System and method for precise multi-dimensional movement of haptic stimulator

Abstract

A robotic tactile stimulator includes a robotic base configured to move a tactile stimulation device. The robotic base is preferably capable of moving the tactile stimulation device in three-dimensional space. Movement in the x, y, and / or z directions can be independently controlled and referenced to a designated point or location associated with the human body. Lidar can be used to obtain information about the position / distance of one or more parts of a user for controlling the position of the tactile stimulation device. The movement of the tactile stimulation device can mimic the movement of other objects and / or be synchronized with visual or audio signals.

Description

[Technical Field]

[0001] This invention relates to a tactile stimulation device. [Previous Technology]

[0002] Various tactile stimulation devices are known. These devices can be used for a variety of purposes. In some cases, the devices are general-purpose, and in others they are specific-purpose. For example, such devices may be general-purpose, such as configured for pain relief or treatment, such as for treating tired or sore muscles, improving circulation, and the like. Devices may also be specific-purpose, such as for sexual stimulation or other purposes.

[0003] In some cases, tactile stimulators may include objects without moving parts. In this case, the user typically needs to manually manipulate the stimulator. For example, a tactile stimulator may be as simple as a ball. The user can use their hands to press and roll the ball on their body (such as against their skin above an area of ​​strained muscle).

[0004] Other tactile stimulators have a moving element. The moving element may be manually moved by the user or may be self-driven. For example, a user typically uses a roller on a sore muscle by grasping handles at each end of the roller and then moving a centrally rolling portion back and forth over the affected muscle area. As another example, a tissue gun may be electrically powered and include one or more motors for moving a head portion of the gun, such as to cause vibration of the head portion. The user must then manually grasp the gun and manually position the head of the gun in contact with the desired area.

[0005] Other electro-pumped tactile stimulation devices, such as those disclosed in USPN 8,936,544, are known. These devices include motor-driven actuators for moving one ring and contracting or relaxing another. However, at least when attempting to mimic sexual behavior, the device must still be manually positioned, and the power movement or motion of the device is limited.

[0006] An improved method and apparatus for precisely moving a tactile stimulator. [Summary of the Invention]

[0007] The present invention includes a system and method for controlling the position of a tactile stimulation device (including automatically moving the tactile stimulation device).

[0008] In one embodiment, a robotic tactile stimulator includes a robotic base configured to move a tactile stimulation device. Preferably, the robotic base is capable of moving the tactile stimulation device in three-dimensional space. Movement in the x, y, and / or z directions can be independently controlled and referenced to a designated point or position.

[0009] In one embodiment, a program including a data set of x, y, and z coordinates relative to time can be used by a controller of a robot tactile stimulator to control the movement of the robot base and thus the tactile stimulation device. The data set can be generated by independent x, y, and z functions. In one embodiment, the functions can have different durations, wherein one or more functions can be repeated, thereby causing the movement of the robot base to change over time.

[0010] In one embodiment, the movement of the robot base is controlled relative to a designated point or location (such as a reference point). For example, the reference point may include a location on a user's body.

[0011] To determine a reference point, LIDAR or similar technologies can be used to obtain information about the position / distance of one or more parts of a user. The user can select a position from a LIDAR image of one of their body parts. Position functions can be used to generate x, y, and z position data relative to a specified reference point.

[0012] In some embodiments, the movement of the tactile stimulation device may mimic the movement of other objects and / or be synchronized with video or sound.

[0013] The robotic tactile stimulator can communicate with one or more external devices or networks. For example, in one embodiment, a user can communicate with the robotic tactile stimulator via a mobile communication device. For example, the user can utilize a graphical user interface displayed by the device and one or more input devices of the mobile communication device to select a desired program for movement, modify or create a new program for movement, and so on.

[0014] Additional features of the present invention include a stop or freeze function for a robotic tactile stimulation device and a user authentication and / or consent function.

[0015] A robotic tactile stimulator can be used to control the movement of various tactile stimulation devices, including tactile stimulation devices designed to move themselves. For example, a robotic tactile stimulator can be used to move one or more tactile stimulation devices to treat muscles or for medical reasons, or to provide pleasure, such as when used to provide simulated functionality.

[0016] Further objects, features and advantages of the present invention that are superior to the prior art will become clear from the following detailed description of the figures when considered in conjunction with the accompanying drawings.

Implementation Method

[0021] In the following description, several specific details are set forth in order to provide a more thorough description of one aspect of the invention. However, those skilled in the art will understand that the invention can be practiced without such specific details. In other examples, well-known features have not been described in detail so as not to obscure the invention.

[0022] Generally speaking, the present invention includes systems, methods, and apparatus for moving a tactile stimulator, and more preferably for precise control of the positioning and / or movement of a tactile stimulator relative to a human. One embodiment of the invention includes a robot controller or a robotic tactile stimulator. Further embodiments of the invention include controlling a robotic tactile stimulator, including methods for controlling its positioning and movement.

[0023] FIG1 illustrates a system 20 according to one embodiment of the present invention. In one embodiment, system 20 includes at least one robotic tactile stimulator 22.

[0024] The robotic tactile stimulator 22 is movable, thus allowing the position of an associated tactile stimulation device 24 (see FIG. 2) to be changed. As detailed below, in a preferred embodiment, the robotic tactile stimulator 22 can be used to change the position of the tactile stimulation device 24. In a preferred embodiment, the robotic tactile stimulator 22 can be used to freely change the position of the tactile stimulation device 24 in three-dimensional space.

[0025] In a preferred embodiment, the robotic tactile stimulator 22 is referred to as a "robot" because it is a device that can change position in an automated manner. Specifically, the robotic tactile stimulator 22 is preferably capable of performing multiple movements without manual intervention (i.e., it can move between various positions based on a sequence of instructions without requiring individual user input to prompt each movement).

[0026] Referring to FIG2, the robotic tactile stimulator 22 preferably includes a robotic base 30, which is movable such that an associated tactile stimulation device 24 can move linearly in three (3) directions or along three (3) axes orthogonal to each other and / or in combinations of such directions, including rotation about such axes. For example, the robotic base 30 may include a 6-axis robot.

[0027] For example, as illustrated in FIG2, the robot base 30 can be configured to linearly move a tactile stimulation device 24 in an "x" direction, a "y" direction, and a "z" direction, as well as combinations thereof (e.g., in one of the x and y directions, or in one of the y and z directions), thereby enabling the robot base 30 to freely move the tactile stimulation device 24 in three-dimensional space. Furthermore, the robot base 30 may be capable of rotational movement about one or more of these axes (such as about the x, y, and / or z axes) (or this rotation may be accomplished via linear movement). In this manner, the robot base 30 can manipulate the tactile stimulation device 24 to move according to any combination of linear and rotational movement.

[0028] In one embodiment, the robot base 30 includes a base 32 and a movable support or base 34. The base 32 is configured to support the movable base 34, and the movable base 34 is preferably movable relative to the base 32, thus allowing an associated tactile stimulation device 24 (which is connected to or supported by the base 34) to be movable.

[0029] Referring to FIG. 2, the base 32 may have various configurations, including various shapes and sizes. Generally speaking, the base 32 is configured to be mounted to a support surface (such as a wall, floor, or other support (such as part of another object)) or supported by the support surface (by connecting to the support surface or simply resting or setting on the support surface). The base 32 may have a generally flat bottom or lower surface for engaging a generally flat support surface, or may have other configurations for engaging support surfaces of other shapes. In one embodiment, the base 32 may include one or more apertures for receiving fasteners placed to engage with the support surface for securing the base 32 in a fixed position by temporarily or permanently attaching the base 32 to the surface. However, as described below, the entire robot base 30 may be movable, for example, by having a base that is movable relative to a support surface (including by rolling or walking). In the illustrated embodiment, the robot base 30 is positioned on a horizontal support surface, but it can be mounted upside down to a vertically extending support, etc.

[0030] In a preferred embodiment, the movable support 34 is positioned between the base 32 and the tactile stimulation device 24. This support is preferably movable in at least three (3) and preferably six (6) degrees of freedom and therefore movable in at least two (2) and more preferably three (3) dimensions or in at least two (2) or more preferably three (3) dimensions. As indicated above, the robot base 30 preferably allows at least rotation of the tactile stimulation device 24. However, in a preferred embodiment, linear and rotational movement about each of three generally orthogonal axes (and combinations thereof) is permitted. As disclosed below, the movable support 34 may allow redundant movement in one or more directions. For example, the movable support 34 may include two or more elements that allow it (and thus an object connected to it, such as a tactile stimulation device 24) to move in the x, y and / or z directions (three degrees of freedom) and rotate about the x, y and / or z axes (three additional degrees of freedom), or various combinations thereof.

[0031] As illustrated, in one embodiment, the base includes a main support member 42. In one embodiment, the main support member 42 is mounted for rotation relative to the base 32 (i.e., about the y-axis, as illustrated in FIG2). The main support member 42 may be mounted, for example, on a bearing support shaft connected to the base 32 or by other means. This mounting allows the main support member 42 to rotate about the y-axis, as illustrated in FIG2.

[0032] In one embodiment, a lower arm 44 is rotatably mounted to a main support 42. As illustrated, the main support 42 has a first portion mounted to a base 32 and a second portion to which the lower arm 44 is mounted. In a preferred embodiment, the lower arm 44 is rotatably mounted to the main support 42 about a shaft or other base. In the illustrated configuration, the lower arm 44 is mounted to rotate about an axis substantially perpendicular to the main support 42 about its axis of rotation (such as the x or z axis, depending on the orientation of the main support 42).

[0033] As further illustrated, an upper arm 46 is rotatably mounted to a lower arm 44. In one embodiment, a first or distal portion of the lower arm 44 is mounted to a main support 42, and the upper arm 46 is mounted to a top or proximal portion of the lower arm 44. In one embodiment, the upper arm 46 is also mounted to rotate about an axis of rotation (such as the x / z axis) perpendicular to the main support 42.

[0034] In one embodiment, a head 48 is positioned at a distal portion of an upper arm 46. Preferably, the tactile stimulation device 24 is mounted to a movable base 34 via the head 48. In one embodiment, the head 48 is mounted to rotate relative to the upper arm 46 (and therefore, the remainder of the movable base 34).

[0035] The various portions of the movable support 34 can be connected to each other (and connected to the base 32) in various ways. For example, the various portions can be connected to each other via a shaft and bearing base, wherein the shaft is connected to one component and engages one or more bearings supported by another component, such that the shaft can move relative to (a number of) bearings, thus allowing the components to move relative to each other. However, portions of the movable support 34 can be mounted to each other in other ways (such as by hinged mounting or the like).

[0036] Preferably, the movable support 34 includes components for moving one or more of its portions and thus the tactile stimulation device 24 connected thereto. As illustrated, the movable support 34 may include one or more motors M for moving its components. The motors may be electric motors. In other embodiments, hydraulic or other components may be used to move one or more components of the movable support 34. For example, a hydraulic arm may be used to move the upper arm 46 relative to the lower arm 44 in an upward and downward direction.

[0037] Of course, the robot base 30 can have various other configurations. For example, although the robot base 30 described above is redundant in its ability to move in certain directions, the robot base 30 can be configured in other ways (such as by having only a single part configured to move in all directions). It should also be understood that the number of components or elements included in the movable support 34 can vary. For example, the robot base 30 may include a base and a head, which is mounted to the base, such as via a swivel ring, thereby allowing the head to move in at least two dimensions. Various configurations of the components can also be used to allow movement in various directions. For example, in addition to the swivel ring or swivel connection of the movable base shown in FIG2, the components can also be configured to move linearly (i.e., along an axis rather than about an axis), or to move along paths other than curved paths. For example, an arm can be rotatably connected to a base, wherein the arm is telescopic and therefore can extend or retract.

[0038] As another example, the entire robot base 30 may be movable. For example, the robot base 30 may be movable in one or more directions by means of wheels straddling a track (not shown) or otherwise (including cases where the wheels are rotatable), thus allowing the robot base 30 to rotate or spin, or may be configured to move in one or more directions by walking (such as by including one or more legs).

[0039] As indicated, in a preferred embodiment, the robot base 30 is configured to move at least one tactile stimulation device 24. In one embodiment, the tactile stimulation device 24 is directly attached to a movable support 34, such as to a head 48. Generally speaking, the robot base 30 has a portion (such as a head 48 or an element connected thereto) that can be moved in the manner described above (as indicated above, in one embodiment, movement of the various portions of the movable support 34 allows the head 48 to move in three (3) generally orthogonal directions and combinations thereof, as well as to rotate about such directions) and is therefore configured to move an associated tactile stimulation device 24.

[0040] The tactile stimulation device 24 may include various elements, objects, and / or devices for stimulating a user's senses (such as touch and / or motion). Therefore, the tactile stimulation device 24 itself may include static objects or have movable or mobile parts. For example, the tactile stimulation device 24 may include a spherical or substantially spherical object, a cylindrical object, etc. (e.g., which can be moved to contact a user to stimulate touch, and can stimulate motion when moved relative to a user). The tactile stimulation device 24 may be made of one or more materials (including various plastics, rubbers, foams, etc.). The construction and shape of the tactile stimulation device 24 may vary depending on the intended use. For example, when used for sexual stimulation, the tactile stimulation device 24 may be configured as a phallus (e.g., a penis shape) or may simulate a vagina. Furthermore, the tactile stimulation device 24 itself may have various moving parts or elements, such as those that cause the tactile stimulation device 24 to vibrate.

[0041] The tactile stimulation device 24 may be interchangeable (e.g., connected and disconnected from the robot base 30). For example, the head 48 may include a base that facilitates the connection and disconnection of different tactile stimulation devices 24. For example, the head 48 may include a threaded female hole or a threaded male rod or other base for a compatible connection to a mating female or male connector associated with a tactile stimulation device 24. Of course, various components for mounting or connecting the tactile stimulation device 24 to the robot base 30 (and preferably allowing the tactile stimulation device 24 to be removed therefrom) may be used. In one embodiment, the robot base 30 may therefore allow attachment of various commercially available tactile stimulation devices 24.

[0042] Referring again to FIG. 1, in one embodiment, system 20 includes components for controlling robot base 30. This component may include a controller or processor 60. Controller 60 may be part of the robot haptic stimulator 22 or may be external to it (such as part of a remote computing device). In one embodiment, various instructions may be provided to controller 60 to cause the controller to move robot base 30. For example, a user may provide an input to controller 60 requesting to move haptic stimulator 24 from a first position to a second position. Controller 60 may generate signals or instructions that are transmitted to robot base 30 to move one or more of haptic stimulator 24. Signals may include closing a switch that allows current to flow to one or more motors M of robot base 30 for a predetermined period of time required to cause the motors to influence the desired movement. In another embodiment, signals may include an instruction received by a sub-controller of robot base 30, which then causes the base to move as needed.

[0043] As indicated, controller 60 may include a processor capable of executing machine-readable code or software stored in a memory 62 associated with the processor. As indicated, the software may include a set of instructions that, when executed, cause controller 60 to move robot base 30.

[0044] The software may or alternatively include only a set of instructions that allows a user to provide input for the movement to be made (e.g., that allows the user to "program" the robot haptic stimulator 22 to move in direct response to it or to produce a programmed movement (which may be implemented immediately or stored for implementation at a later time)).

[0045] In one embodiment, instructions may be generated remotely and uploaded to the robotic tactile stimulator 22, such as via a communication interface 64. The communication interface 64 may allow wired and / or wireless communication to and / or from the robotic tactile stimulator 22 and one or more remote devices. For example, as illustrated in FIG1, the robotic tactile stimulator 22 may be configured to communicate directly with one or more devices, such as via Bluetooth, Wi-Fi, or other communication links and protocols. In other or additional embodiments, the robotic tactile stimulator 22 may be configured to communicate with one or more devices via one or more networks N. These networks N may have various configurations and have wired or wireless links. For example, (several) networks N may include a LAN or WAN, and may include the Internet, a cellular or radio network, etc.

[0046] In one embodiment, the robotic tactile stimulator 22 may be configured to communicate with a user device 66 (such as a user's mobile phone, laptop, tablet, PDA, or other mobile communication device). In one embodiment, the user device 66 includes at least one user input (button, touch screen, etc.), at least one display (such as a video display), and preferably includes a processor for processing information to be displayed on the display (whether acquired remotely or generated at the device). The user device 66 may include memory for storing machine-readable instructions (such as one or more "applications" that can run on the user device 66).

[0047] One or more remote devices may also include one or more workstations 68, such as a desktop computer, having one or more user input devices (such as a mouse, keyboard, touch screen or the like) through which a user can provide input, a controller or processor, a memory for storing machine-readable programmable or other data, and a user display device.

[0048] One or more remote devices may also include one or more servers 70 or other systems. (Some) servers 70 may also include a computing device including a controller or processor, a memory for storing machine-readable program code, and the like.

[0049] The manner of moving the tactile stimulation device 24 via the robot base 30 (including via a system 20 such as that described above) will now be described.

[0050] In one embodiment of the method, the position of the tactile stimulation device 24, including its orientation, is controlled via a robot base 30. In one embodiment, as described above, the position and movement of the tactile stimulation device 24 are determined by the robot base 30 (which itself is determined by instructions executed by the controller 60, including data generated by the controller 60).

[0051] In a preferred embodiment of the present invention, and referring to FIG3, the movement of the tactile stimulation device 24 is referenced to a point P. This point P preferably includes a reference point. Point P can be determined in various ways. For example, point P can be determined by a detection system, as described below. In one embodiment, point P may include a location associated with a human body, such as a contact point with a human body.

[0052] In one embodiment, as illustrated in FIG3, the tactile stimulation device 24 may be moved relative to a reference point P in the x, y, and / or z directions, but preferably in such a way that when the x-direction is substantially perpendicular to a plane to be stopped (such as a surface of the human body) or substantially parallel to a desired direction of linear movement, the robot base 30 is configured to move such that the maximum travel of the tactile stimulation device 24 in the x-direction does not exceed point P, although the robot base 30 may otherwise move the tactile stimulation device 24 in the x-direction. An example of this movement is illustrated in FIG4A, in which the robot base 30 is configured to move the tactile stimulation device 24 back and forth in the x-direction, but such that the maximum travel in the positive x-direction does not exceed point P. It should be understood that point P is only a reference point, and the "x" direction is only a reference direction. For example, the "x" direction does not need to be horizontal, but may be vertical or similar.

[0053] In a preferred embodiment, the robot base 30 can also move the tactile stimulation device 24 in the y and / or z directions. Figure 3 illustrates one configuration in which the tactile stimulation device 24 moves in the x, y, and z directions. For example, in a movement M1, the tactile stimulation device 24 moves forward from point X1a to point X1b toward point P by a distance X1. Simultaneously, the tactile stimulation device 24 can move from point Z1a to point Z1b in the z direction and from point Y1a to point Y1b in the y direction.

[0054] As illustrated in Figure 3, the tactile stimulation device 24 can move in various directions, such as by moving M2, M3 and M4, some of which can move toward or away from point P (including or not including point P) in the x direction, and include movement in the y and z directions, wherein the amount (or distance) of movement in the y and / or z directions can change (greater or less than each other), and / or change in the x position.

[0055] Of course, in a sequence of movements, movements M1, M2, M3 and M4 will have corresponding start points and end points (for example, the start point of movement M2 will correspond to the end point of movement M1).

[0056] Figures 4A to 4C better illustrate the independence of position and motion control for the tactile stimulation device 24. As illustrated, the motion of the tactile stimulation device 24 can be reflected by movement in the x-direction (positive, negative, or zero), movement in the y-direction (positive, negative, or zero), and movement in the z-direction (positive, negative, or zero). Figure 4A illustrates a first example of a plot of the movement of the tactile stimulation device 24 in each of the x, y, and z directions against time. As indicated, the amount of movement in each direction (including relative to time) can vary. In this embodiment, the movement of the tactile stimulation device 24 in each direction is oscillatory (wherein the amplitude and frequency of the movement can be the same or different).

[0057] FIG4B illustrates a second example of a plot of the movement of the tactile stimulation device 24 in the x, y and z directions. For example, this embodiment of the plot can be used to move the tactile stimulation device 24 along a human surface (such as along its back) rather than toward and away from the surface (because the position of the tactile stimulation device 24 does not change in the x direction, for example, it does not move toward or away from the contact surface).

[0058] Figure 4B further illustrates the variable motion of the tactile stimulation device 24. For example, in Figure 4B, the motion system in the x-direction is zero, the motion system in the y-direction is a sinusoidal oscillation, and the motion system in the z-direction is a modified (tilted) square wave oscillation. Of course, a wide range of movements can be implemented.

[0059] In one embodiment, although the movement of the tactile stimulation device 24 in the x, y, and z directions is preferably completely independent and independently controllable, in some embodiments, the movement of the tactile stimulation device 24 may be the same in one or more directions. For example, in one embodiment, the movement of the tactile stimulation device 24 may be controlled to be the same in the y and z directions.

[0060] Figures 4A and 4B illustrate another aspect of the invention. In one embodiment, the movement of the robot base 30 is controlled by a set of instructions that define movement over a time period. For example, the time period T can be 30 seconds, 3 minutes, or any other time period. Of course, the robot base 30 can move for a longer period of time, such as by repeating basic instructions more than once (for example, if an instruction causes the robot base 30 to move for 3 minutes, and if a user expects the haptic stimulation device 24 to move for 15 minutes, the user can cause the robot base 30 to move for 15 minutes by repeating the 3-minute sequence 5 times).

[0061] Furthermore, as illustrated in Figures 4A and 4B, the instructions for moving the tactile stimulation device 24 in the x, y, and z directions do not need to have the same duration. For example, a set of instructions for moving the tactile stimulation device 24 in the x direction may be for a time T1, while the instruction for movement in the y direction may be for a time T2, and for movement in the z direction for a time T3. These times may be the same or different. When the times are different, the operation of the robot base 30 for a duration longer than the minimum defined time (T2 in the example illustrated in Figures 4A and 3B) requires repeating one or more instructions. However, when the defined movements (the magnitude of the movement over time) are not the same, this introduces variability into the motion or movement of the tactile stimulation device 24.

[0062] This feature is better illustrated in Figure 4C. In this example, assume that the movement command in the x-direction reaches a time T1, in the y-direction a time T2, and in the z-direction a time T3. Assuming that the robot haptic stimulator 22 is to be operated for time T2, this requires repeating the command for the movement of the device in the x and z directions one or more times. As shown, this repetition can cause the position of the haptic stimulator 24 to not repeat to the same associated x, y, and z positions. For example, at time TI in Figure 4C, where the haptic stimulator 24 moves to its farthest "retracted" position (i.e., in the negative x-direction), the haptic stimulator 24 is at positions X1, Y1, and Z1. However, at time TL, when the x-direction command is repeated and the haptic stimulator 24 is again at its further retracted position, the haptic stimulator 24 is at positions X2 (same as X1), Y2, and Z2. Although positions X1 and X2 are the same, positions Y1 and Y2 are different, and positions Z1 and Z2 are also different. Therefore, as one aspect of the present invention, variability in movement can be introduced by generating a sequence of instructions for movement in the x, y, and z directions, wherein the durations of these instructions are different, and the instructions are then repeated completely or partially.

[0063] Referring again to FIG1, as indicated above, in one embodiment, instructions may be generated and stored in memory 62 associated with robot base 30 for execution by controller 60. For example, in one embodiment, controller 60 is configured to execute code stored in memory 62 and cause controller 60 to generate one or more control instructions. For example, such control instructions may include motor control instructions for controlling one or more motors M for causing movement of movable base 34. In one embodiment, the code executed by controller 60 is configured to generate motor control instructions based on inputs including one or more datasets. For example, datasets may include coordinate sets, such as those described above (e.g., x, y, and z direction coordinate sets, which themselves may be generated or derived from one or more programs, formulas, plots, or the like). For example, as indicated above, individual (x), (y), and (z) functions can define x, y, and z positions relative to time, and these functions can be used to generate a data set of (x, y, z) positions (whether stored as points with x, y, and z coordinates or as a subset of data including x coordinates at a specified time, y coordinates at a specified time, and z coordinates at a specified time). This data set can represent a "program" that can be implemented by the robot base 30. In other embodiments, the data provided to the controller 60 may include one or more formulas used by the controller 60 (or an external controller) to generate the data set of coordinates.

[0064] In one embodiment, a user may provide input to their user device 66 to control the robotic haptic stimulator 22. In one embodiment, the input may be provided relative to one or more graphical user interfaces displayed on the user device 66. In one embodiment, the graphical user interface may be configured as a webpage displayed relative to an online service (such as one supported by server 70) or may be generated by an application running on the user's device 66. For example, in one embodiment, a user may download a robotic haptic stimulator application and install it on their device 66. The user may then communicatively couple their device 66 to the robotic haptic stimulator 22, for example, via a Bluetooth or Wi-Fi communication link.

[0065] The application allows users to provide input for controlling the robotic tactile stimulator 22. For example, the application allows users to start and stop the robotic tactile stimulator 22, define the running time of one of the robotic tactile stimulators 22, and select different programs. The program can use different indicators (names, etc.) and has different characteristics and includes a defined set of instructions for moving the robot base 30 (and therefore the tactile stimulation device 24). For example, the program can define different movements, different ranges of motion, different durations of motion, etc.

[0066] Furthermore, a user can "program" the movement of the robot base 30 and the associated tactile stimulation device 24. For example, in one embodiment, the user can be allowed to change the movement control commands, such as by altering the movement plots shown in Figures 4A and 4B. For example, a user can be allowed to select different movement functions (sine, square wave, modified square wave, ramp, etc.) and / or modify such functions, including by changing their amplitude and / or time characteristics (e.g., a user can be allowed to use a touchscreen to drag a displayed function to increase or decrease time T, increase or decrease amplitude, etc.). The user can then save the user-created program (and can save it under a new name).

[0067] When memory 62 stores an existing program, a user's selection of an existing program may only cause controller 60 to execute the stored program. If the user modifies an existing program or creates a new program and wishes to execute it, the program may be transferred to robot base 30 for storage in memory 62 and then executed by controller 60. Of course, similar functionality may be implemented by the user via workstation 68 or the like.

[0068] According to another aspect of the invention, the placement or movement of one or more objects mounted on a robot base 30 can be controlled based on position information about another object. As an example, as described above, the movement of a tactile stimulation device 24 can be controlled relative to a point P. Point P can be associated with a human body. In one embodiment, information about the position of a person's body, and in particular one or more parts of that body, can be obtained and provided to the robot tactile stimulator 22 for controlling the position of the associated robot base 30 (and thus, in the embodiment illustrated in FIG2, the tactile stimulation device 24).

[0069] In one embodiment, one or more detectors may be used to obtain location information about an object. Such detectors may include one or more range-capturing devices, such as RADAR, LIDAR (light detection and ranging) or similar systems (now known or developed in the future).

[0070] For example, as illustrated in Figure 1, a LIDAR system 72 can be used to scan an object. Information from the scan can be used to determine the relative position of the object or parts thereof, such as relative to the robot base 30 (or the tactile stimulation device 24 or other objects moved by the robot base).

[0071] As an example, the LIDAR system 72 can be used to determine the position of a user's back (including the back portion) relative to the robot base 30. In the embodiment described above, a position determined by scanning can be designated as point P. The robot base 30 can then be moved appropriately relative to point P.

[0072] For example, the output of a LIDAR scan may be provided to a user's device 66, workstation 68, or similar. The scan output may be displayed as an image. The user may select a location on the scan / image as a designated point P (and may change or move point P from time to time). The coordinates of the selected point P relative to the scan may then be determined. This position information may then be used to determine a preset position of the robot base 30 (including relative to the tactile stimulation device 24 or other objects that may be moved thereby).

[0073] As an example, referring to FIG4A, assume that the current position of the tactile stimulation device 24 is a point S (x,y,z) (such as determined by the controller 60). In the embodiment illustrated in Figure 4A, the starting point of operation of the robot base 30 is at a point PS (x, y, z) for the tactile stimulation device 24, where x = P - Xa (e.g., specifying point P minus the maximum value of x during the movement of the tactile stimulation device 24, so that after the maximum movement of the tactile stimulation device 24 in the x direction, the tactile stimulation device 24 does not move beyond point P in the x direction), and where y = P(y) and z = P(z) (in other words, point PS has an x ​​value that is the x value of point P minus Xa, a y value that is equal to the y value of point P, and a z value that is equal to the z value of point P). The controller 60 (or external device) then moves the robot base 30 and associated objects (e.g., the tactile stimulation device 24) from point S to point PS by knowing the positions of points S and PS (calculated above). The controller 60 can then move the tactile stimulation device 24, such as by performing the movement illustrated in Figure 4A based on a plotting program.

[0074] Of course, the position of point P can be updated from time to time by rescanning the object, such as when point P may move, such as when the human subject / user moves.

[0075] The operating principle just described can be applied to a robot base 30 used to move other objects, especially in different positions or relative to other movable or mobile objects. For example, suppose the robot base 30 is used to move a farm implement to couple to a traction machine (e.g., by raising the coupling portion of the farm implement to couple to the traction machine). In this case, the position of the traction machine may be slightly different each time the farm implement is connected to the traction machine, due to variations such as those caused by the farmer reversing the traction machine relative to the farm implement. The present invention can be used to determine the position of the traction machine and / or its coupling relative to the robot base 30 and thereby move the farm implement. The position information can be used to control the robot base 30 so that it precisely moves the farm implement to couple to the traction machine.

[0076] In one embodiment, the movement of the tactile stimulation device 24 may be patterned after the movement of one or more other objects and / or synchronized with other information. For example, one or more image capturing devices may capture the movement of one or more physical objects. The captured video may be analyzed to detect and determine the movement of objects, such as in the x, y, and z directions. This determined movement may be used to generate a corresponding set of control instructions or a "program" used by the controller 60 to move one of the robot bases 30 in substantially the same manner (e.g., by replicating motion). The same principle may be applied to generating control instructions based on the analysis of other video (such as the movement of actors in movies, videos, and the like).

[0077] In some embodiments, the movement of the tactile stimulation device 24 (via movement of the robot base 30) can be synchronized with other information (such as video, sound, or a combination thereof). For example, if the robotic tactile stimulator 22 has been programmed to replicate the movement of an object in a video, the movement of the robotic tactile stimulator 22 can be synchronized so that its replicated movement occurs concurrently (simultaneously or close in time) with the movement of (some of) objects in the video. As an example, in a movie, a first actor may move to touch a second actor. This movement can be analyzed and control commands can be generated to control the robotic tactile stimulator 22 to move the tactile stimulation device 24 in the same manner, including from one position to another position where it touches the user. This movement can be synchronized with the video so that, while the user is watching the video, the robotic tactile stimulator 22 performs a physical reproduction of the displayed movement / action.

[0078] As another example, the robotic tactile stimulator 22 (and therefore the tactile stimulation device 24) can be programmed to move while music is playing. The movement of the tactile stimulation device 24 can also be controlled based on information about the music, such as the movement speed of the tactile stimulation device 24 increasing with the tempo of the music, or the movement amplitude of the tactile stimulation device 24 increasing based on the amplitude of the music, etc.

[0079] In one embodiment, a user may upload a video and / or audio file to their user device 66 and / or to a workstation 68 or server 70 for analysis and creation of an instruction file that is then provided to the controller 60 for execution. Timecode, such as that described in U.S. Patent No. 10,764,544, which was invented by the inventors herein and is incorporated herein by reference.

[0080] Currently, robotic devices are typically programmed to have a "starting" position, which includes a specific location of the robotic device. At the end of operation of the robotic device, whether naturally or due to a defect, error, or malfunction, the robotic device is configured to move to its starting position.

[0081] In one embodiment of the invention, to prevent unwanted (and potentially harmful) movement of a tactile stimulation device 24 from a desired position to an undesired position associated with an initial position of a robot base 30, the robot base 30 is preferably configured to "pause" in the event of a defect, a preset condition, a malfunction, or when the user wishes to stop the robot base 30. In any such case, the controller 60 causes the robot base 30 to immediately stop moving or "pause" in its current position (regardless of the current position, which may vary) rather than moving the robot base 30 back to an "initial" position.

[0082] In one embodiment, a safety and / or consent control may be provided. The safety and / or consent control may be implemented by controller 60 or by controller and an external device (such as user device 66). In one embodiment, input, such as in the form of consent, may be required to operate or maintain the robotic tactile stimulator 22. In one embodiment, when a user couples or pairs their user device 66 with the robotic tactile stimulator 22, the user may be required to provide input to the user device 66 (such as to one of its touchscreens, such as via an associated control application display) so that the user can utilize the robotic tactile stimulator 22. In other embodiments, a user may be required to provide input in other ways, such as to an input device associated with the robotic tactile stimulator 22 (not shown).

[0083] In one embodiment, operation of the robotic tactile stimulator 22 may also be interrupted if the user does not provide an approved continuous input or if the user provides a "stop" input. This input may be made via the user device 66 or another input device. For example, a button may be configured to communicate with the controller 60, wherein the robotic tactile stimulator 22 operates only if the user continuously presses the button (otherwise, the robot base 30 may immediately pause or interrupt operation as described above), or the robotic tactile stimulator 22 may be configured to stop when the user presses this button.

[0084] Of course, the operation of the robot tactile stimulator 22 can be controlled in other ways (including by voice commands or similar).

[0085] In one embodiment, a component for verifying the identity of a user and input from the user may be provided. For example, in one embodiment, a robotic haptic stimulator 22 (or an external device or system communicating with it, such as a user's device) may be configured to identify the user. The input may then be verified as being provided by the user. For example, a control application associated with a user's device 66 may be configured to receive a fingerprint of the user. When the user provides a subsequent "stop" or "agree" input, the application may be configured to reread the user's fingerprint associated with that input and compare it with the user's previous fingerprint to ensure that the input comes from the user. Similarly, a user may provide a voice command to their user device 66, and the voice command may be compared with a stored voice command or otherwise analyzed to determine whether it is a voice command of the user (and not another person).

[0086] It should be understood that one system of the present invention may include a plurality of robotic tactile stimulators 22, or use a plurality of robotic tactile stimulators 22. In this system, a plurality of individual robotic bases, each having an associated tactile stimulation device, may be used simultaneously. In some embodiments, the individual robotic bases may be used to move the tactile stimulation devices in the same manner, while in other embodiments, the individual robotic bases may move the tactile stimulation devices simultaneously or at different times (including in different manners / at different locations).

[0087] It should be understood that the size and shape of the robotic tactile stimulator (including the robotic base) may vary depending on the intended use. The robotic tactile stimulator can be powered in various ways, including by one or more batteries, a wired power source, etc.

[0088] It should be understood that the above-described configuration of the device and the methods therefrom are merely illustrative of the application of the principles of the present invention and many other embodiments and modifications may be made without departing from the spirit and scope of the present invention as defined in the claims. [Simplified Explanation of the Diagram]

[0017] FIG1 illustrates a system according to one embodiment of the present invention;

[0018] Figure 2 illustrates a robotic tactile stimulator according to one embodiment of the present invention;

[0019] Figure 3 graphically illustrates the movement pattern of a tactile stimulator according to the present invention; and

[0020] Figures 4A to 4C are diagrams illustrating the movement patterns of the tactile stimulator according to the present invention.

Claims

1. A robotic tactile stimulator, comprising: One controller; One memory; A robot base includes a base and a movable base connected to the base, the movable base including a head movably positioned in a three-dimensional space defined by an x-axis, a y-axis and a z-axis that are orthogonal to each other; at least one motor configured to move the movable base; and a tactile stimulation device connected to the head of the robot base so that it can be moved by the robot base in three-dimensional space. One or more datasets, or the like, are stored in the memory, each dataset defining the robot base's x, y, and z coordinates relative to time and relative to a reference point in the three-dimensional space, the reference point being associated with a human body and positioned on one of the isoaxial designations; and machine-readable code stored in the memory and configured to cause the controller to use one of the datasets to generate control commands to cause one or more motors to move the movable base in a motion defined by the dataset, thereby causing the tactile stimulation device to move in the three-dimensional space, including its movement toward and away from the reference point in a direction corresponding to the designation on the isoaxial designation, wherein a maximum range of the tactile stimulation device's movement toward the reference point in that direction is limited to the position of the reference point on the designation on the isoaxial designation, and wherein when the direction is generally parallel to a desired direction of linear movement, the robot base is configured to move such that the maximum travel of the tactile stimulation device in that direction does not exceed the reference point.

2. The robotic tactile stimulator as claimed in claim 1, wherein the robotic base includes a 6-axis robot.

3. The robotic tactile stimulator as claimed in claim 1, wherein the tactile stimulation device includes a sexual stimulation device.

4. The robotic tactile stimulator of claim 1, wherein the tactile stimulation device is detachably connected to the head of the robot base.

5. The robotic tactile stimulator of claim 1, wherein the x-position coordinates are defined by a first function, the y-position coordinates are defined by a second function, and the z-position coordinates are defined by a third function.

6. The robotic tactile stimulator of claim 5, wherein the first function has a first duration, the second function has a second duration and the third function has a third duration.

7. The robotic tactile stimulator as described in claim 1, wherein the reference point is determined using a light detection and ranging device.

8. The robotic tactile stimulator of claim 1, wherein, during the movement of the tactile stimulator by the robotic base, the dataset synchronously defines x, y, and z position coordinates with audio signals presented by an audio device and / or video signals presented by at least one video display.

9. A method for moving a tactile stimulator, comprising the following steps: A reference point associated with a human body is determined, positioned on the x-axis of a specified spatial coordinate system having mutually orthogonal x-axis, y-axis, and z-axis, and the reference point has x, y, and z coordinates; an x-direction control function is defined; a y-direction control function is defined; a z-direction control function is defined; the x-functions are used to generate x-values ​​that vary over time, the highest of which does not exceed the x-coordinate of the reference point; the y-functions are used to generate y-values ​​that vary over time; the z-functions are used to generate z-values ​​that vary over time; a controller is used to generate motor control commands corresponding to the generated x, y, and z values; The robot base is moved by one or more motors using motor control commands. The robot base includes a base and a movable base connected to the base. The movable base includes a head and a tactile stimulator is connected to the head, thereby causing the tactile stimulator to move in three-dimensional space, including its movement toward and away from a reference point in a direction corresponding to the x-axis. The maximum range of the movement of the tactile stimulator toward the reference point in the x-direction corresponding to the x-axis is limited to the position of the reference point on the x-axis. The robot base is configured to move such that the maximum travel of the tactile stimulator in the x-direction does not exceed the reference point when the x-direction is generally parallel to a desired direction of linear movement.

10. The method of claim 9, further comprising the step of determining the position of one or more parts of an object, the reference point being associated with the object.

11. The method of claim 10, wherein the position is determined using a light detection and ranging device.

12. The method of request item 9, wherein one or more of the x, y and z functions are oscillating.

13. The method of claim 9, further comprising storing the x, y and z values ​​in a memory associated with the controller.

14. The method of claim 9, wherein the steps of defining the x function, the y function and the z function include receiving at least one input from a user to a mobile communication device.

15. A robotic tactile stimulator, comprising: One controller; One memory; A robot base comprising a base and a movable base connected to the base, the movable base including a head movably positioned in a three-dimensional space defined by an x-axis, a y-axis and a z-axis orthogonal to each other, wherein the x-axis is substantially orthogonal to a plane associated with a human body, wherein a reference point is located at the intersection of the x-axis and the plane, the reference point having an x-value; at least one motor configured to move the movable base; and a tactile stimulation device connected to the head of the robot base so as to be movable by the robot base in three-dimensional space. One or more datasets, or the like, stored in the memory, the datasets defining the robot base's x, y, and z position coordinates relative to time, wherein the maximum value of one of the x position coordinates does not exceed the x value of the reference point; and machine-readable code stored in the memory and configured to cause the controller to use one of the datasets to generate control commands to cause one or more motors to move the movable base in a motion defined by the datasets, thereby causing the tactile stimulation device to move in three-dimensional space, including its movement toward and away from the human body, wherein the maximum range of the movement of the tactile stimulation device in a direction corresponding to the x-axis does not exceed the plane, and wherein when the direction is generally parallel to a desired direction of linear movement, the robot base is configured to move such that the maximum travel of the tactile stimulation device in that direction does not exceed the reference point.

16. A robotic tactile stimulator, comprising: One controller; A memory; a robot base including a base and a movable base connected to the base, the movable base including a head movably positioned in a three-dimensional space defined by an x-axis, a y-axis and a z-axis orthogonal to each other; at least one motor configured to move the movable base; a tactile stimulation device connected to the head of the robot base so as to be movable by the robot base in three-dimensional space; One or more data sets, or the like, are stored in the memory, each data set defining the x-coordinate, y-coordinate, and z-coordinate of the robot base relative to time, the x-coordinates being defined by a first function, the y-coordinates by a second function, and the z-coordinates by a third function, wherein the first, second, and third functions are independent of each other; and machine-readable code, stored in the memory and configured to cause the controller to generate control commands using one of the data sets to cause the one or more motors to move the movable base in a motion defined by the data sets, thereby causing the tactile stimulation device to move in three-dimensional space based on the outputs of the individual first, second, and third functions.

17. The robotic tactile stimulator of claim 16, wherein the first function, the second function and the third function each have at least one of an amplitude feature and a time feature, the amplitude feature and the time feature being configured to be modified by a user.

18. The robotic tactile stimulator of claim 17, wherein the first function, the second function and the third function each have the amplitude feature and the time feature.

19. The robotic tactile stimulator of claim 16, wherein the first function has a first duration, the second function has a second duration and the third function has a third duration, and wherein the first, second and third durations are different from each other.

20. The robotic tactile stimulator of claim 19, wherein at least one of the first function, the second function and the third function is configured to repeat, thereby causing the motion of the movable base to change over time.

21. The robotic tactile stimulator of claim 16, wherein each of the first function, the second function and the third function is selected from a group consisting of a sine function, a square wave function, a modified square wave function and a ramp function.

22. The robotic tactile stimulator of claim 16, wherein at least one of the first function, the second function, and the third function has a pause position, wherein the controller causes the movable base to immediately stop moving in a current position, thereby preventing undesired movement from a desired position to an undesired position.

23. The robotic tactile stimulator of claim 16, wherein the first function, the second function and the third function are stored in the memory, wherein the one or more data sets are generated by the controller executing the first, second and third functions, and wherein the controller is configured to receive user input that varies at least one characteristic of at least one of the first, second and / or third functions.

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