Systems and methods for precise multi-dimensional movement of a tactile stimulator

Abstract

A robotic tactile stimulator, which includes a robotic bracket configured to move a tactile stimulation device. The robotic bracket can preferably move the tactile stimulation device in a three-dimensional space. Movements in the x, y, and / or z directions can be independently controlled and can refer to a designated point or position that can be associated with the human body. A lidar can be used to obtain information about the position / distance of one or more parts of the user for controlling the position of the tactile stimulation device. The movement of the tactile stimulation device can simulate the movement of other objects and / or can be synchronized with video or sound.

Description

Technical Field

[0001] The present invention relates to a tactile stimulation device. Background Art

[0002] A variety of tactile stimulation devices are known. These devices can be used for a variety of purposes. In some cases, these devices have a general purpose, while in other cases, these devices have a specific purpose. For example, such a device can have a general purpose, such as being configured to relieve pain or perform therapy, such as to treat muscle fatigue or soreness, thereby improving blood circulation, etc. These devices can also have a specific purpose.

[0003] In some cases, a tactile stimulator can include an object that does not have moving parts. In such a case, the user typically needs to manually manipulate the stimulator. For example, the tactile stimulator can be a simple ball. The user can press and roll the ball on their body, such as on the skin at the site of a muscle strain.

[0004] Other tactile stimulators have moving elements. The moving elements can be moved manually by the user, such as, or automatically. For example, a rolling bar is often used by a user on a sore muscle by holding the handles at each end of the rolling bar and then moving the intermediate rollable portion back and forth over the affected muscle area. Another example is that a tissue gun can be powered by electricity and includes one or more motors for moving the head portion of the gun, such as to vibrate the head portion. Then, the user still needs to manually hold the gun and manually place the head of the gun in contact with the desired area.

[0005] Other motorized tactile stimulation devices are also known, such as the device disclosed in USPN8,936,544. The device includes a motor-driven actuator for moving a ring and contracting or relaxing the ring. However, the device still has to be manually positioned, and the powered movement or motion of the device is limited.

[0006] There is a need for an improved method and device for precisely moving a tactile stimulator. Summary of the Invention

[0007] Aspects of the present invention include systems and methods 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 support configured to move a tactile stimulation device. Preferably, the robotic support is capable of moving the tactile stimulation device preferably in three-dimensional space. Movement in the x, y, and / or z directions can be independently controlled and can be independently controlled with reference to a designated point or designated position.

[0009] In one embodiment, the movement of the robotic support and thus the tactile stimulation device can be controlled by a controller of the robotic tactile stimulator using a program that includes a data set of time - related x, y, and z coordinates. The data set can be generated by independent x, y, and z functions. In one embodiment, these functions can have different durations, where one or more of these functions can be repeated, resulting in the movement of the robotic support changing over time.

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

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

[0012] In some embodiments, the movement of the tactile stimulation device can simulate 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, the user can communicate with the robotic tactile stimulator via a mobile communication device. For example, the user can use a graphical user interface displayed by one or more input devices of the device and the mobile communication device to select a desired movement program, modify or create a new movement program, etc.

[0014] Other aspects of the present invention include a stop or freeze function for the robotic tactile stimulation device, as well as a user authentication and / or consent function.

[0015] The robotic tactile stimulator can be used to control the movement of various tactile stimulation devices, including those that are designed to be movable themselves. For example, the robotic tactile stimulator can be used to move one or more tactile stimulation devices for therapeutic purposes, such as treating muscles or for medical reasons, or for providing pleasure.

[0016] When considered in conjunction with the accompanying drawings, other objects, features, and advantages of the present invention will become apparent from the following detailed description of the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A system according to an embodiment of the present invention is shown;

[0018] Figure 2 A robotic tactile stimulator according to an embodiment of the present invention is shown;

[0019] Figure 3 The figure shows various aspects of the movement of the tactile stimulator according to the present invention; and

[0020] Figures 4A to 4C is a view showing various aspects of the movement of the tactile stimulator according to the present invention. Detailed Description

[0021] In the following description, in order to provide a more comprehensive description of the present invention, numerous specific details are set forth. However, it will be apparent to those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known features have not been described in detail so as not to obscure the present invention.

[0022] Generally, the present invention includes systems, methods, and devices for moving a tactile stimulator, and preferably for precisely controlling the position and / or movement of the tactile stimulator relative to a person. One embodiment of the present invention includes a robot-controlled tactile stimulator or a robotic tactile stimulator. Additional embodiments of the present invention include methods of controlling a robotic tactile stimulator, including controlling the position and movement of the robotic tactile stimulator.

[0023] Figure 1 A system 20 according to an embodiment of the present invention is shown. In one embodiment, the system 20 includes at least one robotic tactile stimulator 22.

[0024] The robotic tactile stimulator 22 is movable, thus allowing the position of the associated tactile stimulation device 24 (see Figure 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 most 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 capable of automatically changing its position. In particular, the robotic tactile stimulator 22 is preferably capable of making multiple movements without human intervention (i.e., capable of moving between various positions based on a sequence of instructions without separate user input to prompt each movement).

[0026] Referring to Figure 2, the robotic tactile stimulator 22 preferably includes a robotic support 30 that is movable such that the associated tactile stimulation device 24 can be linearly moved in three (3) directions or along three (3) mutually orthogonal axes, and / or in combinations of these directions, including rotationally moving about these axes. For example, the robotic support 30 can include a 6-axis robot.

[0027] For example, as Figure 2 shown, the robotic support 30 can be configured to linearly move the tactile stimulation device 24 in the "x", "y", and "z" directions and combinations thereof (e.g., in directions along the x and y directions, y and z directions, etc.), whereby the robotic support 30 can freely move the tactile stimulation device 24 in three-dimensional space. Additionally, the robotic support 30 can be rotationally moved about one or more such axes, such as about the x-axis, y-axis, and / or z-axis (or such rotation can be achieved through linear movement). In this way, the robotic support 30 can manipulate the tactile stimulation device 24 to move in any combination of linear and rotational movements.

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

[0029] Referring to Figure 2 , the base 32 can have various configurations, including various shapes and sizes. Generally, the base 32 is configured to be mounted on a support surface (either by connection or simply by placement on or setting on the support surface) or supported by the support surface, such as a wall, floor, or other support, such as a part of another object. The base 32 can have a generally planar bottom or lower surface for engaging with a generally planar support surface, or the base 32 can have other configurations for engaging with other shaped support surfaces. In one embodiment, the base 32 can include one or more holes for receiving fasteners placed to engage with the support surface to fix the base 32 in a fixed position by temporarily or permanently connecting the base 32 to the surface. However, as described below, the entire robotic support 30 can be movable, such as by having a base that is capable of moving relative to the support surface (including by rolling or walking). In the illustrated embodiment, the robotic support 30 is located on a horizontal support surface, but it can also be mounted upside down, or mounted on a vertically extending support, etc.

[0030] In a preferred embodiment, the movable support 34 is located between the base 32 and the tactile stimulation device 24. The support is preferably capable of moving in at least three (3), preferably six (6), degrees of freedom and is thus capable of moving in at least two (2), more preferably three (3), dimensions or dimensional spaces. As described above, the robotic support 30 preferably allows at least rotation of the tactile stimulation device 24. However, in a preferred embodiment, linear movement relative to each of three generally orthogonal axes (and combinations thereof) is allowed, as well as rotational movement about each axis. 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 the movable support 34 (and thus the objects connected thereto, such as the tactile stimulation device 24) to move in the x, y, and / or z directions (3 degrees of freedom) and rotate about the x, y, and / or z axes (3 additional degrees of freedom), or various combinations of these movements.

[0031] As shown, in one embodiment, the support includes a main support 42. In one embodiment, the main support 42 is mounted for rotation relative to the base 32, i.e., rotation about the y axis as Figure 2 shown. For example, the main support 42 may be mounted on a bearing-supported shaft connected to the base 32 or otherwise mounted. This mounting allows the main support 42 to Figure 2 rotate about the y axis as shown.

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

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

[0034] In one embodiment, the head 48 is located at the distal portion of the upper arm 36. Preferably, the tactile stimulation device 24 is mounted to the movable support 34 via the head 48. In one embodiment, the head 48 is mounted to be capable of rotating relative to the upper arm 46 (and thus the remainder of the movable support 34).

[0035] The various parts of the movable support 34 can be connected to each other (and to the base 32) in various ways. For example, the parts can be connected to each other by shafts and bearing mounts, where the shaft is connected to one part and engages one or more bearings supported by another part such that the shaft can move relative to the bearings, thus allowing the parts to move relative to each other. However, the parts 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 a mechanism for moving one or more of its parts and thus moving the tactile stimulation device 24 connected thereto. As shown, the movable support 34 can include one or more motors M for moving its parts. These motors can be electric motors. In other embodiments, hydraulics or other means can be utilized to move one or more parts of the movable support 34. For example, a hydraulic arm can be utilized to move the upper arm 46 relative to the lower arm 44 in the vertical direction.

[0037] Of course, the robotic support 30 can have various other configurations. For example, while the above-described robotic support 30 has redundant movement capabilities in certain directions, the robotic support 30 can be configured in other ways (such as by being configured to have only a single part move in each direction). It will also be understood that the number of components or elements included in the movable support 34 can vary. For example, the robotic support 30 can include a base and a head, where the head is mounted to the base, such as by a swivel mount, thus allowing the head to move in at least two dimensions. Various configurations of components can also be utilized to achieve movement in various directions. For example, in addition to Figure 2 the rotational or swivel connection of the movable support shown, the components can be configured to telescope, slide, or otherwise move linearly (i.e., move along an axis rather than rotate about an axis), or the components can be configured to move along a path other than a curved path. For example, an arm can be rotatably connected to the base, where the arm is telescoping and thus can extend or retract.

[0038] As another example, the entire robotic support 30 can be movable. For example, the robotic support 30 can move in one or more directions by wheels that travel on a track (not shown) or otherwise, where the wheels can rotate, thus allowing the robotic support 30 to rotate or turn, or the robotic support 30 can be configured to move in one or more directions by walking (such as by including one or more legs).

[0039] As shown in the figure, in a preferred embodiment, the robotic support 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 attached to the head 48. Generally speaking, the robotic support 30 has parts (such as the head 48 or elements connected to the head) that can move in the above-described manner (as described above, in one embodiment, the movement of the various parts of the movable support 34 allows the head 48 to move in three (3) generally orthogonal directions and their combined directions, and to rotate about these directions), and is thus configured to move the associated tactile stimulation device 24.

[0040] The tactile stimulation device 24 may include various elements, objects, and / or devices for stimulating the user's senses, such as touch and / or kinesthetic senses. Thus, the tactile stimulation device 24 itself may include static objects or have moving or movable parts. For example, the tactile stimulation device 24 may include spherical or generally spherical objects, cylindrical objects, etc. (e.g., the object may move into contact with the user to stimulate touch, and when moved relative to the user, the object may stimulate kinesthetic senses). 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 according to the desired use. In addition, the tactile stimulation device 24 itself may have various moving parts or elements, such as to vibrate the tactile stimulation device 24, etc.

[0041] The tactile stimulation device 24 may be interchangeable (e.g., may be connected to the robotic support 30 and may be detached from the robotic support 30). For example, the head 48 may include a mounting member that facilitates connecting different tactile stimulation devices 24 and facilitating their detachment. For example, the head 48 may include a threaded female hole or a threaded male rod or other mounting members for compatibly connecting with a matching female connector or male connector associated with the tactile stimulation device 24. Of course, various means may be used to mount or connect the tactile stimulation device 24 to the robotic support 30 (and preferably allow the tactile stimulation device 24 to be removed from the support). In one embodiment, the robotic support 30 may thus allow the attachment of various commercially available tactile stimulation devices 30.

[0042] Refer again to Figure 1, in one embodiment, system 20 includes means for controlling robotic support 20. The means may include a controller or processor 60. Controller 60 may be part of robotic haptic stimulator 22 or may be external to robotic haptic stimulator 22 (such as part of a remote computing device). In one embodiment, various instructions may be provided to controller 60 so that the controller causes robotic support 30 to move. For example, a user may provide an input to controller 60 that is a request to move haptic stimulation device 24 from a first position to a second position. Controller 60 may generate one or more signals or instructions that are transmitted to robotic support 30 to thereby move haptic stimulation device 24. The signals may include turning on a switch to cause power to flow to one or more motors M of robotic support 30 for a predetermined period of time that is necessary for the motors to achieve the desired movement. In another embodiment, the signals may include instructions received by a sub - controller of robotic support 30 that then causes the support to move as expected.

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

[0044] The software may also include a set of instructions or may only include a set of instructions that allow a user to provide an input for the desired movement (e.g., the set of instructions allows a user to "program" robotic haptic stimulator 22 to move or produce a programmed movement in direct response to the programming (the movement may be executed immediately or stored for later execution)).

[0045] In one embodiment, the instructions may be generated remotely and uploaded to robotic haptic stimulator 22, such as via communication interface 64. Communication interface 64 may allow wired or wireless communication with robotic haptic stimulator 22 and one or more remote devices. For example, as Figure 1 shown, robotic haptic 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, robotic haptic stimulator 22 may be configured to communicate with one or more devices via one or more networks N. Such networks N may have various configurations and may have wired or wireless links. For example, network N may include a local area network or a wide area network and may also include the Internet, a cellular network, or a radio network, etc.

[0046] In one embodiment, the robotic tactile stimulator 22 may be configured to communicate with a user device 66, such as the user's mobile phone, laptop computer, tablet computer, PDA, or other mobile communication device. In one embodiment, such a user device 66 includes at least one user input (buttons, touch screen, etc.), at least one display (such as a video display), and preferably includes a processor, such as for processing information to be displayed on the display (whether remotely obtained information or information generated on the device). The user device 66 may include a memory for storing machine-readable instructions, such as one or more "applications" that may 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, etc.) through which a user may provide input; a controller or processor; a memory for storing machine-readable code 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. The server 70 may also include a computing device including a controller or processor, a memory for storing machine-readable code, and the like.

[0049] Aspects of a method of moving the tactile stimulation device 24 via the robotic mount 30 (including via a system 20 such as the one described above) will now be described.

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

[0051] In a preferred embodiment of the present invention, with reference to Figure 3 , the movement of the tactile stimulation device 24 is made with reference to a point P. This point P preferably constitutes a reference point. The point P can be determined in various ways. For example, as described below, the point P can be determined by a detection system. In one embodiment, the point P may include a position associated with the human body, such as a contact point with the human body.

[0052] In one embodiment, as Figure 3As shown, the tactile stimulation device 24 can move relative to the reference point P in the x, y, and / or z directions. However, preferably, when the x direction is substantially perpendicular to the desired stopping plane (such as the human body surface), or when the x direction is substantially parallel to the desired linear movement direction, the robotic support 30 is configured to move such that the maximum travel of the tactile stimulation device 24 in the x direction does not exceed the point P. However, in other cases, the robotic support 30 can also move the tactile stimulation device 24 in the x direction. Figure 4A An example of such movement is shown, where the robotic support 30 is configured to move the tactile stimulation device 30 back and forth in the x direction, but such that the maximum travel in the positive x direction does not exceed the point P. It will be understood that the point P is only a reference point, and the "x" direction is also only a reference direction. For example, the "x" direction is not necessarily the horizontal direction, but can be the up / down / vertical direction, etc.

[0053] In a preferred embodiment, the robotic support 30 can also move the tactile stimulation device 24 in the y and / or z directions. Figure 3 A configuration is shown in which the tactile stimulation device 24 moves in the x, y, and z directions. For example, in movement M1, the tactile stimulation device 24 moves forward towards the point P by a distance X1, from point X1a to point X1b. At the same time, 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 Figure 3 shown, the tactile stimulation device 24 can move in various directions, such as shown by movements M2, M3, and M4, where some of these movements (in the x direction) can be towards or away from the point P (including or not including the point P), and include movements in the y and z directions, where the amount (or distance) of movement in the y and / or z directions can change relative to each other (greater than or less than) and / or the x position changes.

[0055] Of course, in a sequence of movements, movements M1, M2, M3, and M4 will have corresponding starting and ending points (e.g., the starting point of movement M2 corresponds to the ending point of movement M1).

[0056] Figures 4A to 4C Better shows the independence of the position and movement control of the tactile stimulation device 24. As shown, the movement of the tactile stimulation device 24 can be reflected by movement (positive or negative or zero) in the x direction, movement (positive or negative or zero) in the y direction, and movement (positive or negative or zero) in the z direction. Figure 4AShows a first example of a graph of the movement of the tactile stimulation device 24 in each of the x, y, and z directions versus time. As shown, the amount of movement in each direction (including the amount of movement relative to time) can vary. In this embodiment, the movement of the tactile stimulation device 24 in each direction is oscillatory (where the amplitude and frequency of the movement can be the same or vary).

[0057] Figure 4B Shows a second example of a graph of the movement of the tactile stimulation device 24 in each of the x, y, and z directions. For example, the graph of this embodiment can be used to move the tactile stimulation device 24 along the human body surface (such as along a person's back), rather than moving towards or away from the surface (because the position of the tactile stimulation device 24 does not change in the x direction, for example, does not move towards or away from the contact surface).

[0058] Figure 4B Also shows that the movement of the tactile stimulation device 30 can vary. For example, in Figure 4B , the movement in the x direction is zero, the movement in the y direction is a sine wave oscillation, and the movement in the z direction is a modified (ramped) square wave oscillation. Of course, various movements can also be performed.

[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 can be the same in one or more directions. For example, in one embodiment, the movement of the tactile stimulation device 24 can be controlled to be the same in the y and z directions.

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

[0061] Furthermore, as Figure 4A and 4BAs shown, the instructions for moving the haptic stimulation device 24 in each of the x, y, and z directions need not have the same duration. For example, a set of instructions for moving the haptic stimulation device 24 in the x direction may have a duration of T1, while the instructions for moving in the y direction may have a duration of T2, and the instructions for moving in the z direction may have a duration of T3. Each of these times may be the same or different. When the times are different, the operation time of the robotic support 30 exceeding the minimum defined time ( Figure 3 T2 in the examples shown in FIGS. 3A and 3B) requires repeating one or more instructions. However, when the defined movements (amplitudes varying over time) are not the same, this introduces variability in the movement or motion of the haptic stimulation device 24.

[0062] Figure 4C This feature is better illustrated. In this example, assume that the movement instructions in the x direction have a duration of T1, the movement instructions in the y direction have a duration of T2, and the movement instructions in the z direction have a duration of T3. Assume that the duration for which the robotic haptic stimulator 22 is to be operated is T2, which requires the instructions for the movement of the device in the x and z directions to be repeated one or more times. As shown, this repetition results in the position of the haptic stimulation device 24 not repeating to the same relative x, y, and z positions. For example, at Figure 4C time TI in, where the haptic stimulation device 24 is moved to its farthest "retracted" (i.e., in the negative x direction) position, the haptic stimulation device 24 is at positions X1, Y1, and Z1. However, at time TL, when the x - direction instruction is repeated and the haptic stimulation device 24 is again at its further retracted position, the haptic stimulation device 24 is at positions X2 (the same as X1), Y2, Z2. Although positions X1 and X2 are the same, positions Y1 and Y2 are different, and positions Z1 and Z2 are different. Thus, as an aspect of the present invention, variability in the movement can be introduced by generating a sequence of instructions for moving in each of the x, y, and z directions, where the durations of these instructions are not the same, and then repeating these instructions either fully or partially.

[0063] Referring again to Figure 1, as described above, in one embodiment, instructions can be generated and stored in a memory 62 associated with the robotic mount 30 for execution by a controller 60. For example, in one embodiment, the controller 60 is configured to execute code stored in the memory 62 that causes the controller 60 to generate one or more control instructions. For example, these control instructions can include motor control instructions for controlling one or more motors M to move the movable support 34. In one embodiment, the code executed by the controller 60 is configured to generate motor control instructions based on an input that includes one or more data sets. For example, the data sets can include coordinate sets, such as the coordinate sets described above (e.g., x, y, and z direction coordinate sets, which can themselves be generated or derived by one or more programs, formulas, drawings, etc.). For example, as described above, the individual (x), (y), and (z) functions can define the 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 data subgroups containing the x coordinate at a specified time, the y coordinate at a specified time, and the z coordinate at a specified time). These data sets can represent "programs" that the robotic mount 30 can execute. In other embodiments, the data provided to the controller 60 can include one or more formulas that the controller 60 (or an external controller) uses to generate a coordinate data set.

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

[0065] The application can allow the user to provide an input for controlling the robotic haptic stimulator 22. For example, the application can allow the user to start and stop the robotic haptic stimulator 22, define the operating time of the robotic haptic stimulator 22, and select different programs. These programs can be specified with different labels (names, etc.) and have different characteristics and contain a defined set of instructions for moving the robotic mount 30 (and thus the haptic stimulation device 24). For example, these programs can define different movements, different movement ranges, different movement durations, etc.

[0066] In addition, the user can "program" the movement of the robotic support 30 and the associated haptic stimulation device 24. For example, in one embodiment, the user may be allowed to change movement control instructions, such as by changing movement diagrams as shown in Figure 4A and Figure 4B . For example, the user may be allowed to select different movement functions (sine wave, square wave, modified square wave, ramp, etc.) and / or modify these functions, including by changing their amplitudes and / or temporal characteristics (e.g., the user may be allowed to use a touch screen to drag the displayed function to increase or decrease time T, increase or decrease the amplitude, etc.). Then, the user can save the user-created program (and can save the program with a new name).

[0067] When the memory 62 stores an existing program, the user's selection of the existing program directly causes the controller 60 to execute the stored program. If the user modifies an existing program or creates a new program and desires to execute the program, the program can be transferred to the robotic support 30 for storage in the memory 62 and then executed by the controller 60. Of course, the user can also implement similar functions through the workstation 68 or the like.

[0068] According to another aspect of the present invention, the placement or movement of the robotic support 30 and preferably one or more objects mounted on the support 30 can be controlled based on position information about another object. As an example, as described above, the movement of the haptic stimulation device 24 can be controlled according to point P. Point P can be associated with the human body. In one embodiment, information about the human body and in particular the position of one or more parts of the human body can be obtained and provided to the robotic haptic stimulator 22 for controlling the position of the associated robotic support 30 (and thus Figure 2 the haptic stimulation device 24 in the embodiment shown in

[0069] In one embodiment, one or more detectors can be used to obtain position information about an object. Such detectors can include one or more distance capture devices, such as radar, lidar (light detection and ranging), or similar systems (now known or developed later).

[0070] As an example, as shown 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 its parts, such as the relative position with respect to the robotic support 30 (or the haptic stimulation device 24 or other objects moved by the robotic support).

[0071] As an example, a lidar system 72 can be used to determine the position of a user's back (including portions of the back) relative to the robotic support 30. One of the positions determined by the scan can be designated as point P in the above embodiments. Then, the robotic support 30 can be appropriately moved relative to point P.

[0072] For example, the output of the lidar scan can be provided to the user device 66, the workstation 68, etc. The output of the scan can be displayed as an image. The user can select on the scan / image the position to be designated as point P (and can change or move point P at any time). Then the coordinates of point P can be determined based on the selection relative to the scan. Then this position information can be used to determine the default position of the robotic support 30 (including the position relative to the haptic stimulation device 24 or other objects being moved thereby).

[0073] As an example, referring to Figure 4A , assume the current position of the haptic stimulation device 24 is point S(x, y, z) (such as determined by the controller 60). In Figure 4A the embodiment shown, the starting point for the operation of the robotic support 30 is to position the haptic stimulation device 24 at point PS(x, y, z), where x = P - Xa (for example, the designated point P, minus the maximum value of x during the movement of the haptic stimulation device 24, such that when the haptic stimulation device 24 moves maximally in the x direction, the haptic stimulation device 24 does not move past point P in the x direction), and where y = P(y) and z = P(z) (in other words, the x value of point PS is the x value of point P minus Xa, the y value is equal to the y value of point P, and the z value is equal to the z value of point P. Then, with the controller 60 (or an external device) knowing the positions of point S and point PS (from the above calculations), the robotic support 30 and the associated object (such as the haptic stimulation device 24) are moved from point S to point PS. Then, the controller 60 can perform the Figure 4A movements shown, such as based on the shown program, to move the haptic stimulation device 24.

[0074] Of course, the position of point P may be updated from time to time, such as by rescanning the object (e.g., when point P may move, such as when a person's body / user moves).

[0075] The operating principle just described can be applied to the robotic mount 30, which is used to move other objects, particularly objects at different locations or in relation to other moving or movable objects. For example, assume that the robotic mount 30 is used to move an agricultural implement so as to couple it to a tractor (such as by raising the coupler portion of the implement so as to couple it to the tractor). In this case, whenever the agricultural implement is connected to the tractor, the position of the tractor may vary slightly, such as due to the position of the farmer relative to the implement changing as the tractor is backed up. The present invention can be used to determine the position of the tractor and / or its coupler relative to the robotic mount 30, and thus the position of the agricultural implement being moved. The position information can be used to control the robotic mount 30 such that it moves the agricultural implement precisely into connection with the tractor.

[0076] In one embodiment, the movement of the haptic stimulation device 24 can be patterned after the movement of one or more other objects, and / or can be synchronized with other information. For example, one or more image capture devices can capture the movement of one or more physical objects. The captured video can be analyzed to detect and determine the movement of the object, such as movement in the x, y, and z directions. The determined movement can be used to generate a corresponding set of control instructions or a "program" that is used by the controller 60 to move the robotic mount 30 in substantially the same manner (e.g., to replicate the movement). The same principle can also be used to generate control instructions based on the analysis of other videos (such as the movement of actors in a movie, video, etc.).

[0077] In some embodiments, the movement of the haptic stimulation device 24 (by the movement of the robotic mount 30) can be synchronized with other information, such as video, sound, or a combination thereof. For example, if the robotic haptic stimulator 22 has been programmed to replicate the movement of an object in a video, the movement of the robotic haptic stimulator 22 can be synchronized such that its replicated movement is consistent (simultaneous or temporally close) with the movement of the object in the video. As an example, in a movie, a first actor may move and touch a second actor. The movement can be analyzed, and control instructions can be generated to control the robotic haptic stimulator 22 such that it moves the haptic stimulation device 24 in the same manner, including moving from one position to another position such that the haptic stimulation device 24 touches the user. This movement can be synchronized with the video such that when the user watches the video, the robotic haptic stimulator 22 can achieve a physical reproduction of the displayed movement / action.

[0078] As another example, the robotic tactile stimulator 22 (and thus the tactile stimulation device 24) can be programmed to move while music is being played. The movement of the tactile stimulation device 24 can also be controlled based on relevant information of the music, such as where the movement speed of the tactile stimulation device 24 increases with the speed of the music, the movement amplitude of the tactile stimulation device 24 increases 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 workstation 68 or server 70 for analysis and creation of an instruction file, which is then provided to the controller 60 for execution. Time codes (such as those described in U.S. Patent No. 10,764,544, which is also invented by the inventors herein and incorporated herein by reference) can be used to synchronize the movement of the robotic tactile stimulator 22 with the video and / or audio.

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

[0081] In an embodiment of the present invention, to prevent the tactile stimulation device 24 from undesired (and potentially harmful) movement from a desired position to an undesired position associated with the home position of the robotic support 30, the robotic support 30 is preferably configured to "freeze" in the event of a fault, default, malfunction, or when the user desires to stop the robotic support 30. In any of these cases, the controller 60 does not move the robotic support 30 back to the "home" position, but rather causes the robotic support 30 to immediately stop moving or "freeze" in its current position (regardless of what the current position is at that time, which may vary).

[0082] In one embodiment, safety and / or consent controls can be provided. The safety and / or consent controls can be implemented by the controller 60, or by the controller and an external device (such as the user device 66). In one embodiment, an input, such as an input in the form of consent, may be required to operate the robotic tactile stimulator 22 or keep it in an operating state. In one embodiment, when the user couples or pairs their user device 66 with the robotic tactile stimulator 22, the user may be required to provide an input to the user device 66 (such as providing an input to its touch screen, for example, an input displayed by an associated control application) in order for the user to use the robotic tactile stimulator 22. In other embodiments, the user may be required to provide an input in other ways, such as providing an input to an input device (not shown) associated with the robotic tactile stimulator 22.

[0083] In one embodiment, if the user does not continue to provide an approval input, or if the user provides a "stop" input, the operation of the robotic haptic stimulator 22 may also stop. Such an input can be issued by the user device 66 or other input devices. For example, a button can be configured to communicate with the controller 60, where as long as the user continues to press the button, the robotic haptic stimulator 22 will operate (otherwise, the robotic support 30 may immediately freeze or stop operating in the manner described above), or the robotic haptic stimulator 22 can be configured to stop when the user presses the button.

[0084] Of course, the operation of the robotic haptic stimulator 22 can also be controlled in other ways, including through voice commands and the like.

[0085] In one embodiment, means for verifying the user's identity and input from the user can be provided. For example, in one embodiment, the robotic haptic stimulator 22 (or an external device or system in communication therewith, such as the user device) can be configured to identify the user. Then it can be verified whether the input is provided by that user. For example, the control application associated with the user device 66 can be configured to receive the user's fingerprint. When the user provides a later "stop" or "consent" input, the application can be configured to re-read the user's fingerprint associated with that input and compare it with the user's previous fingerprint to ensure that the input is from that user. Similarly, the user can issue a voice command to their user device 66, and the voice command can be compared with the stored voice commands or otherwise analyzed to determine whether it is the voice command of that user (rather than someone else).

[0086] It will be understood that the system of the present invention can include multiple robotic haptic stimulators 22 or use multiple robotic haptic stimulators 22. In such a system, multiple individual robotic supports can be used simultaneously, each robotic support having an associated haptic stimulation device. In some embodiments, the individual robotic supports can be used to move the haptic stimulation device in the same manner, while in other embodiments, the individual robotic supports can move the haptic stimulation device simultaneously or at different times, including moving the haptic stimulation device in different ways / positions.

[0087] It will be understood that the size and shape of the robotic haptic stimulator (including the robotic support) can vary, such as depending on the desired use. The robotic haptic stimulator can be powered in various ways, including through one or more batteries, a wired power source, etc.

[0088] It will be understood that the apparatus arrangements and methods described above are merely examples of the application of the principles of the present invention, and that many other embodiments and modifications may be made without departing from the spirit and scope of the present invention as defined in the claims.

Claims

1. A robot tactile stimulator, the robot tactile stimulator comprising: Controller; Memory; A robotic support, the robotic support including a base and a movable support connected to the base, the movable support including a head that is movably locatable 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 support; A tactile stimulation device connected to the head of the robotic support so as to be movable in the three-dimensional space by the robotic support; One or more sets of data stored in the memory, each data set defining x-position coordinates, y-position coordinates, and z-position coordinates for the robotic support over time relative to a reference point in the three-dimensional space, the reference point being associated with a human body and located on a designated one of the x-axis, y-axis, and z-axis; and Machine-readable code stored in the memory and configured to cause the controller to generate control instructions using one of the data sets to cause the one or more motors to move the movable support in a motion defined by the data set, thereby moving the tactile stimulation device in the three-dimensional space, including moving the tactile stimulation device toward and away from the reference point in a direction corresponding to the designated one of the axes, wherein a maximum range of the movement of the tactile stimulation device in the direction toward the reference point is limited to the position of the reference point on the designated one of the x-axis, y-axis, and z-axis, and wherein when the direction is generally parallel to a desired linear movement direction, the robotic support is configured to move such that a maximum travel of the tactile stimulation device in the direction does not exceed the reference point.

2. The robot tactile stimulator according to claim 1, wherein, The robotic support includes a 6-axis robot.

3. The robot tactile stimulator according to claim 1, wherein, The tactile stimulation device is detachably connected to the head of the robotic support.

4. The robot tactile stimulator according to 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.

5. The robot tactile stimulator according to claim 4, wherein, The first function has a first duration, the second function has a second duration, and the third function has a third duration.

6. The robot tactile stimulator according to claim 1, wherein, The reference point is determined using a light detection and ranging device.

7. The robot tactile stimulator according to claim 1, wherein, During movement of the tactile stimulator by the robotic support, the data set defines the x, y, and z position coordinates as synchronized with audio presented by an audio device and / or with video presented by at least one video display.

8. A method for a mobile tactile stimulator, the method comprising the following steps: Determine a reference point associated with a human body, the reference point being located on the x-axis of a designated spatial coordinate system having the x-axis, y-axis, and z-axis that are orthogonal to each other, and the reference point having x, y, and z coordinates; Define an x-direction control function; Define a y-direction control function; Define a z-direction control function; Generate an x value as a function of time using the x-direction control function, the highest value of the x values not exceeding the x coordinate of the reference point; Generate a y value as a function of time using the y-direction control function; Generate a z value as a function of time using the z-direction control function; Generate motor control instructions corresponding to the generated x, y, and z values using a controller; Move a robot support with one or more motors, the robot support including a base and a movable support connected to the base, the movable support including a head, and a tactile stimulation device connected to the head, so that the tactile stimulation device moves in three-dimensional space, including moving the tactile stimulation device in a direction corresponding to the x-axis towards and away from the reference point, wherein the maximum range of the movement of the tactile stimulation device in the x-direction corresponding to the x-axis and towards the reference point is limited to the position of the reference point on the x-axis, and wherein when the x-direction is substantially parallel to the desired linear movement direction, the robot support is configured to move such that the maximum travel of the tactile stimulation device in the x-direction does not exceed the reference point.

9. The method according to claim 8, the method further comprising the following steps: Determine the position of one or more parts of an object, the reference point being associated with the object.

10. The method according to claim 9, wherein, Determine the position using a light detection and ranging device.

11. The method according to claim 8, wherein, One or more of the x-direction control function, y-direction control function, and z-direction control function are oscillating functions.

12. The method according to claim 8, the method further comprising storing the x value, y value and z value in a memory associated with the controller.

13. The method according to claim 8, wherein, The steps of defining the x-direction control function, the y-direction control function, and the z-direction control function include receiving at least one input from a user to a mobile communication device.

14. A robotic tactile stimulator, the robotic tactile stimulator comprising: A controller; A memory; A robot support including a base and a movable support connected to the base, the movable support including a head that can be movably positioned in three-dimensional space defined by an x-axis, a y-axis, and a z-axis that are orthogonal to each other, wherein the x-axis extends substantially orthogonally to a plane associated with a human body, and 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 support; A tactile stimulation device connected to the head of the robot support so as to be movable in three-dimensional space by the robot support; One or more sets of data stored in the memory, the one or more sets of data defining the x-position coordinates, y-position coordinates, and z-position coordinates of the robot support over time, wherein the maximum value 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 generate control instructions using one of the sets of data to cause the one or more motors to move the movable support with a motion defined by the data set, so as to move the haptic stimulation device in three-dimensional space, including moving the haptic stimulation device towards and away from the human body, wherein a maximum range of the movement of the haptic stimulation device in a direction corresponding to the x-axis does not exceed the plane, and wherein when the direction is substantially parallel to the desired linear movement direction, the robotic support is configured to move such that a maximum travel of the haptic stimulation device in the direction does not exceed the reference point.

15. A robotic tactile stimulator, the robotic tactile stimulator comprising: Controller; Memory; A robotic support comprising a base and a movable support connected to the base, the movable support including a head that is movably positioned in a three-dimensional space defined by mutually orthogonal x-axis, y-axis, and z-axis, wherein a reference point is located on a specified one of the x-axis, y-axis, and z-axis and is associated with the human body; At least one motor configured to move the movable support; A haptic stimulation device connected to the head of the robotic support so as to be movable in three-dimensional space by the robotic support; One or more sets of data stored in the memory, each data set defining x-position coordinates, y-position coordinates, and z-position coordinates of the robotic support that vary over time, the x-position coordinates being defined by a first function, the y-position coordinates being defined by a second function, and the z-position coordinates being defined by a third function, wherein the first function, the second function, and the third function are all independent of each other; and Machine-readable code stored in the memory and configured to cause the controller to generate control instructions using one of the data sets to cause the one or more motors to move the movable support with a motion defined by the data set, so as to move the haptic stimulation device in three-dimensional space based on the outputs of the separate first, second, and third functions, and wherein a maximum travel of the haptic stimulation device along the specified one of the x-axis, y-axis, and z-axis does not exceed the reference point.

16. The robotic tactile stimulator according to claim 15, wherein, The first function, the second function, and the third function each have at least one of an amplitude characteristic and a time characteristic, the amplitude characteristic and the time characteristic being configured to be modified by a user.

17. The robotic tactile stimulator according to claim 16, wherein, The first function, the second function, and the third function each have an amplitude characteristic and a time characteristic.

18. The robotic tactile stimulator according to claim 15, wherein, The first function has a first time duration, the second function has a second time duration, and the third function has a third time duration, and wherein the first, second, and third time durations are different from each other.

19. The robotic tactile stimulator according to claim 18, wherein, At least one of the first function, the second function, and the third function is configured to be repeatable, whereby the motion of the movable support changes over time.

20. The robotic tactile stimulator according to claim 15, wherein, Each of the first function, the second function, and the third function is selected from the group consisting of a sine function, a square wave function, a modified square wave function, and a ramp function.

21. The robotic tactile stimulator according to claim 15, wherein, At least one of the first function, the second function, and the third function has a freeze position in which the controller causes the movable support to immediately stop moving at the current position, thereby preventing an undesired movement from a desired position to an undesired position.

22. The robotic tactile stimulator according to claim 15, wherein, The first function, the second function, and the third function are stored in the memory, wherein 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 a user input that changes at least one characteristic of at least one of the first, second, and / or third functions.

23. A method for a mobile tactile stimulator, the method comprising the following steps: Define an x-direction control function for generating an x-position coordinate; Define a y-direction control function for generating a y-position coordinate, the y-direction control function being independent of the x-direction control function; Define a z-direction control function for generating a z-position coordinate, the z-direction control function being independent of the x-direction control function and the y-direction control function; Store data regarding a reference point position that is located on a specified one of the x-axis, y-axis, and z-axis and is associated with the human body; Generate an x value as a function of time using the x-direction control function; Generate a y value as a function of time using the y-direction control function; Generate a z value as a function of time using the z-direction control function; wherein at least one of the x value, y value, and z value is restricted by the reference point along the specified one of the x-axis, y-axis, and z-axis; Store in a memory associated with the controller of the tactile stimulator one or more sets of data, the one or more sets of data including the generated x values, y values, and z values that vary over time; Generate, using the controller, motor control instructions corresponding to at least one of the one or more sets of data; and Move, using the motor control instructions, one or more motors to move a robotic support that includes a base and a movable support connected to the base, the movable support including a head, and a tactile stimulation device is connected to the head such that the tactile stimulation device moves in three-dimensional space, wherein a maximum travel of the tactile stimulation device along the specified one of the x-axis, y-axis, and z-axis does not exceed the reference point.

24. The method according to claim 23, wherein, One or more of the x, y, and z direction control functions are oscillating functions.

25. The method according to claim 23, the method further comprising the step of receiving an input from a user to modify at least one of the x-direction control function, the y-direction control function, and the z-direction control function.

26. The method according to claim 23, wherein, Each of the x-direction control function, the y-direction control function, and the z-direction control function has at least one of an amplitude characteristic and a time characteristic, and at least one of the amplitude characteristic and the time characteristic is configured to be modified by a user.

27. The method according to claim 26, wherein, Each of the x-direction control function, the y-direction control function, and the z-direction control function has an amplitude characteristic and a time characteristic.

28. The method according to claim 23, wherein, The x-direction control function has a first duration, the y-direction control function has a second duration, and the z-direction control function has a third duration, and wherein the first duration, the second duration, and the third duration are different from each other.

29. The method according to claim 28, wherein, At least one of the x-direction control function, the y-direction control function, and the z-direction control function is configured to be repeatable, whereby the movement of the movable support changes over time.

30. The method according to claim 23, wherein, Each of the x-direction control function, the y-direction control function, and the z-direction control function is selected from the group consisting of a sine function, a square wave function, a modified square wave function, and a ramp function.

31. A method for user control of the movement of a tactile stimulator via a robotic support, the method comprising the steps of: Define an x-direction control function for generating an x-position coordinate; Define a y-direction control function for generating a y-position coordinate, the y-direction control function being independent of the x-direction control function; Define a z-direction control function for generating a z-position coordinate, the z-direction control function being independent of the x-direction control function and the y-direction control function; Wherein the x-direction control function, the y-direction control function, and the z-direction control function each have an amplitude characteristic and a time characteristic; Store data regarding the position of a reference point that is located on a specified one of the x-axis, y-axis, and z-axis and is associated with the human body; Receive an input from the user to modify at least one of the amplitude characteristic and / or the time characteristic of at least one of the x-direction control function, the y-direction control function, and the z-direction control function; Utilize the x-direction control function modified by any user input to generate an x value as a function of time; Utilize the y-direction control function modified by any user input to generate a y value as a function of time; Utilize the z-direction control function modified by any user input to generate a z value as a function of time; Store the x value, the y value, and the z value in a memory associated with the controller of the tactile stimulator; Wherein at least one of the x value, the y value, and the z value is limited by the reference point along the specified one of the x-axis, y-axis, and z-axis; Generate, using the controller, motor control instructions corresponding to the generated x, y, and z values as a function of time; and Utilize the motor control instructions to move one or more motors to move the robotic support, the robotic support including a base and a movable support connected to the base, the movable support including a head, and a tactile stimulation device being connected to the head, whereby the tactile stimulation device moves in three-dimensional space, wherein a maximum travel of the tactile stimulation device along the specified one of the x-axis, y-axis, and z-axis does not exceed the reference point.

32. The method according to claim 31, wherein, The step of receiving the input includes receiving an input from a user's mobile device.

33. The method according to claim 32, the method further comprising the step of causing a mobile device of the user to display a graphical representation of the x-direction control function, the y-direction control function, and / or the z-direction control function.

34. The method according to claim 33, wherein The input includes a touch input for dragging at least a portion of one of the graphical representations.

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