Patent Description:
Various amusement rides and exhibits have been created to provide guests with unique interactive, motion, and visual experiences. Such experiences may be designed to stimulate multiple senses, including touch, smell, and taste. In various rides and exhibits, guest experiences may be enhanced by employing certain interactive robotic features within the rides and exhibits. However, such robotic features may be costly and ill-suited to being incorporated into disposable and/or consumable products that guests may touch, smell, and taste.

<CIT> describes a balloon gummy which can be blown up like a balloon, and comprises: a blow opening to lead air to be blown up; and an inner wall part led from the blow opening and formed of edible film layers. The method for producing the gummy comprises: placing a first edible film on the gummy candy or granular gummy candy put on a mold; putting a small-diameter hollow tube or a stick on the film so as to project to the outside of the gummy candy; putting a second edible film on the first edible film in layers; and casting melted gummy candy dough onto the second edible film so as to completely cover all over both of the edible films followed by cooling the dough.

In one embodiment, an edible soft robot system is provided that includes at least one edible inflatable object formed at least in part from an edible material and that includes an internal compartment configured to receive a fluid and one or more sensors configured to generate sensor data indicative of a parameter of the system. The system also includes a control system coupled to the at least one edible inflatable object. The control system is configured to receive sensor data from the one or more sensors, adjust inflation of the at least one edible inflatable object by directing fluid into or out of the internal compartment based on the sensor data, and activate one or more special effects based on the sensor data.

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

It should be appreciated that, in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.

It is now recognized that various mechanical devices used in amusement park environments may lack interactive components that may physically contact guests. For example, robots may have rigid surfaces and moving joints that are not designed to operate while being physically contacted by guests. Further, many robots serve as installation pieces, and are not designed to be portable or consumable products that guests can touch or even eat. Provided herein are soft robots, e.g., pneumatic or hydraulic inflatable objects that may be employed to create dynamic movement and that are edible and/or consumable. In this manner, an amusement park or other narrative may be expanded to include interactive experiences with a taste element to expand sensory immersion. For example, edible soft robots may be capable of being actuated in conjunction with show effects such as light effects and/or sound effects to achieve complex effects that are not typically associated with food products. Edible soft robots may be coupled to control systems that facilitate actuation and any accompanying show effects to permit pre-programmed, responsive, and/or customized actuations. Such control systems may be incorporated into traditional food containers (e.g., plates, trays, cups, utensils, food packaging) to conceal control system that function to activate the edible soft robots as part of an eating experience. For example, edible soft robots may be activated to squirm in response to being touched. In an embodiment, the soft robots may be implemented in shapes or configurations that are not traditional food items or food presentations, but that may create enjoyment or enhance a narrative as part of an immersive environment. In an embodiment, the soft robots may be configured as edible wearables, toys, creatures, building materials, and the like and that actuate in a manner consistent with the desired effect. For example an edible bracelet may be presented in a display setting that permits one or more "jewels" to expand (i.e., inflate) when the packaging is handled.

Actuation is achieved by directing gas and/or liquid through a collapsible or inflatable material that is designed to be consumed by the guest. As used herein, edible soft robot systems may include balloon-like or inflatable objects with internal bladder/s or compartment/s that receive gas and/or liquid to form a discernable shape or to transition between different configurations. In this manner, soft robot systems may be used to form dynamic shapes, bodies, or structures that may be difficult to create using food materials.

<FIG> is a schematic illustration of an implementation of an environment, such as an amusement park <NUM>, that may include one or more edible soft robot systems that facilitate guest interaction with edible inflatable objects <NUM>, in accordance with present embodiments. It should be understood that the environment is by way of example, and other contexts for use in conjunction with the edible soft robot systems are also contemplated. The amusement park <NUM> may include features such as attractions or rides <NUM>, restaurants <NUM>, retail establishments <NUM>, interactive exhibits <NUM>, and automated distribution or interaction kiosks <NUM>. For example, edible inflatable objects <NUM> may be available as menu items in the restaurant <NUM>, may be available as samples or for purchase in edible inflatable object <NUM> stores, may be distributed as part of a queue for a ride or attraction <NUM>, may be interacted with using dedicated interactive surfaces in the interactive exhibit <NUM>, or may be customized, activated, or purchased at a kiosk <NUM>. The embodiments discussed in <FIG> are examples of the types of implementations that are contemplated. It should be understood that the disclosed embodiments are by way of example and that elements of the various embodiments may be combined or exchanged with one another. Further, while certain embodiments are discussed in the context of an amusement park <NUM> and interactions with amusement park guests, other contexts are also contemplated, including at-home, free-standing retail, or other uses.

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

The edible inflatable object <NUM> may be formed from molding or extruding an edible material such that one or more internal compartments are created. The internal compartment or compartments may be accessed via respective valves <NUM> (e.g., a check valve) and/or fluid ports, which may be an edible component integrally formed with or otherwise coupled to the edible inflatable object <NUM>, or may be a separate component, e.g., a rigid polymeric or metal component coupled to the edible inflatable object <NUM> via a backing or base. In embodiments, the edible inflatable object <NUM> may include one or more sealed compartments that are not accessible by any opening or valve <NUM>. The edible inflatable object <NUM> may be formed from a single edible material or from multiple different edible materials joined together or assembled in layers, depending on the desired end properties. In an embodiment, the edible inflatable object <NUM> may be manufactured as separate components that are assembled to form the edible inflatable object <NUM>. For example, a complex or relatively thin piece may be molded separately from a thicker piece to reduce errors from molding components with different material qualities within a single mold.

Further, the edible inflatable object <NUM> may be at least partially conformable such that, when deflated, the internal compartment folds or collapses in on itself in a deflated configuration. The inflatable object <NUM> may also assume one or more inflated configurations, depending on a fill level of the internal compartment. The edible inflatable object <NUM> may, in an embodiment, be formed from an elastic material that expands when inflated. Accordingly, certain portions of the edible inflatable object <NUM> may be thinner or thicker to achieve desired material properties.

In an embodiment, the edible inflatable object <NUM> may be formed from a recipe that includes cold water, granulated sugar, and corn syrup in a <NUM>:<NUM>/<NUM>: <NUM>/<NUM> ratio. The recipe also may include gelatin (e.g., in a ratio of cold water to gelatin of <NUM>: <NUM>/<NUM>) and citric acid (e.g., in a ratio of in a ratio of cold water to citric acid of <NUM>:<NUM>/<NUM>-<NUM>:<NUM>/<NUM>). The sugar and corn syrup are dissolved in water. The gelatin is added. The mixture is allowed to bloom, and is heated over a double boiler. Citric acid and desired color and flavor may be added. The mixture is poured into molds, allowed to set, and removed to form the edible inflatable object <NUM>.

The edible inflatable object <NUM> is coupled to a control system <NUM> that controls fluid delivery to one or more internal compartments of the edible inflatable object <NUM> via a fluid control system <NUM>. The fluid control system <NUM> may be coupled to a fluid source <NUM> stored in a fluid reservoir and/or may be configured to provide ambient air to the edible inflatable object <NUM>. The fluid control system <NUM> operates under a controller <NUM> that controls activation of a pump <NUM> that may pump fluid into or out of the edible inflatable object <NUM>. The fluid control system <NUM> may be communicatively coupled to one or more manifolds, one or more valves, one or more flow meters, one or more sensors, one or more conduits (e.g., tubing) and the like to direct fluid flow into and/or out of the edible inflatable object <NUM>.

The fluid control system <NUM> may be configured to switch between multiple fluid sources <NUM> based on instructions from the control system <NUM> to change a nature of the inflation of the edible inflatable object <NUM>. For example, as discussed herein, different selectable flavored liquids may be used to enhance the taste of the edible inflatable object <NUM>. In an embodiment, the edible inflatable object <NUM> may be configured to provide liquid or wind effects based on the type of fluid used for inflation.

The control system <NUM> may include communication circuitry <NUM>, a processor <NUM>, a memory <NUM>, an input/output (I/O) port <NUM>, a power supply <NUM> (e.g., wired power, a battery) and the like. The communication circuitry <NUM> may facilitate wired or wireless communication between various components of the control system <NUM> as well as with external devices <NUM>, such as user mobile devices, active wearables, or central or local controllers of the amusement park <NUM> (see <FIG>). The processor <NUM> may be any suitable type of computer processor or microprocessor capable of executing computer-executable code. The processor <NUM> may also include multiple processors that may perform the operations described herein. The memory <NUM> may also be used to store the data, various other software applications, and the like that are executed by the processor <NUM>. The memory <NUM> may represent non-transitory computer-readable media (e.g., any suitable form of memory or storage) that may store the processor-executable code used by the processor <NUM> to perform various techniques described herein. The I/O ports <NUM> may be interfaces that may couple to other peripheral components such as input devices (e.g., keyboard, mouse), sensors, input/output (I/O) modules, and the like. The power supply <NUM> may provide power to one or more components of the control system <NUM>. The components of the control system <NUM> may be integrated on or within a container <NUM> that couples to or holds the edible inflatable object <NUM>. The container <NUM> may conceal at least part of the control system <NUM> from view of the guests.

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

In an embodiment, traditional architectural/theatrical lighting may be used to light the edible inflatable object <NUM> from the outside. The colors and directions of the incoming light may interact with the colors/material properties of the edible inflatable object <NUM> surface and/or subsurface to create creative effects. For example a red-colored edible inflatable object <NUM> under green light will appear dark since all the incoming red light is absorbed. Another example is an edible inflatable object <NUM> with a surface texture similar to a diffraction grating with many tiny ridges. This may cause a diffraction of white light that bounces off of the surface. Light source/s <NUM> may be placed under a piece of edible inflatable object <NUM> to create an up-lighting effect. The lights may be embedded in a base upon which the edible inflatable object <NUM> rests. For example LEDs may be built into a table or retail packaging to light the edible inflatable object <NUM>.

The control system <NUM> may be configured to generate audio/visual (A/V) effects under control of an A/V controller <NUM>. In an embodiment, the edible inflatable object <NUM> may include valves <NUM>, resonance chambers, vibrating membranes and other traditional music generating hardware may be made from the material of the edible inflatable object <NUM>. As such the edible inflatable object <NUM> may generate its own sounds in response to targeted fluid flow (e.g., inflating and venting at appropriate times. Accordingly, the control system <NUM> may coordinate the fluid control system <NUM> to achieve desired sounds. For example, an edible inflatable object <NUM> character may "sing" different notes to create a song. In an embodiment, the edible inflatable object <NUM> may wirelessly communicate with another device via ultrasonic waves generated from internal fluid flow. This type of audio may be manipulated in real time by the user touching different parts of the edible inflatable object <NUM>. The force of the users touch cause the edible inflatable object <NUM> and/or air to vibrate differently and thus change the sounds. Traditional audio effects and music may be also used in connection with the edible inflatable object <NUM> experience. For example, the control system <NUM> may include a speaker to play music in time with the motion of the animated edible inflatable object <NUM>.

Other types of effects may include olfactory effects. Traditional smell effects may be used in conjunction with the edible inflatable object <NUM>. Smells may come up through the edible inflatable object <NUM>, come from another location, or the smell may be in the air inside the edible inflatable object <NUM> and come out when the edible inflatable object <NUM> is first deflated. In one embodiment the inside of the edible inflatable object <NUM> has a strong smell. When air enters the internal air chambers, the air picks up some of the smell. When that air leaves the edible inflatable object <NUM>, it will bring the smell with it to the guest.

Wind effects may be created by allowing controlled release of air out of a portion of the edible inflatable object's <NUM> internal compartment. This may also be turned on and off, directed, or limited based on the motion of the edible inflatable object <NUM>. This wind effect may then reach the guests skin so that they may sense it. In one embodiment the wind effect reaches other objects in the space to move them for creative effect. For example a wind effect leaves the edible inflatable object <NUM> and blows on nearby paper confetti causing it to shake. Traditional wind effects may be used in conjunction with the edible inflatable object <NUM> experience. For example, the effects control system <NUM> may control an external fan that blows onto the edible inflatable object <NUM> to augment actuation caused by inflation/deflation changes.

The control system <NUM> may also be configured to activate heating and cooling effects. Heating and cooling effects may be applied to the edible inflatable object <NUM> via a temperature controller <NUM>. This temperature change may have mechanical and creative effects on the edible inflatable object <NUM>. For example, the edible inflatable object <NUM> may be used as a game piece (e.g., in an interactive exhibit <NUM>, see <FIG>), and a portion of the edible inflatable object <NUM> may be melted at a moment in a game experience when the player loses. In an embodiment, the edible inflatable object <NUM> may be cooled when not in use and not activated (but still on display) to retain shape in the atmospheric heat. Upon activation or triggering of actuation, the edible inflatable object <NUM> may be heated to increase flexibility and facilitate smooth actuation.

In one embodiment, the edible inflatable object's <NUM> temperature is changed by way of heating or cooling the air before it is moved into the internal compartment inside the edible inflatable object <NUM>. This may allow for location specific heating/cooling based on which internal compartments are used. In one embodiment the edible inflatable object's <NUM> temperature is changed via a heating/cooling element in contact with the edible inflatable object <NUM>. This contact may be heat transfer from a surface that the edible inflatable object <NUM> is resting on, built into an air barb that is inside the edible inflatable object <NUM>, or some other position on the edible inflatable object <NUM> surface. In one embodiment the edible inflatable object <NUM> is heated remotely from the outside. For example a hot air jet located above the edible inflatable object <NUM> may heat the outside surface of the edible inflatable object <NUM>.

The edible inflatable object <NUM> may generate effects using liquid within the internal compartment/s. In one example, water may be sprayed out from the edible inflatable object <NUM>. This water may be stored inside the edible inflatable object <NUM> or may be pumped into the edible inflatable object <NUM> by way of a tube connection. The water may be colored, flavored or otherwise customized to match the theming needs. For example "blood" spraying out of a heart. For example, the edible inflatable object <NUM> may include one or more unidirectional valves that release the water once the pressure inside the internal compartment reaches a threshold. The water effect may be realized by continuing to increase the pressure in the internal compartment by continuing fluid flow into the internal compartment (under control of the fluid control system <NUM>) until the pressure release valves are opened.

Water or liquid inside the edible inflatable object <NUM> may be used to create effects whereby the edible inflatable object <NUM> dissolves from the inside. Dissolving effects may also be created with water or other liquid running across the outside surfaces of the edible inflatable object <NUM>. Water may be used for visual effect inside chambers of the edible inflatable object <NUM>. This might take the form of clear edible inflatable object <NUM> with colored water moving on the inside. Traditional water effects may be used in conjunction with the edible inflatable object <NUM> experience. For example a nozzle (not mounted to the edible inflatable object <NUM>) may spray the guest with water at a particular moment during the experience.

The control system <NUM> may be configured to generate haptic effects by actuating the edible inflatable object <NUM> via air inflation and deflation such that the edible inflatable object <NUM> itself functions as a haptic device. Additional contemplated effects include atmospheric effects (such as fog machines) or projection effects. Projection mapping effects may be used on both the inside and outside of the edible inflatable object <NUM> surface in conjunction with the edible inflatable object <NUM>. The projections may update in real time to match the state/pose of the edible inflatable object <NUM>. Video backdrops may be used in conjunction with the edible inflatable object <NUM> experience, and the video screens may be located under the edible inflatable object <NUM> or may be positioned to be viewed through the edible inflatable object <NUM>. Augmented reality and virtual reality devices may be used to enhance the visuals surrounding the edible inflatable object <NUM> experience. The visuals may be updated in real time to match the state of the edible inflatable object <NUM>. The edible inflatable object <NUM> may also be updated in real time to match the state of the visuals.

As provided herein, the fluid control system <NUM> and/or the effects control system <NUM> may be activated in response to sensed parameters relating to the system <NUM>, such as proximity of a user or other edible inflatable objects <NUM>, temperature of the system <NUM> or the edible inflatable object <NUM>, pressure on the edible inflatable object <NUM>, and/or contact with the edible inflatable object <NUM>. That is, one or more of inflation, deflation, and effect activation may be responsive to sensor data generated by one or more sensors <NUM>. In an embodiment, the sensor <NUM> may be a capacitive touch sensor attached to the edible inflatable object <NUM> such that the sensor may detect the edible inflatable object <NUM> being touched. For example, the control system <NUM> may detect guest's proximity to/touching of the edible inflatable object <NUM>, and this may be used as input to trigger actuation. In addition, this may be used to trigger association of the edible inflatable object <NUM> with an individual guest, e.g., via triggering the communication circuitry <NUM> to communicate with a guest device. The control system <NUM> may detect proximity of the edible inflatable object <NUM> to other edible inflatable objects <NUM> or the physical connection points. This may be useful for experiences with more than one edible inflatable object <NUM> interacting with one another. The control system <NUM> may detect if the edible inflatable object <NUM> is attached to the control system correctly.

The sensor <NUM> may be a resistive touch sensor coupled to the edible inflatable object <NUM> such that the sensor may detect parts of the edible inflatable object <NUM> touching other parts of the same edible inflatable object <NUM> or to detect if the edible inflatable object <NUM> is attached to the control system correctly. The sensor <NUM> may detect if another object (part of the electrical circuit) is touching the edible inflatable object <NUM> (such as a stylus or knife). Additional contemplated sensors <NUM> include optical sensors that sense light through edible inflatable object <NUM>, laser range finder, IR distance sensor, or cameras. The sensor <NUM> may be a pressure sensor coupled to the edible inflatable object <NUM> or to an air tube attached to the edible inflatable object <NUM>. The sensor <NUM> may then measure the pressure inside the edible inflatable object <NUM>. Since air pressure is based on the chamber or compartment volume, the amount of air inside the sensor may be used for sensing inflow/outflow of air as well as compression/expansion of the chamber.

In an embodiment, the edible inflatable object <NUM> may be formed into an audio sensor via a membrane, e.g., a wall of the edible inflatable object <NUM>, that vibrates due to sound waves traveling through the air. This motion may then be detected in the manner of a microphone. For example a magnet may be embedded in, printed on, slotted into, or connected on the membrane. The motion of the magnet would then be picked up by wire coils. In another example, a vibration source (such as a speaker) and a sensor (such as a microphone) are both attached to the edible inflatable object <NUM>. The shape, state, pose, and touched objects of the edible inflatable object <NUM> effect how the vibrations change between the source and the sensor. Thus information about the shape, state, pose, and touched objects may be deduced by analyzing the sensor data. Due to the shape-changing nature of the edible inflatable object <NUM>, a calibration process may be used to generate base line readings in different states.

Multiple sensors may be coupled to the edible inflatable object <NUM>. Sections of conductive and non-conductive material of the edible inflatable object <NUM> may be used to create separate circuit sections inside a single piece of edible inflatable object <NUM>. This allows for more than one electrical sensor to be operational at the same time on the edible inflatable object <NUM>. Time slicing (having different sensors take turns) may allow more than one sensor to operate at the same time. Additional sensors <NUM> may include buttons, cameras, microphones, readers, or a skeletal tracker.

It should be noted that the components described above with regard to the control system <NUM> are exemplary components and the control system <NUM> may include additional or fewer components as shown. Further, certain components of the control system <NUM> may be integral with or removable from the control system <NUM>.

With the foregoing in mind, <FIG> illustrates an example flow chart of a method <NUM> for controlling the edible soft robot system <NUM> based on sensor data. At block <NUM>, the control system <NUM> may receive a set of data from one or more sensors <NUM>. The data may be proximity data, pressure data, audio data, etc. Based on the sensor data, the control system <NUM> may adjust the inflation of one or more internal compartments of the edible inflatable object <NUM> at block <NUM>. In addition, the control system <NUM> may activate one or more special effects based on the sensor data at block <NUM>. In a specific example, based on proximity of a customer in a store, the control system <NUM> may activate cycles of inflation/deflation in a chamber of the edible inflatable object <NUM> to create an animation effect.

The activation may involve pre-programmed animations (e.g., actuation of the edible inflatable object <NUM>) using animation tools (such as key frames, graph curves, etc.) to control actuation of the edible inflatable object <NUM> and coordinated special effects. For example, the pre-programmed animation may include an ordered cycle of inflations and deflations to preset pressures within the internal compartment/s to achieve desired configurations. The method <NUM> may access the pre-programmed animation from the memory <NUM> and execute processor-based instructions to the fluid control system <NUM> and the effects control system <NUM>.

In an embodiment, the edible inflatable object <NUM> positions (physical) are recorded ahead of time and then played back. Sensors <NUM> are used to determine the physical location of the edible inflatable object <NUM> is at the time of recording. Using sensors <NUM> coupled to the edible inflatable object <NUM>, the guest may interact with the logic controlling the edible inflatable object <NUM> and special effect activation. In an embodiment, a video game engine may be used to drive the actuation based on game logic, real time physics simulations and/or networked multiplayer, etc. The system may use input such as live data feeds that include time of day, weather data, stock data, or profile information about the guest(s) viewing/interacting with the edible inflatable object <NUM> to influence the actuation and/or to select a pre-programmed actuation.

The edible inflatable object <NUM> may itself drive the actuation. For example using a set of valves <NUM> made from soft edible inflatable object <NUM>, a Turing complete computer may be built. Alternatively a simpler computational device may be used for simple logic and animation functions in a manner similar to microfluidic logic. Using a data storage system such as provided herein, the edible inflatable object <NUM> has animation/logical data information directly stored as part of the edible inflatable object <NUM> itself. When the edible inflatable object <NUM> is attached to an external system, the data may be read and the animation or logical data (e.g., computer code) may be executed. In an embodiment, sections of the edible inflatable object <NUM> may have different properties that allow storage of data, including color, height/ wall thickness, and density. When the edible inflatable object <NUM> is inflated the thinner sections will expand more than the thicker sections, offering one way to read this data. Additional integral data storage implementations include electrical conductivity of the edible inflatable object <NUM>, electrical capacitance of the edible inflatable object <NUM>, integral valves in the edible inflatable object <NUM> that are blocked or open by another object, chambers in the edible inflatable object <NUM> with check valves at the opening (also made from edible inflatable object <NUM>) that may stay inflated or deflated, flip flop valves made from edible inflatable object <NUM>. The disclosed embodiments provide the advantage of providing data storage directly coupled the edible inflatable object <NUM> and that is also edible (e.g., that does not utilize inedible data storage formats such as metal antennae). The edible inflatable object <NUM> may be actuated using punch card instructions that, when inserted into an opening in the container <NUM>, selectively permit air flow from one side of the card to the other, such that only where there is a hole in the card may the air flow through. The edible inflatable object <NUM> is positioned on the far side of the card and is inflated based on the card hole positions without the data ever being digitized. By sliding the card forward into the container <NUM>, the edible inflatable object <NUM> may be animated. Other potential data storage styles may include printing bar codes, QR codes, text, images, or color codes on the surface of the edible inflatable object <NUM> using edible ink. The data may be read using optical readers and then fed into the control system <NUM> to control the fluid control system <NUM> and/or the effects control system <NUM> based on the data encoded.

<FIG> are examples of arrangements of arrangements of the edible soft robot system <NUM> or individual components thereof. It should be understood that the disclosed embodiments may include all or some of the disclosed elements of the edible soft robot system <NUM> of <FIG>. Certain disclosed embodiments of the edible soft robot system <NUM> may be implemented as packaging or display systems for the edible inflatable object <NUM>. Accordingly, the container <NUM> may be configured as a packaging assembly, a box, a tray, a table, a counter, tableware, a display case, etc..

<FIG> is a schematic illustration of a cross-section or cutaway of counter or table-top style arrangement of the edible soft robot system <NUM> that may be suitable for a retail or restaurant display or as retail packaging. Various components of the control system <NUM> are positioned under a surface <NUM> of the container <NUM>, implemented here as a counter, display case, or table. The edible inflatable object <NUM> may be reversibly or removably coupled to the surface <NUM> via a port <NUM>. That is, one or more ports <NUM> formed in the edible inflatable object <NUM> allow air or other fluid to flow from a fluid conduit <NUM> extending through the surface <NUM> and between the pumps of the fluid control system <NUM> and into an internal compartment <NUM> of the edible inflatable object <NUM>. The port <NUM> may extend from a exterior surface <NUM> of the edible inflatable object <NUM> to the internal compartment <NUM> to fluidically couple the fluid conduit <NUM> to the internal compartment <NUM>.

The edible inflatable object <NUM> is positioned to align with the fluid conduit <NUM> in or on the container <NUM>. Special effects, such as up lighting <NUM>, may also be located in or under the counter surface <NUM>. As disclosed herein, the show/interactive experience may include effects and actuation of the edible inflatable object <NUM> through a series of inflation/deflation events. Once the show/interactive experience is finished, the edible inflatable object <NUM> may be removed from the counter surface <NUM> (e.g., removed from a barb or protrusion formed by the fluid conduit and inserted within the port <NUM>) and eaten. The container <NUM> may be retained and subsequently reloaded with fresh edible inflatable objects <NUM>.

<FIG> is a schematic illustration of a cross-section of a package or box-style arrangement of the edible soft robot system <NUM>. Such an arrangement may be portable, and may be part of retail packaging. The control system <NUM> is located inside the container <NUM>, which may be a box or a portable device such as a tray. The container <NUM> may serve as a retail display and may include a transparent window portion <NUM> that permits viewing of the edible inflatable object <NUM>. In one embodiment, the edible inflatable object <NUM> is on display inside the container <NUM> before it is sold. After the edible inflatable object <NUM> is sold the guest may take the container <NUM> with them and continue watching/interacting with the edible inflatable object <NUM> until they are ready to remove it from the box and eat it. The container <NUM> may have a user input device (e.g., a button) to trigger activation of the actuation and any special effects. In one embodiment the container <NUM> is a tray that may be carried by a waiter. The waiter may bring the tray with the edible inflatable object <NUM> attached to show the edible inflatable object <NUM>, which may be actively actuating, to show to the guests before it is removed by the guests to be eaten. In a portable arrangement the container <NUM> may not include an electrical control system such as a pump, but instead may utilize a portable power storage device such as a compressed air tank. This may allow the boxes to be smaller and cheaper. This tank may be located inside the actual box, but in the case of a waiter with a tray, the tank may be located on the waiter's body (for example in a backpack). The fluid conduit <NUM> may transmit air from the tank to the container <NUM>.

In an embodiment, the edible inflatable object <NUM> can be used with the container <NUM> one or a limited number of times using stored energy within the edible inflatable object <NUM> itself and/or energy stored within the container <NUM>. For example, an effect of the edible inflatable object <NUM> may be powered by the energy of fluid stored within a compartment of the edible inflatable object <NUM>, an air bladder of the container <NUM>, a coiled spring of the container <NUM>, with potential energy stored by elastic material from which the edible inflatable object <NUM> is formed (e.g., stored energy via winding or stretching elastic material), or other one or limited capacity effects. However, the system <NUM> may permit a manual reset of the effect so that the effect may be viewed multiple times. In one example, an air bladder of the container <NUM> may be manually refilled or a spring may be pressed back into an energy-storing position. Further, if the effect is mediated by a release of air or fluid from a compartment of the edible inflatable object <NUM>, refill objects <NUM> may be purchased and used in conjunction with the container <NUM>.

<FIG> is a schematic illustration of a portable container <NUM> including the edible soft robot system <NUM> and implemented as an aquarium. The edible inflatable objects <NUM> are shaped like aquatic creatures, and are configured to actuate under control of the control system <NUM>. The control system <NUM> may be concealed within the rocks or decorative features of the container <NUM>. The edible inflatable objects <NUM> are coupled to a fluid source or are configured to receive ambient air via fluid conduits <NUM> (see <FIG>). In an embodiment, the fluid conduit <NUM> may have separate outlets for separate internal compartments <NUM> to permit more granular control of actuation. For example, an octopus-shaped creature may have separate internal compartments <NUM> for each tentacle. In an embodiment, after the edible inflatable objects <NUM> are removed and consumed, refills may be obtained and connected to the control system <NUM> to permit the user to continue to enjoy additional iterations of the animation in the container <NUM>. Accordingly, the fluid conduits may have universal connectors that couple to compatible edible inflatable objects <NUM>.

<FIG> are schematic illustrations of a cross-section of a console-style arrangement of the edible soft robot system <NUM> in which the control system <NUM> is enclosed in a console such as a kiosk or home video game console. The console may be capable of working with multiple types of edible inflatable objects <NUM> to create different shows/interactive experiences. The edible inflatable object <NUM> is connected to the console (possibly by placing it on the top surface). This connection may include any actuation connections, sensors, or show effects that are coupled to the edible inflatable object <NUM> to function. The console may automatically detect a type of edible inflatable object <NUM> connected, where the connection points are, and how many pieces of edible inflatable object <NUM> are attached. Alternatively, the user may provide some or all of this information manually. Once the edible inflatable object <NUM> has been connected, the console is able to execute a show/interactive experience compatible with the edible inflatable object <NUM> that has been connected. Multiple pieces of edible inflatable object <NUM> may be connected to the console at the same time, allowing the pieces of edible inflatable object <NUM> to interact with each other during the experience. Show effects such as lighting, sounds, and/or video may be incorporated into the console to enhance the experiences. In the illustrated embodiment of <FIG>, the console may receive a first type of edible inflatable object <NUM>, and may activate a first animation pattern to cause the first type of edible inflatable object <NUM> to achieve a first configuration <NUM> based on the detected type, as well as any associated media displayed on the display <NUM>. The console may also receive a different second type of edible inflatable object <NUM>, as shown in <FIG>, and may activate a second animation pattern to cause the second type of edible inflatable object <NUM> to achieve a second configuration <NUM> based on the detected type, as well as any associated media displayed on the display <NUM>. The animation is aligned to the object type such that the fill or inflation levels of the internal compartments <NUM> of the respective object types and/or the flow rate through the fluid conduits <NUM> are selected to achieve the desired configuration or configurations associated with each animation.

In a theme park context the console may be implemented as a kiosk station (e.g., kiosk <NUM>, see <FIG>) located within the park. Guests purchase a piece of edible inflatable object <NUM> or a set from a store and bring them to each kiosk, connect them to the kiosk, experience a unique show/interactive based on the kiosk location, the type of edible inflatable object <NUM> attached, and/or guest profile information (which may be provided from a mobile device operating a dedicated application), such as what other stations the guest has visited.

In a home context the console style may take a form similar to a home video game console. Guests may purchase experiences in the form of pieces or sets of edible inflatable object <NUM>. They may do this online, in stores, or exclusively from a theme park, where the edible inflatable object <NUM> may have also been activated in one or more experience. After bringing their edible inflatable object <NUM> home, the guests may attach the edible inflatable object <NUM> to the console to activate it and start a compatible experience.

<FIG> is a schematic illustration of an interactive surface <NUM> that may be part of the edible soft robot system <NUM> that is part of an interactive experience or exhibit. The surface <NUM> is covered with an array of different types of connectors and effects including air flow input/output conduits <NUM>, electrical contacts <NUM>, lights <NUM>, and may include other show effects and sensors. These elements are arrayed such that an individual edible inflatable object <NUM> may be placed at any location on the surface <NUM> and will directly touch at least a minimum number of connections for the edible inflatable object <NUM> to operate. In an embodiment, the minimum connection between the interactive surface <NUM> and the edible inflatable object <NUM> is achieved when the edible inflatable object <NUM> is directly touching at least one array element, at least two array elements, or at least three array elements. The interactive surface <NUM> may be arranged such that certain adjacent elements are different from one another to promote combined actuation/special effects when the edible inflatable object <NUM> is touching multiple elements. Once the edible inflatable object <NUM> has been activated, the array may move air within and/or around the edible inflatable object <NUM> to move the edible inflatable object <NUM> (or cause the edible inflatable object <NUM> to move itself) from one array of the surface <NUM> to another. As the edible inflatable object <NUM> moves the connections it is attached to will change. The control systems may only activate the elements that are detected to be in proximity to, or touching the edible inflatable object <NUM>. Multiple pieces of edible inflatable object <NUM> may be placed on the surface <NUM> at the same time and controlled separately. The surface <NUM> may incorporate show effects, sensing systems, and interactivity. The surface <NUM> may also be used as a component of the other presentation arrangements as disclosed herein. An advantage of the surface <NUM> is that the design of the control system is more flexible and thus may be compatible with multiple types of edible inflatable object <NUM>. Additionally, the surface <NUM> allows for multiple edible inflatable object <NUM> pieces to move around on a surface without a tether or a predefined path. The surface <NUM> allows for placement without complex coupling to the control system <NUM> or alignment steps. That is, the surface <NUM> may be self-aligning with the edible inflatable object <NUM> to permit coupling to the control system <NUM>. To facilitate such flexible positioning, the edible inflatable objects <NUM> may be implemented with tapering valves that are relatively larger at an exterior surface of the edible inflatable object <NUM> and that narrow into the internal compartment <NUM>. The surface <NUM> may be part of an interactive exhibit or game (e.g., interactive exhibit <NUM>, see <FIG>) to permit users to move their pieces along the surface.

<FIG> shows a cross-section of an implementation of the edible inflatable object <NUM> that forms an improved seal with contact surfaces (e.g., as in <FIG>, <FIG>) that facilitate coupling to the control system <NUM>. The depicted contact surface <NUM> may include a plurality of through passageways that accommodate respective fluid conduits <NUM>. An integral gasket <NUM> of the edible inflatable object <NUM> is positioned about an internal compartment <NUM> that receives fluid from and vents via a fluid conduit <NUM>10a. The gasket <NUM> may include a groove or depression that aligns with a fluid conduit 110b. The gasket enhances sealing by being drawn down when the fluid conduit 110b draws a vacuum. This may be in concert with inflation and/or deflation of the internal compartment <NUM> via the fluid conduit 110a.

The surface <NUM> may also include heating elements that melt the gasket <NUM> into the surface <NUM> to enhance the seal. The seal may be broken upon removal of the edible inflatable object <NUM> for consumption. The gasket may be formed from a different (e.g. stiffer) material that the other portions of the edible inflatable object <NUM>, or may be differently processed (e.g., cross-linking) to enhance sealing properties.

<FIG> is a schematic illustration of a cross-section and detail view of a tether <NUM> that couples to the edible inflatable object <NUM> and that facilitates fluid flow and show effects. The tether <NUM> couples the edible inflatable object <NUM> to the control system <NUM>, which is located out of view of the guest, for example behind a counter or wall, or in a cabinet. The tether <NUM> may couple to the edible inflatable object <NUM> via mechanical methods (such as a barb) or via another method such as vacuumed seal(s), chemical bond, food safe adhesive, or a sticky nature of the edible inflatable object <NUM>. The tether <NUM> may include one or more fluid conduits <NUM> within a housing <NUM> for moving air (or other fluids) to and from the internal compartment <NUM> of the edible inflatable object <NUM> to actuate the edible inflatable object <NUM>. Lighting effects may be generated by way of a light source <NUM> in a tip of the tether <NUM> or a light source <NUM> at a base of the tether <NUM> whose light <NUM> is internally reflected using reflective material <NUM> along the length of the tether and thus illuminating the edible inflatable object <NUM>. The tether <NUM> may also provide electrical connections and sensing (e.g., via sensing wires <NUM>) from the control system <NUM> to the edible inflatable object <NUM> and back. These connections may be used to power electrical components for show effects inside the edible inflatable object <NUM> as well as for sensing. Once the show/interactive experience is over the edible inflatable object <NUM> may be removed from the tether <NUM> and eaten. The tether <NUM> may be detachable from the control system <NUM>. The tethers <NUM> may be washable or disposable. The tether <NUM> may be attached to the edible inflatable object <NUM> during manufacturing, when the edible inflatable object <NUM> is placed on display in the shop, when the edible inflatable object <NUM> is purchased, or when the edible inflatable object <NUM> is ready to be used (e.g., animated).

<FIG> is a schematic illustration of a cross-section of an edible soft robot system <NUM> implemented as part of a food container, e.g., an ice cream cone style container. For example, the control system <NUM> and/or the special effect control system <NUM>, and associated components, such as the power supply <NUM>, the fluid source <NUM> are located in the container <NUM>. The container <NUM> is not edible and is configured as a hand held device similar in shape and size to an ice cream cone. The edible inflatable object <NUM> is attached to the top of the cone and coupled to the container <NUM> via a fluid conduit <NUM>. This attachment allows the control systems to actuate the edible inflatable object <NUM> as well as other effects. Sensor/s <NUM> are located in the cone and extend within the edible inflatable object <NUM> to allow the control system <NUM>, including the effect control system <NUM>, to detect how and/or when the guest is interacting with the edible inflatable object <NUM> and the cone. The control system <NUM> may generate instructions to actuate the edible inflatable object <NUM> in response to sensed actions such as licking and biting the edible inflatable object <NUM>. This creates an interactive experience while the edible inflatable object <NUM> is being eaten. In an embodiment, sensed contact may cause deflation from a default inflated state such that the edible inflatable object <NUM> moves away from the user during an eating attempt. Accordingly, the guest eats the edible inflatable object <NUM> while it is still connected to the control system <NUM>.

<FIG> is a schematic illustration of an edible soft robot system implemented using a sealed fluid volume transfer. That is, additionally or alternatively to embodiments in which fluid flows into and out of the edible inflatable object <NUM> via air pumps, valves, or pressurized air tanks, the edible inflatable object <NUM> may also include one or more coupled bladders <NUM> that may be manually compressed and/or released by a user. When the control bladders <NUM> are compressed, the edible inflatable object <NUM> inflates. Conversely, fluid may be pushed from the edible inflatable object <NUM> back into the control bladder/s <NUM>. The control bladders <NUM> may formed from the material of the edible inflatable object <NUM> or may be non-edible. The control bladders <NUM> may be compressed/stretched by the user, a puppeteer, or an arm of a robotic system. The control bladders <NUM> may be attached to the edible inflatable object <NUM> via fluid conduits <NUM> during manufacturing, when the edible inflatable object <NUM> is placed on display, when the edible inflatable object <NUM> is purchased, or when the edible inflatable object <NUM> is ready to be used (e.g., animated). In the depicted embodiment, separate control bladders 180a, 180b may control different actuatable elements of the edible inflatable object <NUM>. For example, the control bladder 180a is coupled to an internal compartment 112a corresponding to the creature eyes (e.g., to cause bulging when inflated) while the control bladder 180b is coupled to an internal compartment 112b corresponding to the creature body.

<FIG> is a schematic illustration of the edible soft robot system <NUM> incorporated into a container <NUM> configured as a vacuum chamber. The chamber is capable of both positive and negative pressure. Here, the edible inflatable object <NUM> may not include any holes or valves to permit access to the internal compartments of edible inflatable object <NUM>. Instead, when the pressure in an interior space <NUM> in the chamber changes, the edible inflatable object <NUM> expands or contracts because of the difference in pressure between the internal compartment <NUM> of the edible inflatable object <NUM> and the interior space <NUM> of the container <NUM> that surrounds the edible inflatable object <NUM>. A benefit of the depicted embodiment is that the edible inflatable object <NUM> is not attached or coupled to external structures, e.g., the vacuum chamber may be used in implementations in which free roaming of the edible inflatable object <NUM> is desirable. In the depicted embodiment, the pressure in the interior space <NUM> may be adjusted by the control system <NUM>, which may add or remove fluid via the conduit <NUM> coupled to the interior space <NUM>.

Further, the edible inflatable object <NUM> may have a certain amount of energy stored within that permits the visible actuation within the chamber while the internal compartment <NUM> is sealed. Eventual loosening of elasticity of the edible inflatable object <NUM> or degradation of the seal to the internal compartment <NUM> over time, may decrease the visible actuation effects. However, the edible inflatable object <NUM> may also have a one-way valve that permits the internal compartment to be manually refilled with fluid such that the container can be used in conjunction with the edible inflatable object <NUM> multiple times. In another embodiment, a user may purchase new edible inflatable objects <NUM> for use with the container <NUM>.

<FIG> is a schematic illustration showing a cross-section of a customizable implementation of the edible inflatable object <NUM> in which guests are able to provide user input to the control system <NUM> to make selections about the appearance and/or flavor profile of the custom edible inflatable object <NUM>. In an embodiment, based on the input, a custom mold is made on demand (e.g. 3D printing) or existing modular molds are customized and combined. The edible inflatable object <NUM> is poured into the molds and allowed to set, and the guest is given the edible inflatable object <NUM> when ready. In one embodiment, the modular pieces <NUM>, <NUM> of edible inflatable object <NUM> are pre-made and bonded to each other using an edible adhesive or bonding layer and selected based on guest input. This has the advantage of minimizing the time from guest creation to the edible inflatable object <NUM> being finished. In the depicted embodiment, each modular piece <NUM>, <NUM> has a respective internal compartment 112a, 112b. When the first modular piece <NUM> is adhered to the second modular piece <NUM>, the first internal compartment is fluidically accessible via the fluid conduit 110a and sealed from or separated from the second internal compartment 112b, which is fluidically accessible via the fluid conduit 110b. Accordingly, the modular pieces may include pieces that, when coupled, are aligned to permit desired access by the fluid control system <NUM> via coupled fluid conduits <NUM>. In another embodiment, the edible inflatable object <NUM> itself may be 3D printed on demand. Customization options may include color, flavor, filling, surface texture, decorative shape, mechanical shape (which influences how the edible inflatable object <NUM> moves when actuated), internal compartment filling, and/or customized content such as name imprint on a surface.

<FIG> is a schematic illustration of a cross-section of an arrangement of the edible soft robot system <NUM> that incorporates a tray <NUM> and that may be suitable for a retail or restaurant display. The tray <NUM> facilitates rapid replacing of candies on a countertop, as is generally involved in food service and sale applications on a large quantity scale.

In the depicted arrangement, the tray <NUM> may be removable to quickly replenish a supply of edible inflatable objects <NUM> on a replacement tray <NUM>. The tray <NUM> may be configured to hold the edible inflatable object /s <NUM> while also aligning with more complex components of a cart or table to facilitate fluid delivery to the edible inflatable object <NUM> through the tray. The tray <NUM> may serve as an interface to various ports or openings in fluid delivery systems while also isolating the edible inflatable objects <NUM> from fluid delivery machinery that is reused over time and with various trays <NUM>. In this manner, the edible inflatable objects <NUM> may remain generally fresh and separated from the machinery, and the more costly fluid delivery systems are also not spoiled by contact with the edible inflatable objects <NUM>. While the illustrated example shows a single edible inflatable object <NUM>, it should be understood that the system <NUM> may include multiple edible inflatable objects <NUM> on the tray <NUM>.

A port or recess <NUM> (e.g., a dome-shaped portion) of the edible inflatable object <NUM> is positioned on a top surface <NUM> of the tray <NUM> and covering a through passage <NUM> of the tray <NUM>. As shown, the recess <NUM> is coupled to the top surface <NUM> to at least partially seal around the through passage <NUM>. The tray <NUM> is removably coupled to a counter <NUM>, which may be part of a display arrangement, table, or moving cart (e.g., a buffet cart). The illustrated arrangement may include various fluid delivery, power, and control components as disclosed herein that are generally located out of sight of the user beneath the counter <NUM>. In this manner, the servers may remove and replace the trays <NUM> without the machinery being visible to the user during the replacement step.

Further, to assist with rapid replacement of the trays <NUM> on the counter <NUM>, the tray <NUM> and the counter <NUM> may have complementary mating features to facilitate alignment of the tray <NUM> with the counter <NUM>. By way of example, the tray <NUM> may include a recess <NUM> that reversibly mates with a protrusion <NUM> extending from a counter surface <NUM>. The alignment of the tray <NUM> with the counter <NUM> aligns the through passage <NUM> with a grommet <NUM> coupled to the counter <NUM> and extending through an aperture in the counter <NUM>. A grommet passage <NUM> is fluidically coupled to a fluid source <NUM>. In the depicted example, the fluid source <NUM> is a bladder or dropper-type assembly. However, other arrangements as disclosed herein are also contemplated. As discussed, various components of the system <NUM> are positioned under the counter <NUM>, including a motor <NUM> that operates to cause fluid to flow from the fluid source <NUM> to the recess <NUM>. The grommet <NUM> seals the tray <NUM> to align the through passage <NUM> and the grommet passage <NUM> such that the recess <NUM> of the edible inflatable object <NUM> and the fluid source <NUM> are fluidically coupled. The through passage <NUM> and the grommet passage <NUM> may have approximately a same inner diameter. In an embodiment, the grommet passage <NUM> may have a larger inner diameter than the through passage <NUM>.

When the tray <NUM> is mated to the counter <NUM> via the mating features, the grommet <NUM> generally acts to fluidically couple the edible inflatable object <NUM> and the fluid source <NUM>. The disclosed arrangement operates such that aligning trays <NUM> on the counter <NUM> aligns the various through passages <NUM> and the grommet passages <NUM> to seals the airflow path for edible inflatable objects <NUM>. Further, removal of an individual edible inflatable object <NUM> from the tray <NUM> does not affect the seals of remaining edible inflatable objects <NUM> on the tray <NUM>, because respective grommets <NUM> retain the seals for those remaining edible inflatable objects <NUM>. The edible inflatable objects <NUM> may sealed to the removable tray using molten candy or other food-safe adhesive while the tray <NUM> is separate from the counter <NUM>, allowing for refilling the tray with candy while away from the air delivery system.

In an embodiment, the trays <NUM> may be part of a moving conveyor belt to move edible inflatable objects <NUM> into position relative to a fluid delivery system. The conveyor may be controlled to stop in correctly aligned positions relative to the fluid delivery system. Further, the grommets <NUM> may be shaped (e.g., elongated) to create a seal along the direction of motion, allowing the edible inflatable objects <NUM> to actuate while the conveyor is moving.

<FIG> shows a perspective view of the grommet <NUM>. The grommet <NUM> may be configured to include a flange <NUM> defining a sealing portion <NUM> that is wider than the grommet passage <NUM> and the through passage <NUM> to permit certain tolerance in alignment of the tray <NUM> and the counter <NUM>. That is, the flange <NUM> and the sealing portion <NUM> expands the diameter of the sealed air channel of the grommet passage <NUM> and the through passage <NUM>, allowing the placement of the removable tray <NUM> to be imprecise, which improves speed of placing the tray on the counter <NUM>. The grommet <NUM> may be formed from rubber, silicone, etc., and is designed to fill a corresponding passage in the counter <NUM> and raise the airflow path above the counter <NUM>, such that the removable tray <NUM> can rest evenly on the grommets <NUM> and provide an airflow seal to all edible inflatable objects <NUM> on the tray <NUM>. The grommet <NUM> and/or the counter <NUM> may be clear or partially translucent to allow lighting systems to pass light through to the edible inflatable objects <NUM>.

<FIG> shows a perspective view of example edible inflatable objects <NUM> implemented as anatomically-realistic hearts and arranged on the tray <NUM>, which in turn is coupled to the counter <NUM>, e.g., as shown in <FIG>. It should be understood that the configuration of the edible inflatable objects <NUM> is by way of example, and any suitable configuration may be used.

<FIG> depicts an embodiment, shown in cross-section, in which the edible inflatable object <NUM> is dip coated in an edible adhesive <NUM> on a surface <NUM> of the edible inflatable object <NUM> that seals or adheres the edible inflatable objects <NUM> to the top surface <NUM> of the tray <NUM>. As discussed, the tray-based system <NUM> may prevent the edible adhesive from contacting the counter <NUM>. In another example, the edible adhesive <NUM> may be applied directly to the top surface <NUM> of the tray <NUM>, and the edible inflatable objects <NUM> may be positioned on the adhesive <NUM>. The edible adhesive may be a molten candy that hardens over time. In another example, the edible adhesive <NUM> may be a slime or viscous outer layer of the edible inflatable object <NUM>. The edible adhesive <NUM> may have different flow properties that an interior or inner layer of the edible inflatable object <NUM> that is relatively more solid.

The seal of the edible inflatable object <NUM> may also be influenced by temperature. <FIG> depicts an embodiment, shown in cross-section, in which the tray <NUM> includes integral heating elements <NUM>. Heating the portion of the edible inflatable object <NUM> in direct contact with the top surface of the tray <NUM> may result in softening that enhances the seal to the tray <NUM>. Controlling the heating elements <NUM> to cease operation prior to user contact may permit the edible inflatable object <NUM> to cool for easier removal from the tray <NUM>. In certain embodiments, the heating elements <NUM> may be on or in the counter <NUM>, and the heat may be transferred through the tray <NUM>.

<FIG> illustrates an embodiment, shown in cross-section, in which a single fluid source may be used to drive one or more edible inflatable objects using deformation of a flexible membrane <NUM>. The flexible membrane separates a reservoir <NUM> from a sealed interior space <NUM> of the edible inflatable object <NUM>. In the illustrated embodiment, the edible inflatable objects 12a, 12b are separated from the fluid reservoir <NUM> by individual deformable membranes 272a, 272b. Each individual flexible membrane <NUM> may have differing stiffness and/or size such that changes in pressure within the fluid reservoir <NUM> cause different deformations for a thicker membrane 272a relative to a thinner membrane 272b. The size and characteristics of the deformation in turn cause visible actuations in the respective edible inflatable objects 12a, 12b. The edible inflatable objects 12a coupled to the thicker membrane 272a may have an actuation that is visibly smaller or less extensive than that of the edible inflatable objects 12b coupled to the thinner membrane 272b based on deformations caused by a single pressure source that feeds the fluid reservoir <NUM>. The fluid reservoir may be coupled to an inlet <NUM> that permits changes in pressure to cause resulting changes in actuation of the edible inflatable objects <NUM>. In this manner, a controller may cause a change in pressure within one chamber, the fluid reservoir <NUM>, and achieve multiple different types or grades of effects on the edible inflatable objects <NUM> relative to one another, based on their corresponding flexible membrane characteristics. Further, the changes may be mediated by a single non-food safe pressure source (positive or negative). That is, because the membranes <NUM> separate the fluid reservoir <NUM> from the edible inflatable objects <NUM>, the fluid source need not necessarily be food safe.

The fluid or pressure source may be a vacuum pump, an air compressor, another membrane that is mechanically actuated, or any other suitable device for generating changes in pressure. The disclosed arrangement may be used in conjunction with other pressure sources to gain more control over the individual edible inflatable objects <NUM>. In an embodiment, separate fluid reservoirs, coupled to separate individual or multiple edible inflatable objects <NUM>, may be tuned to achieve desired effects.

<FIG> shows, in cross-section, an arrangement of the flexible membrane <NUM>. The flexible membrane is coupled to a magnet <NUM> (e.g., an electromagnet) that, in response to experience a magnetic field or a change in magnetic field forces, moves to actuate the flexible membrane <NUM>. The magnet <NUM> may be contained within an integral pouch formed in the flexible membrane or may be adhered to or embedded within the flexible membrane <NUM>. The flexible membrane <NUM> includes an elastic, folded, shaped, rippled, textured, and/or volume-holding flexible surface <NUM> that is part of or couples to a sealing grommet <NUM>. The sealing grommet <NUM> seals a tray <NUM> that holds edible inflatable object <NUM> to a base <NUM>. The tray <NUM> has a fluid port <NUM> that fluidically couples air or fluid in an area <NUM> above the flexible membrane <NUM> to the chamber <NUM> within the edible inflatable object <NUM>. The sealing grommet <NUM> functions to seal the fluid within the area <NUM> and the chamber <NUM> from air infiltration or exfiltration.

Movement of the flexible membrane <NUM> relative to the fluid port <NUM> or the tray <NUM> changes a pressure of the chamber <NUM>, either by compressing or permitting expansion of the internal fluid, which in turn causes the edible inflatable object <NUM> to actuate. The base <NUM> also includes a passageway <NUM> into which the flexible membrane <NUM> can expand to cause the overall total volume of the area <NUM> to expand, resulting in a drop in pressure of the chamber <NUM> and a deflation effect of the edible inflatable object <NUM>. Movement of the flexible membrane <NUM> into the fluid port <NUM> causes the overall total volume of the area <NUM> to decrease, resulting in an increase in pressure of the chamber <NUM> and an inflation effect of the edible inflatable object <NUM>. Changes in magnetic forces may be used to provide motive force to the flexible membrane <NUM> by acting on the magnet <NUM> via attraction or repulsion forces that causes movement into the tray fluid port <NUM> or into the base passageway <NUM> depending on the activation and polarity of the magnetic field. In one example the activation of the magnetic field is controlled via a controller of the system <NUM>.

As disclosed herein, movement of flexible membrane <NUM> may be via application of magnetic forces. Additionally or alternatively, the membrane <NUM> may beuser actuated to cause movement effects in the edible inflatable object <NUM>. <FIG> shows, in cross-section, an example of the edible inflatable object <NUM> that is actuated via user (or motor-driven) movement of a handle <NUM> coupled to the membrane <NUM>. In an embodiment, the user is able to pull and push on the flexible membrane <NUM>, which is built into the box or packaging of the edible inflatable object <NUM> and, as shown, integrated into an object base <NUM> that holds a volume of fluid coupled via fluid port <NUM> to the chamber of the edible inflatable object <NUM>. The movement of this membrane <NUM> causes a positive or negative pressure differential to occur between the inside and the outside of the edible inflatable object <NUM>, and in turn causes motion to happen. As shown in <FIG>, pulling the membrane <NUM> away from the edible inflatable object <NUM> causes a deflation effect due to the pressure drop within the edible inflatable object <NUM>. A snapped-back or unbiased default position may be the inflated configuration of the edible inflatable object <NUM>.

<FIG> is an arrangement, shown in cross-section, in which a magnetic material <NUM> is integrated into the object base <NUM> and/or flexible membrane <NUM> and used to pull or push the membrane <NUM>. In this embodiment the membrane <NUM> would have a magnet or ferrous metal inside it, embedded within the membrane, or integrated as a layer of the membrane <NUM>. The magnetic material would be pulled by the electromagnet <NUM> and thus generate a pressure differential between the edible inflatable object <NUM> and the ambient environment. The counter <NUM> or other display surface could have an inset in it to allow the membrane to pull toward the electromagnet and to align it to the counter. In the depicted embodiment, the membrane <NUM> is shown in alternative configurations. The configuration of the membrane <NUM> closer to the electromagnet <NUM> is associated with a relatively deflated configuration of the edible inflatable object <NUM> (not shown), and the configuration relatively farther from the electromagnet <NUM> is associated with the more expanded configuration of the edible inflatable object <NUM> as shown. The electromagnet may be activated by a controller of the system <NUM>. Further, the membrane may additionally include the handle <NUM> for manual actuation.

<FIG> is an arrangement, shown in cross-section, in which movement of the membrane <NUM>, via the handle <NUM> as shown and/or via the magnet <NUM> as discussed herein, may be used to generate a floating or movement effect viewed through a packaging dome or window <NUM> that also acts to create an environment for the edible inflatable object <NUM> such that a pressure differential, caused by membrane movement, between the environment and a sealed chamber <NUM> of the edible inflatable object <NUM> causes a movement effect. The edible inflatable object <NUM> may rest on a grating <NUM> that permits air flow within the environment such that the membrane movement is able to increase or decrease pressure in the environment. The edible inflatable object <NUM> is able to move relative to the grating in response to pressure changes.

The disclosed edible inflatable objects <NUM> may be sold in individual retail packaging, e.g., trays, containers, etc., in which the consumer buys the packaging together with the edible inflatable objects <NUM>. In addition, the disclosed techniques also may be applied to retail display arrangements that permit viewing of features of the edible inflatable objects <NUM>. The various embodiments discussed herein may be implemented with clear packaging, e.g., packaging <NUM>, such that effects of the system <NUM>, e.g., lighting, actuation, are visible and able to be activated while the edible inflatable objects <NUM> are within the packaging. Further, while certain embodiments shown by way of example may be illustrated with a single edible inflatable object <NUM>, it should be understood that the disclosed implementations may incorporate multiple edible inflatable objects <NUM>.

In an embodiment, the retail display arrangements may include bulk containers, such as self-serve (or operator-served) bulk containers. The edible inflatable objects <NUM> may be contained within containers that facilitate actuation of the edible inflatable objects <NUM> within, as shown in <FIG>, which illustrates a bulk container system <NUM> that includes a bulk container <NUM> sized and shaped to hold multiple edible inflatable objects <NUM> within. The edible inflatable objects <NUM> inside the bulk container <NUM> can be in a large quantity, filling the container <NUM>. Alternatively, a separate dispensing system (conveyor, gravity powered dispenser, etc.) can deposit individual edible inflatable objects <NUM> into the bulk container <NUM> to maintain a desired number or fill level. The disclosed arrangements of the bulk container system <NUM> may alternatively or additionally be implemented as an individual retail packaging for sale. For example, the container <NUM> may be sold under some amount of vacuum, causing one-time actuation of candies when the container <NUM> is opened by a customer.

An interior <NUM> of the bulk container <NUM> may be accessed by a hinged lid <NUM> or other mechanism (e.g., a door, spring-loaded tray). The interior <NUM> of the bulk container may be substantially sealed or closed when the lid <NUM> is closed to prevent the edible inflatable objects <NUM> from being exposed to an ambient environment. The bulk container <NUM>, via a reversible air pump <NUM>, is capable of changing a pressure of the interior <NUM> within the bulk container <NUM> to cause inflation/deflation effects in the edible inflatable objects <NUM>. In the depicted embodiment, the reversible pump <NUM> is fluidically coupled to the interior <NUM> via a conduit <NUM>.

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

The reversible air pump <NUM> is fluidically coupled via the conduit <NUM> to the interior <NUM> and operates according to instructions from a controller <NUM> to change or maintain a pressure of the interior <NUM>. In an embodiment, the reversible air pump <NUM> removes air from the interior <NUM> to decrease pressure (e.g., create a vacuum) within the interior <NUM> to cause edible inflatable objects <NUM> retained within the bulk container <NUM> to expand based on a differential between the container pressure of the bulk container <NUM> and a chamber pressure of the edible inflatable object <NUM>. In another embodiment, the reversible air pump <NUM> create a positive pressure state in the interior <NUM> to deflate the edible inflatable objects <NUM> within. Alternating the pump direction of the reversible air pump <NUM> can animate the edible inflatable objects <NUM> via sequential inflation and deflation patterns (e.g., pulsing).

The bulk container <NUM> may be arranged to include one or multiple interiors <NUM>, each capable of assuming different container pressures relative to one another to create different simultaneous effects. With one contiguous interior <NUM> of the bulk container <NUM>, all edible inflatable objects <NUM> in the bulk container <NUM> will inflate and deflate together. Multiple interiors <NUM> can allow for some candies to inflate while others deflate. Further, the bulk container system <NUM> may include multiple bulk containers under control of individual controllers <NUM> and/or a central controller.

In an embodiment, the bulk container <NUM> is maintained in a negative pressure or positive pressure environment relative to the ambient air <NUM> outside of the bulk container <NUM>. In embodiments in which the system <NUM> creates animation effects, the same container <NUM> may experience both negative and positive pressure environments at different times as the pump <NUM> cycles or pulses between positive and negative pressure. In the case of a negative pressure environment, e.g., a vacuum condition, the lid <NUM> may be relatively more difficult to open than at neutral pressure (i.e., a neutral pressure that is substantially the same as the ambient environment outside of the bulk container <NUM>). This may be addressed by selecting a negative pressure applied by the reversible pump <NUM> that is a high enough pressure differential to create observable changes in the edible inflatable objects <NUM> relative to the state of the edible inflatable objects <NUM> at neutral pressure but that is low enough to be easily overcome by force of a patron opening the lid <NUM> or other access mechanism of the bulk container <NUM>.

The lid <NUM> is relatively easy to open in during positive pressure states of the interior <NUM> of the bulk container <NUM>. Thus, the controller <NUM> alternating control of the pump <NUM> between suction and positive pressure creates times when lid <NUM> can be opened easily. Short intervals (e.g., less than <NUM> seconds, less than <NUM> seconds) between switching pump direction would allow lid <NUM> to be opened at some point during a typical action of a user attempting to open the lid <NUM>.

In on embodiment, a sensor <NUM> (such as proximity sensor, capacitive sensor, or force feedback on lid hinge) provides feedback to the controller <NUM> that a user is attempting to open the lid <NUM>, which causes the controller <NUM> to instruct the pump <NUM> to operate in positive pressure mode for a preset amount of time or while the sensor <NUM> senses the user reaching for the lid <NUM>.

<FIG> shows the bulk container system <NUM> with the lid <NUM> in the open state. When the bulk container <NUM> is opened, the pressure in the interior <NUM> may at least partially equilibrate with the pressure in the ambient environment <NUM>. This pressure change may cause the edible inflatable objects <NUM> within the bulk container <NUM> to change configuration when the lid <NUM> is opened, creating an animation effect. In the depicted examples, the closed state of the bulk container (<FIG>) may be associated with a negative pressure that causes the edible inflatable objects <NUM> to be in an inflated state. Opening the lid causes the pressure to increase, which transitions the edible inflatable objects <NUM> to a more deflated state. When the lid <NUM> is open, the controller <NUM> may deactivate the pump <NUM>. Alternatively, the pump <NUM> may remain active to compensate for pressure changes caused by the differential between the ambient pressure and the container pressure.

<FIG> is a schematic illustration of an instrument-style or puppet-style edible inflatable object <NUM> that is actuated by a user. In this embodiment the pneumatic pressures (positive and/or negative) are provided by the user's lungs. In the depicted example, positive pressure is provided into one or more channels <NUM>, e.g., a left channel 350a that causes a left-side actuation of the edible inflatable object <NUM> and a right channel 350b that causes a right-side actuation of the edible inflatable object <NUM>. It should be understood that other arrangements of the edible inflatable object <NUM> and channels <NUM> are encompassed in the scope of the disclosure. The edible inflatable object <NUM> can actuate based on the pressor provided by the user covering, uncovering, closing or opening one or more air paths <NUM> fluidically coupled to one or more internal channels <NUM>. In certain embodiments, a flap or valve can actuate in response to user-provided air flow to selectively close one channel.

The edible inflatable object <NUM> may include a mouthpiece <NUM> with an internal bore <NUM> that is fluidically coupled to the channels <NUM>. In an embodiment, the mouthpiece <NUM> is also edible, permitting the user to eat the edible inflatable object <NUM> starting from the mouthpiece end but retaining some actuation functionality so long as the channels <NUM> are preserved.

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

Claim 1:
An edible soft robot system (<NUM>), comprising:
at least one edible inflatable object (<NUM>) formed at least in part from an edible material and comprising an internal compartment (<NUM>) configured to receive a fluid;
one or more sensors (<NUM>) configured to generate sensor data indicative of a parameter of the system;
a control system (<NUM>) coupled to the at least one edible inflatable object,
wherein the control system (<NUM>) is configured to:
receive sensor data from the one or more sensors (<NUM>);
adjust inflation of the at least one edible inflatable object (<NUM>), by directing fluid into or out of the internal compartment (<NUM>) based on the sensor data; and
activate one or more special effects based on the sensor data.