Source: http://www.google.com/patents/US7211937?dq=7,346,539
Timestamp: 2013-12-19 14:23:39
Document Index: 268917341

Matched Legal Cases: ['Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60']

Patent US7211937 - Electroactive polymer animated devices - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsThe present invention relates to animated devices that include one or more electroactive polymer transducers. When actuated by electrical energy, an electroactive polymer produces mechanical deflection in one or more directions. This deflection may be used to produce motion of a feature included in an...http://www.google.com/patents/US7211937?utm_source=gb-gplus-sharePatent US7211937 - Electroactive polymer animated devicesAdvanced Patent SearchPublication numberUS7211937 B2Publication typeGrantApplication numberUS 11/411,007Publication dateMay 1, 2007Filing dateApr 24, 2006Priority dateJul 20, 1999Fee statusPaidAlso published asUS6586859, US7411332, US20010036790, US20060290241, US20070222344, WO2001080284A2, WO2001080284A3, WO2001080284A9Publication number11411007, 411007, US 7211937 B2, US 7211937B2, US-B2-7211937, US7211937 B2, US7211937B2InventorsRoy D. Kornbluh, Ronald E. Pelrine, Qibing Pei, Joseph S. EckerleOriginal AssigneeSri InternationalExport CitationBiBTeX, EndNote, RefManPatent Citations (28), Non-Patent Citations (45), Referenced by (31), Classifications (16), Legal Events (5) External Links: USPTO, USPTO Assignment, EspacenetElectroactive polymer animated devicesUS 7211937 B2Abstract The present invention relates to animated devices that include one or more electroactive polymer transducers. When actuated by electrical energy, an electroactive polymer produces mechanical deflection in one or more directions. This deflection may be used to produce motion of a feature included in an animated device. Electroactive polymer transducers offer customizable shapes and deflections. Combining different ways to configure and constrain a polymer, different ways to arrange active areas on a single polymer, different animated device designs, and different polymer orientations, permits a broad range of animated devices that use an electroactive polymer transducer to produce motion. These animated devices find use in a wide range of animated device applications.
CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority under U.S.C. �120 from co-pending U.S. patent application Ser. No. 10/393,506, filed Mar. 18, 2003 and entitled, �Electroactive Polymer Devices for Moving Fluid�;
this '506 patent application is incorporated herein for all purposes and claims priority under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/365,472, by Pelrine et al., �Electroactive Polymer Devices For Moving Fluid,� filed Mar. 18, 2002 which is incorporated by reference for all purposes;
and the '506 patent application is a continuation-in-part and claims priority from U.S. patent application Ser. No. 09/792,431, now U.S. Pat. No. 6,628,040 entitled �Electroactive Polymer Thermal Electric Generators,� filed Feb. 23, 2001, which is incorporated herein by reference in its entirety for all purposes and which claims priority under 35 U.S.C. �119(e) from a) U.S. Provisional Patent Application No. 60/184,217 filed Feb. 23, 2000, naming Q. Pei et al. as inventors, and titled �Electroelastomers and Their Use For Power Generation�, which is incorporated by reference herein for all purposes and which also claims priority under 35 U.S.C. � 119(e) from b) U.S. Provisional Patent Application No. 60/190,713 filed Mar. 17, 2000, naming J. S. Eckerle et al. as inventors, and titled �Artificial Muscle Generator�, which is incorporated by reference herein for all purposes;
and the '506 patent application is a continuation-in-part and claims priority from U.S. patent application Ser. No. 10/154,449, now U.S. Pat. No. 6,891,317 entitled �Rolled Electroactive Polymers,� filed May 21, 2002, which is incorporated herein by reference in its entirety for all purposes which claims priority under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/293,003 filed on May 22, 2001, which is also incorporated by reference for all purposes;
and the '506 patent application is a continuation-in-part and claims priority from U.S. patent application Ser. No. 10/053,511, now U.S. Pat. No. 6,882,086 entitled �Variable Stiffness Electroactive Polymer Systems,� filed Jan. 16, 2002 which is incorporated herein by reference in its entirety for all purposes which claims priority a) under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/293,005 filed May 22, 2001, which is incorporated by reference herein for all purposes; and which claims priority b) under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/327,846 entitled Enhanced Multifunctional Footwear and filed Oct. 5, 2001, which is also incorporated by reference herein for all purposes;
and the '506 patent application is a continuation-in-part and claims priority from U.S. patent application Ser. No. 09/619,847, now U.S. Pat. No. 6,812,624 entitled �Improved Electroactive Polymers,� filed Jul. 20, 2000 which is incorporated herein by reference in its entirety for all purposes which claims priority a) under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/144,556 filed Jul. 20, 1999, naming R. E. Pelrine et al. as inventors, and titled �High-speed Electrically Actuated Polymers and Method of Use�, which is incorporated by reference herein for all purposes and which claims priority b) under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/153,329 filed Sep. 10, 1999, naming R. E. Pelrine et al. as inventors, and titled �Electrostrictive Polymers As Microactuators�, which is incorporated by reference herein for all purposes and which claims priority c) under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/161,325 filed Oct. 25, 1999, naming R. E. Pelrine et al. as inventors, and titled �Artificial Muscle Microactuators�, which is incorporated by reference herein for all purposes and which claims priority d) under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/181,404 filed Feb. 9, 2000, naming R. D. Kornbluh et al. as inventors, and titled �Field Actuated Elastomeric Polymers�, which is incorporated by reference herein for all purposes and which claims priority (e) under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/187,809 filed Mar. 8, 2000, naming R. E. Pelrine et al. as inventors, and titled �Polymer Actuators and Materials�, which is incorporated by reference herein for all purposes; and which claims priority f) under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/192,237 filed Mar. 27, 2000, naming R. D. Kornbluh et al. as inventors, and titled �Polymer Actuators and Materials II�, which is incorporated by reference herein for all purposes and which claims priority g) under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/184,217 filed Feb. 23, 2000, naming R. E. Pelrine et al. as inventors, and titled �Electroelastomers and their use for Power Generation�, which is incorporated by reference herein for all purposes;
and the '506 patent application is a continuation-in-part and claims priority from U.S. patent application Ser. No. 10/007,705, now U.S. Pat. No. 6,809,462 entitled �Electroactive Polymer Sensors,� filed Dec. 6, 2001, which claims priority under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/293,004 filed May 22, 2001, which is incorporated by reference herein for all purposes and which is also a continuation in part of U.S. patent application Ser. No. 09/828,496, now U.S. Pat. No. 6,586,859, which claims priority from U.S. Provisional Application No. 60/194,817 filed Apr. 5, 2000, all of which are incorporated by reference herein for all purposes;
and the '506 patent application is a continuation-in-part and claims priority from U.S. patent application Ser. No. 09/779,203, now U.S. Pat. No. 6,664,718, filed Feb. 7, 2001, by Pelrine et al., and entitled, �Monolithic Electroactive Polymers,� which claims priority under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/181,404, which is incorporated by reference for all purposes
and the '506 patent application is a continuation-in-part and claims priority from U.S. patent application Ser. No. 10/090,430, now U.S. Pat. No. 6,806,621, filed on Feb. 28, 2002, by Heim et al. and titled, �Electroactive Polymer Rotary Motors,� which claims priority under 35 U.S.C. �119(e) from U.S. Provisional Patent Application No. 60/273,108, filed Mar. 2, 2001 and titled, �Electroactive Polymer Motors,� both of which are incorporated by reference for all purposes.
FIGS. 3A�B illustrate an animatronic face in accordance with one embodiment of the present invention.
FIGS. 3C�D illustrate an animatronic eye in accordance with one embodiment of the present invention.
FIGS. 3E�F illustrate an animatronic face in accordance with another embodiment of the present invention.
FIG. 3J�L illustrate a toy bird in accordance with another embodiment of the present invention.
FIGS. 4A�4D illustrate a rolled electroactive polymer device in accordance with one embodiment of the present invention.
A straightforward electroactive polymer drive is one where the transducer acts as a linear actuator in much the same way as a conventional pneumatic or hydraulic cylinder might be employed. FIGS. 2A�2E illustrate several linear electroactive polymer actuators suitable for use with the present invention.
FIGS. 2F�G illustrate a cross-sectional side view of a monolithic diaphragm actuator 130 comprising a monolithic polymer 131 before deflection in accordance with one embodiment of the present invention. The polymer 131 is attached to a frame 132. The frame 132 includes apertures 133 a and 133 b that allow deflection of polymer portions 131 a and 131 b perpendicular to the area of the apertures 133 a and 133 b, respectively. The diaphragm device 130 comprises electrodes 134 a and 134 b attached on either side of the portion 131 a to provide a voltage difference across the portion 131 a. Electrodes 136 a and 136 b are deposited on either side of the portion 131 b to provide a voltage difference across the portion 131 b. The electrodes 134 and 136 are compliant and change shape with polymer 131 as it deflects. In the voltage-off configuration of FIG. 2F, polymer 131 is stretched and secured to frame 132 with tension to achieve pre-strain.
Although FIGS. 2A�2I illustrate several actuators suitable for use with motors of the present invention, other actuators including one or more electroactive polymers may also be used. Other exemplary actuators include bending beam actuators, diaphragm actuators and inchworm actuators are also suitable for use with the present invention. Additional exemplary linear and non-linear actuators suitable for use with the present invention are described in commonly owned U.S. patent application Ser. No. 09/619,848, which was previously incorporated by reference.
FIGS. 4A�4E show a rolled electroactive polymer device 20 in accordance with one embodiment of the present invention. The rolled electroactive polymer device may be used for actuation in EPAM devices for performing thermodynamic work on a fluid and may also act as part of a fluid conduit or other types of structures immersed in an external or internal flowfield that is used with the devices for performing thermodynamic work. The rolled electroactive polymer devices may provide linear and/or rotational/torsional motion for operating the EPAM devices. For instance, see the fan embodiment in FIG. 2H. FIG. 4A illustrates a side view of device 20. FIG. 4B illustrates an axial view of device 20 from the top end. FIG. 4C illustrates an axial view of device 20 taken through cross section A�A. FIG. 4D illustrates components of device 20 before rolling. Device 20 comprises a rolled electroactive polymer 22, spring 24, end pieces 27 and 28, and various fabrication components used to hold device 20 together.
Electroactive polymer transducers are well-suited for use in animatronic devices such as animatronic faces. FIGS. 3A�B illustrate front and back perspective views, respectively, of an animatronic face 400 in accordance with one embodiment of the present invention. The face 400 is made from a polymer mold 402 of silicone rubber and is fabricated according to conventional silicone rubber molding techniques. Attached on the inside of the mold 402 are a series of actuators 404 a�e. Each of the actuators 404 a�e comprise a transducer having an electroactive polymer 403 and electrodes attached on opposing surfaces of the electroactive polymer 403. The polymer mold 402 is flexible and changes shape with deflection of the actuators 404 a�e. The flexibility of the polymer may be controlled so that the motion occurs primarily in certain regions of interest. This control may be accomplished by molding the polymer thinner in certain areas. A relatively rigid frame with hinged joints may also be incorporated beneath the polymer to ensure that motion only occurs between specific regions of the polymer.
Actuators 404 a�e are capable of independent actuation and may be individually or collectively used to simulate motion of a human face. For example, independent actuation of actuator 404 e may be used to simulate mouth 416 movements corresponding to speech for the face 400. As electroactive polymers are capable of independent and complex time varying deflections, controlled actuation of multiple actuators 404 a�e may be used to simulate complicated motions such as those that simulate human emotion. In a specific embodiment, independent actuation of actuators 404 a�d are used to provide facial expressions that correspond emotionally to speech provided by mouth 416. For example, actuators 404 a and 404 b may both be actuated to open both eyes 406 and 408, thereby simulating surprise for face 400. The degree of surprise may be varied by differing the speed and displacement magnitude of actuation of actuators 404 a and 404 b. Eyebrows 418 may also accentuate the effect of displacement and human-like simulation provided by actuators 404 a and 404 b. Alternatively, actuators 404 c and 404 d may be simultaneously actuated to simulate a human smile. The type of smile, or degree of emotion conveyed by the smile, may be varied by differential actuation of the actuators 404 c and 404 d. As one skilled in animatronics will appreciate, controlled actuation of actuators 404 a�e may be performed in a variety of ways to convey emotion and facial expressions for face 400.
Additional humanlike motions may be applied to the face 400 using other animatronic devices used in conjunction with face 400. FIGS. 3C�D illustrate an animatronic eye 425 in accordance with one embodiment of the present invention. Eye 425 is a planar transducer having electrodes 426 patterned on opposite sides of polymer 427. Polymer 427 is attached on its perimeter to a frame 428. Frame 428 allows attachment to the inner surface of polymer 402 of face 400 in regions 424 near each eye. Eye 425 need not be flat. In another embodiment, eye 425 comprises a polymer stretched over a convex surface. The surface may be a slippery material that allows polymer 427 to slide over it. A lubricant may also be disposed between polymer 427 and the convex surface. A suitable lubricant might be a petroleum oil in the case of acrylic materials. This approach could also be used in allowing many of the facial motions described above to move over a convex surface rather than operate in at a flat plane.
FIGS. 3E�F illustrate front and back perspective views, respectively, of animatronic face 430 in accordance with another embodiment of the present invention. Face 430 comprises a monolithic transducer including polymer 432 and electrode pairs 434, 436, 438, and 442 attached to outer and inner surfaces 431 a and 431 b of polymer 432 (e.g., 434 a on inner surface 431 a and 434 b on outer surface 431 b). Thus, polymer 432 is a monolithic polymer comprising four active areas that provide independent deflections and motions for the face 430. Polymer 431 comprises silicone rubber that is molded into a shape that provides the outer aesthetic appearance for face 430. In one embodiment, polymer 432 is relatively thin and has a thickness in the range of about 0.020 to about 0.10 millimeters.
In one embodiment, polymer 432 is substantially thin and flexible, and may be attached conformably to solid structures having flat and curved surfaces as if polymer 432 is an external skin. Face 430 then takes the shape of the structure that it is fixed to. Non-fixed portions are then be capable of motion as determined by active areas arranged on polymer 432. As described above, face 430 may be partially attached to a convex surface that allows motion for features communicating with an electroactive polymer transducer. The convex surface would then allow for non-linear motion of the flexible polymer 432 about the convex surface. As illustrated in FIGS. 3E�F, electrode pairs are deposited on both sides, outward and hidden, of face 430. To hide opaque or unsightly electrode pairs on the outside and showing surface of the face 430, a cosmetic outer skin may cover the face 430. The outer cosmetic skin may be made of polyurethane, pigmented silicone rubber or natural latex rubber, for example. In another embodiment, the outer surface of polymer 432 is painted to hide the outer electrodes.
In another aspect, electroactive polymer transducers of the present invention are used in toys. FIG. 3G illustrates a top perspective view of toy dog 450 in accordance with one embodiment of the present invention. Frame 465 (FIG. 3H) provides structural support for dog 450. Skin 467 is attached to frame 465 and provides an outer cover that protects internal components and provides an aesthetic appearance. Dog 450 is capable of legged surface based locomotion and includes four leg assemblies 452 a�d powered by one or more electroactive polymer transducers.
Each transducer 455 and 459 is driven by a dc-dc converter with a maximum output of 5 kV and 500 mW of power. A dc-dc converter suitable for use with transducers 455 and 459 is model Q50 as provided by EMCO High Voltage of Sutter Creek, Calif. Actuation of transducers 455 and 459 may be initiated in a number of ways. In one embodiment, dog 450 includes a processor that coordinates actuation of transducers included in all four leg assemblies 452 a�d. A processor, such as the PIC18C family of processors as provided by Microchip Technology Inc. of Chandler, Ariz., may be suitable to control each of the transducers 455 and 459 as well as their respective dc-dc converters. The processor may be coupled to a switch or a depressible push button which the user actuates by squeezing a portion of dog 450. Dog 450 may also include a battery or other electrical storage device enclosed within frame 465 that provides electrical energy to transducers 455 and 459 and the processor.
FIGS. 3J�L illustrate top perspective and front views of a toy bird 470 in accordance with another embodiment of the present invention. Bird 470 comprises a body 472 having a neck 471 and supports a pair of legs 479. Bird 470 also comprises several bending beam actuators 280 a�c. Each bending beam actuator 280 is attached at their proximate end to body 472 and provides motion for a feature of bird 470 relative to body 472.
FIGS. 1A and 1B may be used to show one manner in which the transducer portion 10 converts mechanical energy to electrical energy and acts as a sensor. If the transducer portion 10 is mechanically stretched by external forces to a thinner, larger area shape such as that shown in FIG. 1B, and a relatively small voltage difference (less than that necessary to actuate the film to the configuration in FIG. 1B) is applied between electrodes 14 and 16, the transducer portion 10 will contract in area between the electrodes to a shape such as in FIG. 1A when the external forces are removed. Once the transducer portion 10 is stretched, the relatively small voltage difference is provided such that the resulting electrostatic forces are insufficient to balance the elastic restoring forces of the stretch. The transducer portion 10 therefore contracts, and it becomes thicker and has a smaller planar area in the plane defined by directions 18 and 19 (orthogonal to the thickness between electrodes). When polymer 12 becomes thicker, it separates electrodes 14 and 16 and their corresponding unlike charges, thus raising the electrical energy and voltage of the charge. Further, when electrodes 14 and 16 contract to a smaller area, like charges within each electrode compress, also raising the electrical energy and voltage of the charge. Thus, with different charges on electrodes 14 and 16, contraction from a shape such as that shown in FIG. 1B to one such as that shown in FIG. 1A raises the electrical energy of the charge�which may be detected and measured by a circuit in electrical communication with the electrodes. That is, mechanical deflection is being turned into electrical energy and the transducer portion 10 is acting as a mechanical deflection sensor. Sensing performance of electroactive polymer is described in further described in commonly owned U.S. Pat. No. 6,809,462, which was previously incorporated by reference for all purposes. In one embodiment, a device may be configured such that sensing may be performed simultaneously with the actuation. In this case, a small amplitude high frequency signal may be superimposed on the driving signal. Circuitry may then measure the high frequency response of the polymer as an indication of the capacitance. Such techniques are well-known to those skilled in the art.
In another embodiment, the animatronic eye of FIGS. 3C�3D is used in an optical sensor. In this case, electrode 426 has an opacity that varies with deflection. A transparent or substantially translucent polymer 427 is attached to the opacity varying electrode and deflection of the polymer 427 is used to modulate opacity of the eye. In the case of an optical switch, the opacity varying transducer interrupts a light source communicating with a light sensor. Thus, deflection of the transparent polymer 427 causes the opacity varying electrode to deflect and affect the light sensor (turn the switch on/off). In a specific embodiment, the opacity varying electrode includes carbon fibrils or carbon nanotubes that become less opaque as electrode area increases and the area fibril density decreases.
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