In some embodiments, the heartbeat may be continually monitored such that the periodicity parameter governing the rate artificial muscle actuation/de-actuation may be updated in real-time or periodically based upon updated readings of the user&#39;s heartbeat. In other embodiments, the heartbeat, once measured, may serve as an unchanging periodicity parameter value for the actuation/de-actuation of the artificial muscles. 
     Referring now to  FIG. 15 , a flowchart depicts an exemplary method for the child soothing device to apply periodic pressure to a baby. At block  1500 , a pressure value may be received at the controller (or any other suitable device) from a user device (such as a smartphone by way of non-limiting example), a pressure sensor located within the child soothing device, and/or any other suitable device. For example, a user wanting to maintain a certain maximum periodic pressure applied by the child soothing device waits as the pressure sensor measures the current exerted by the child soothing device at the peak values. A periodicity value may be received at the controller (or any other suitable device) from a user sensor or any other suitable device. For example, the periodicity value may correspond to the measured heartbeat of the user as detected by the user sensor, and the pressure value may be received from a user device. 
     At block  1502 , one or more artificial muscles may be actuated such that the child soothing device applies pressure to a user such as a baby via a surface (such as a nursing pillow and/or mattress) or via a wrap-around (such as a swaddle and/or sleep sack). Continuing with this example, the user waits as the artificial muscles actuate, which increases pressure exerted by child soothing device at each full actuation (i.e., for each simulated heartbeat). At block  1504 , one or more pressure sensors may measure an amount of pressure being applied to the baby at each periodic actuation via the child soothing device. Continuing with this example, after the artificial muscles have actuated exert the proper pressure at the peak periodic actuation pressure, updated pressure measurements may be taken. Specifically, the pressure may be checked to see if the periodic actuation maximum pressure is too low or too high. The artificial muscles may also be actuated/de-actuated according to the periodicity value that is updated in real-time, periodically, or remains static. 
     At block  1506 , a determination may be made as to whether the amount of pressure applied by the child soothing device at maximum actuation during a periodic actuation differs from the received pressure value, which may be an updated periodic actuation pressure value. Continuing with this example, the user wants to maintain a consistent periodic actuation pressure applied by the child soothing device and thus waits as the pressure sensor compares the current periodic actuation pressure exerted by the child soothing device to obtain an updated pressure value. 
     If the periodic actuation pressure measured by the pressure sensor(s) differs from the received periodic actuation pressure value, then at block  1508  the actuation of the artificial muscles may be adjusted to, in turn, increase/decrease the periodic actuation pressure exerted by the child soothing device to then match the received pressure value. In some embodiments, there may be a threshold amount of difference to allow for small variations between the received periodic actuation pressure value and the measured periodic actuation pressure value. 
     Alternatively, if at block  1506  the periodic actuation pressure measured by the pressure sensor(s) matches the received periodic actuation pressure value, then at block  1510  the periodic actuation pressure amount is maintained to correspond to the received periodic actuation pressure value such that the baby experiences a consistent periodic heartbeat pressure. Updated pressure and/or periodicity values may be received at any time, which would correspond to restarting at block  1500  with the updated value(s). 
     It should now be understood that embodiments described herein are directed to child soothing devices that include one or more artificial muscles disposed under an outer layer of a soothing structure and communicatively coupled to a controller. Actuation of the one or more artificial muscles of the child soothing device applies a consistent periodic actuation pressure to simulate a heartbeat to a baby, as measured by a pressure sensor. The pressure sensor, communicatively coupled to the controller, outputs a current pressure value to the controller. 
     It is noted that the terms “substantially” and “about” may be utilized herein to represent the inherent degree of uncertainty that may be attributed to any quantitative comparison, value, measurement, or other representation. These terms are also utilized herein to represent the degree by which a quantitative representation may vary from a stated reference without resulting in a change in the basic function of the subject matter at issue. 
     While particular embodiments have been illustrated and described herein, it should be understood that various other changes and modifications may be made without departing from the scope of the claimed subject matter. Moreover, although various aspects of the claimed subject matter have been described herein, such aspects need not be utilized in combination. It is therefore intended that the appended claims cover all such changes and modifications that are within the scope of the claimed subject matter.