Joint constraint system for animated characters

Abstract

An animated character includes an appendage with joints. The animated character also includes a joint restraint device attached to the appendage. The joint restraint device includes a membrane defining an internal volume and particles disposed within the internal volume. Furthermore, the joint restraint device is configured to press the particles against each other in response to a vacuum pressure applied to the membrane to restrain joint movement.

Description

Background Technology

[0001] This section aims to introduce the reader to various aspects of the technology that may relate to the various aspects of the present technology described below and / or claimed. This discussion is believed to help provide the reader with background information to better understand the various aspects of this disclosure. Therefore, it should be understood that these statements are to be read in this light, and not as an admission of prior art.

[0002] In addition to many other attractions, amusement parks and other entertainment venues also include animated characters (e.g., robots) to entertain park visitors who are queuing for or already inside the rides. Some animated characters may include parts (e.g., appendages) connected via movable joints (e.g., knees) and controlled by actuators (e.g., motors, pistons). The actuators provide mechanical power to hold the parts and movable joints in desired positions (e.g., postures). Summary of the Invention

[0003] The following outlines certain embodiments that are proportionate to the scope of this disclosure. These embodiments are not intended to limit the scope of this disclosure, but are merely intended to provide a brief overview of the possible forms of these embodiments. In fact, these embodiments may encompass various forms that may be similar to or different from the embodiments set forth below.

[0004] In one embodiment, an animated character includes an appendage with joints and a joint restraint device attached to the appendage. The joint restraint device includes a membrane defining an internal volume and a plurality of particles disposed within the internal volume. The joint restraint device is configured to press the plurality of particles against each other in response to a vacuum pressure applied to the membrane to restrain joint movement.

[0005] In one embodiment, a joint restraint device for an animated character includes a membrane defining an internal volume. The joint restraint device also includes a conduit configured to fluidly connect the internal volume to a vacuum source. Additionally, the joint restraint device includes a valve configured to selectively open an airflow path via the conduit between the internal volume and the vacuum source. The joint restraint device further includes particles disposed within the internal volume of the membrane. The particles are configured to press against each other in response to a vacuum pressure applied to the internal volume to form a relatively rigid body.

[0006] In one embodiment, an appendage control system for an animated character includes actuators configured to move components around joints. The appendage control system also includes joint restraint devices, each having a membrane defining an internal volume. Each joint restraint device also includes particles disposed within the internal volume, wherein the particles are configured to form a relatively rigid body around the respective joint in response to a vacuum pressure applied to the internal volume. Attached Figure Description

[0007] These and other features, aspects, and advantages of the invention will become better understood when the following detailed description is read with reference to the accompanying drawings, wherein similar reference numerals denote similar parts throughout the drawings, wherein: Figure 1 This is a schematic diagram of a scenic spot system including animated characters according to an embodiment of the present disclosure; Figure 2 This is a schematic diagram of the appendages of an animated character according to an embodiment of the present disclosure; Figure 3 This is a schematic diagram of an appendage of an animated character according to an embodiment of the present disclosure, wherein the appendage is in an operational state; Figure 4 This is a schematic diagram of an appendage of an animated character according to an embodiment of the present disclosure, wherein the appendage is in a resting state; Figure 5 This is a schematic diagram of particles in a compressed state of a joint restraint device according to an embodiment of the present disclosure; Figure 6 This is a schematic diagram of the particles in a non-compression state of a joint restraint device according to an embodiment of the present disclosure; Figure 7 This is a perspective view of a joint restraint device according to an embodiment of the present disclosure; Figure 8 This is a schematic diagram of a control circuit for operating a joint restraint device according to an embodiment of the present disclosure; Figure 9 This is a schematic diagram of a control circuit for operating a plurality of joint restraint devices according to an embodiment of the present disclosure; and Figure 10 This is a schematic diagram of an appendage control system for an animated character according to an embodiment of the present disclosure. Detailed Implementation

[0008] One or more specific embodiments of this disclosure will be described below. To provide a concise description of these embodiments, not all features of the actual implementation may be described in the specification. It should be recognized that in the development of any such actual implementation, as in any engineering or design project, many implementation-specific decisions must be made to achieve the developer's specific objectives, such as complying with system-related and business-related constraints, which may vary from one implementation to another. Furthermore, it should be recognized that such development work can be complex and time-consuming, but will remain routine tasks of design, manufacture, and production for those skilled in the art who benefit from this disclosure.

[0009] When describing the elements of various embodiments of this disclosure, the articles “a,” “an,” and “the” are intended to mean that one or more elements are present. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that additional elements may be present besides those listed. Furthermore, it should be understood that references to “an embodiment” or “an embodiment” in this disclosure are not intended to be construed as excluding the existence of other embodiments also in conjunction with the described features.

[0010] This disclosure relates to animated characters (e.g., robots) used in venues such as amusement parks. Such venues may include attraction systems such as theatrical stages, roller coasters, vehicle rides, etc. For example, the animated character may entertain visitors as part of a theatrical performance, in which the animated character exhibits movement, environmental awareness, sound effects, etc. To enable body movement, the animated character may include one or more joints connecting parts of the animated character. For example, an appendage (e.g., a leg) of the animated character may include a first part (e.g., the upper leg portion; femur) and a second part (e.g., the lower leg portion; tibia) connected via a joint (e.g., the knee). Movement of the parts about the joints may be generated by actuators (e.g., motors, pistons, servo devices, artificial muscles, etc.). The actuator may receive electrical power from a power supply and convert the electrical power into mechanical energy to move the parts. In some cases, the actuator may be actively powered to maintain a desired position (e.g., a target position) of the parts. That is, in the absence of actuator operation, the appendage may change from the desired position (e.g., falling; due to gravity) to a different position (e.g., an undesired position; a position with lower potential energy). Therefore, when the actuator is not activated, the animated character can release the joint from the desired position.

[0011] In certain circumstances, actuator operation can be interrupted, resulting in joint flexion. For example, the actuator may experience a loss of power due to an interruption in the power supply, which can cause the actuator operation to be interrupted. In embodiments, the animated figure may include a shut-off switch (e.g., an emergency stop) configured to cut off the power supply to the actuator. In existing systems (e.g., without the embodiments disclosed herein), such interruption of actuator operation can cause the joint to lose its hold on a desired position, resulting in undesirable movement of the animated figure. Additionally, the operation of the actuator to maintain the desired position of the animated figure can consume energy, component lifespan, and / or computational resources. Therefore, it is desirable to maintain the desired position of the joint in the absence of actuator operation.

[0012] In light of the foregoing, the system described herein generally relates to a joint restraint system configured to restrain the movement of joints in an animated character. The joint restraint system includes a joint restraint device configured to controllably tighten around the joint and thereby prevent movement of the joint. Specifically, the joint restraint device includes an enclosure disposed around the joint. The enclosure may be flexible and conform to the shape of the animated character at the joint. The enclosure may contain a combination of gas (e.g., air) and particles. When loosely dispersed within the enclosure, the particles are configured to flow with little resistance between each other. However, when the particles are compressed, they can abut against each other to form a rigid packing around the joint, thereby preventing joint movement. The enclosure may be fluidly connected via a valve to a vacuum source (e.g., a vacuum chamber, a pump) configured to generate negative pressure within the enclosure. When the valve is opened, gas can be extracted from the enclosure, thereby reducing the gas pressure within the enclosure. Thus, the membrane of the enclosure can compress the particles to form a mechanically stable packing around the joint. In this embodiment, the activation of the joint restraint device can be triggered by a shut-off switch or other interruption of the actuator's operation. By holding the joint in the desired position when the actuator is stopped providing power, the joint restraint device can reduce the fall of the animated character, save energy, and / or extend the lifespan of the component.

[0013] Now turn to the attached image. Figure 1 The illustration includes an attraction system 10 with an animated character 12. The animated character 12 is configured to move one or more appendages 14 (e.g., arms 14A, legs 14B, tentacles, or implements) to perform programmed actions, interact with visitors 16, or otherwise entertain visitors 16. In addition to the animated character 12, the attraction system 10 may also include a lighting system 18, a sound system 20, a projection system 22, and / or sensors 24 to enhance the entertainment experience for visitors 16. In embodiments, the animated character 12 may be configured to perform theatrical acts on a stage, provide effects during a ride, and / or travel along paths within the venue to interact with visitors 16.

[0014] As discussed herein, appendage 14 may include components 26 articulated around joint 28. For example, arm 14A may include a first component 26A (e.g., upper arm portion) and a second component 26B (e.g., forearm; lower arm portion) connected (e.g., hinged, rotatably connected) to each other via a first joint 28 (e.g., elbow). Additionally, the first component 26A may be connected at a second joint 28 (e.g., shoulder portion) to a third component 26C (e.g., torso) of the animated figure 12. Joint 28 may include hinge joints (e.g., knee, elbow), ball-and-socket joints (e.g., shoulder), sliding joints (e.g., wrist), and / or another suitable type of joint. Although the animated figure 12 is shown as having anthropomorphic appendages 14 and joints 28 (e.g., arm and knee), it should be understood that the animated figure 12 may not exhibit such anthropomorphic features. For example, appendage 14 may represent a spider leg, an anemone tentacle, a branch, an instrument (e.g., a tool) held via an arm, an abstract geometry, and / or any other generally articulated structure. The description of appendage 14 herein generally refers to any component of part 26 connected by joint 28.

[0015] The animated character 12 may include an appendage control system 30 configured to control the movement and positioning of an appendage 14 (e.g., joint 28). The appendage control system 30 includes an actuator 32 configured to move the appendage 14 about the joint 28. For example, the actuator 32 may include a motor, a servo device, a pneumatic actuator, a hydraulic actuator, gears and racks, artificial muscles, and / or soft actuators. The actuator 32 may be directly or via a linkage assembly to the joint 28 and / or component 26, such that operation of the actuator 32 causes the appendage 14 to move to a desired position. The animated character 12 may include a power supply 34 configured to supply electricity to the actuator 32. To enhance the efficiency and operation of the animated character 12, the appendage 14 may include a joint restraint device 36 to prevent movement of the joint 28 under certain conditions. For example, the joint restraint device 36 can lock the joint 28 based on the operating state of the actuator 32, the operating state of the power supply device 34, emergency stop conditions, operator commands, and / or sensor feedback. Therefore, the position of the animated character 12 can be maintained without relying on active support via the actuator 32.

[0016] The attraction system 10 may include a controller 38, which includes processing circuitry configured to control the animated character 12. In an embodiment, the controller 38 may include a memory 40 and a processor 42. The memory 40 may include a tangible, non-transitory, computer-readable medium capable of storing instructions that, when executed by the processor 42, cause the processor 42 to perform the various functions described herein. For this purpose, the processor 42 may be any suitable type of computer processor or microprocessor capable of running computer-executable code, including but not limited to one or more field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), programmable logic devices (PLDs), programmable logic arrays (PLAs), etc. It should be appreciated that the controller 38 may include or represent a distributed controller or control system having multiple memory devices and / or multiple processors that operate together to implement the techniques described herein (e.g., one processor performs one operation, another processor performs another operation, etc.). Thus, as used herein, the memory 40 may include one or more memory devices, and the processor 42 may include one or more processors.

[0017] The controller 38 can control the operation of the actuator 32, including controlling the supply of power to the actuator 32. For example, the controller 38 may include circuitry configured to regulate the current and / or voltage supplied from the power supply device 34 to the actuator 32. In embodiments, the controller 38 may control the actuator 32 based on commands received from an operator and / or based on pre-programmed instructions (e.g., scripts). Additionally, the controller 38 may receive sensor input (e.g., from sensor 24) and operate the actuator 32 based on the sensor input. In addition to controlling the animated figure 12, the controller 38 may also control other aspects of the attraction system 10, including the lighting system 18, the sound system 20, and / or the projection system 22. The attraction system 10 may include a shut-off switch 44 (e.g., emergency stop) coupled to the controller 38 and / or the power supply device 34. The shut-off switch 44 may, under certain conditions, shut off power to the actuator 32 and / or activate the joint restraint device 36.

[0018] Figure 2 An embodiment of an appendage 14 of the animated character 12 is illustrated. Specifically, Figure 2 The illustration shows an embodiment of the leg 14B of the animated character 12, wherein the leg 14B includes a first component 26A, a second component 26B, and a joint 28. For clarity, Figure 2The joint restraint device 36 is not shown. Joint 28 rotatably connects the lower portion of the first component 26A to the upper portion of the second component 26B. In this way, the first component 26A and the second component 26B can rotate relative to each other about joint 28 (e.g., pivot, hinge). Animation 12 includes an actuator 32 shown as being coupled to joint 28. For example, joint 28 may include an axis defining the axis of rotation of the first component 26A and / or the second component 26B. Actuator 32 may be a motor or servo device configured to rotate the axis and change the angle 46 between the first component 26A and the second component 26B. In this way, actuator 32 can control the position of leg 14B. In embodiments, actuator 32 may be coupled to one or both of the first component 26A and the second component 26B. For example, the animated figure 12 may include a pulley system, a winch system, a linkage system, or another suitable system for transmitting motion from actuator 32 to first component 26A and second component 26B. Actuator 32 may be a linear actuator, such as a piston (e.g., a hydraulic piston, a pneumatic piston). The piston may be coupled to a linkage of leg 14B such that the linear motion of the piston is converted into rotational motion about joint 28.

[0019] During normal operation, actuator 32 can be powered from power supply unit 34 ( Figure 1 The actuator 32 receives electrical power and generates force to move leg 14B or keep leg 14B stationary (e.g., in a desired position). When no power is provided, the actuator 32 may not actively generate any force to hold the appendage in a particular static position. For example, the actuator 32 may not actively support the weight of the first component 26A. Therefore, this embodiment includes a system for restraining the movement of joint 28 when the actuator 32 is not activated.

[0020] As discussed herein, the appendage control system 30 of the animated character 12 includes a joint restraint device 36. For illustration purposes, the joint restraint device 36 ( Figure 3 The engagement of ) with joint 28, Figure 3This is a schematic diagram of an embodiment of the leg 14B of the animated character 12 in an operational state, wherein the joint restraint device 36 is not activated. The joint restraint device 36 includes a surrounding portion 60 positioned around the joint 28. The surrounding portion 60 may be toroidal, having an internal volume 62 surrounded by a membrane 64 of the surrounding portion 60. The internal volume 62 may be arranged annularly around the joint 28. That is, the surrounding portion 60 may wrap around the joint 28. The joint restraint device 36 may include particles 66 (e.g., particulate material, microparticles) disposed within the internal volume 62. The particles 66 may be solid particles with a length or diameter, for example, ranging from 0.01 mm to 5 mm. When the leg 14B is in an operational state, the surrounding portion 60 may contain air 68 or another suitable fluid for applying pressure to the membrane 64 of the surrounding portion. The membrane 64 may be elastic (e.g., elastic, flexible), such that the volume and / or shape of the surrounding portion 60 changes depending on the air pressure therein. For example, the enclosure 60 may have different volumes and / or shapes when the pressure of the air 68 is less than, equal to or greater than atmospheric pressure.

[0021] The joint restraint device 36 may include a pressure control system 70 to control the air pressure within the enclosure 60. The pressure control system 70 may include a vacuum source 72 fluidly connected to the outlet 74 of the enclosure 60 via a conduit 76 (e.g., an airflow conduit, pipe, hose). The vacuum source 72 creates a vacuum (e.g., a low-pressure environment) within a container (e.g., a rigid enclosure) from which air is removed (e.g., by a vacuum pump). Due to the pressure difference between the vacuum source 72 and the enclosure 60, air 68 may be drawn from the enclosure 60 to the vacuum source 72 via the conduit 76. The pressure control system 70 may also include a valve 78 configured to regulate the flow of air 68 between the enclosure 60 and the vacuum source 72. During normal operation (e.g., when the leg 14B is in the operating state), the valve 78 may be closed to prevent air 68 from leaving the enclosure 60, thereby maintaining the pressure difference across the valve 78. In an embodiment, the valve 78 may be normally open, thus requiring an electrical input to remain closed. For example, during normal operation, valve 78 may receive power from power supply device 34 or another power supply device. If power to valve 78 is interrupted, valve 78 may automatically open, allowing air 68 to flow from enclosure 60 toward vacuum source 72. In an embodiment, valve 78 may operate according to signals (e.g., instructions) provided by controller 38. For example, controller 38 may instruct valve 78 to remain closed or open based on operator input (e.g., via remote control), operating conditions (e.g., malfunction), sensor input, or scripted (e.g., timed, pre-programmed) operations. For example, during a performance, controller 38 may instruct valve 78 to open, thereby locking joint 28 in position even if power to valve 78 is not interrupted. In this way, the operator can provide input to operate valve 78 (e.g., to store animated characters, to maintain position during performances, between ride cycles, etc.).

[0022] The joint restraint device 36 may also include a filter 80 configured to prevent particles 66 from leaving the enclosure 60, entering the conduit, and / or entering the vacuum source 72. In this way, particles 66 can be contained within the enclosure 60 while air 68 is allowed to flow through the valve 78. The filter 80 may be located at the outlet 74 of the enclosure, within the conduit 76, and / or at the inlet of the vacuum source 72. In an embodiment, the vacuum source 72 may be coupled to the animated character 12, and multiple joint restraint devices 36 (e.g., multiple joint restraint devices 36 of multiple appendages 14) may be fluidly coupled to the vacuum source 72.

[0023] When leg 14B is in the operating state, joint restraint device 36 can be deactivated to allow joint 28 to move. When leg 14B is in the operating state, enclosure 60 can accommodate relatively high air pressure (e.g., positive air pressure, greater than a threshold air pressure). Therefore, the volume of enclosure 60 can be relatively large when air 68 applies outward pressure to membrane 64. In the non-compressed state, particles 66 can exhibit particle flow as joint 28 moves. That is, particles 66 can move freely through and / or past each other in a fluid manner. Therefore, the shape of enclosure 60 can conform to the geometry and movement of joint 28. For example, joint restraint device 36, which flexibly engages with joint 28, can not impede the range of movement of joint 28 (e.g., it can allow joint 28 to move to perform indicated and / or desired movements). To accommodate the movement of joint 28, particles 66 can flow freely within the internal volume 62 of enclosure 60 to conform to joint 28 when the shape of enclosure 60 changes.

[0024] Figure 4 This is a schematic diagram of an embodiment of leg 14B in a resting state, wherein the joint restraint device 36 ( Figure 4 The resting state can be caused by an interruption of normal operation of the animated character 12 (such as loss of power) or by the activation of a shut-off switch. In an embodiment, the leg 14B can be in a resting state during normal operation to maintain the position of the joint 28 without maintaining the operation of the actuator 32. In the resting state, the joint restraint device 36 can be activated to prevent movement of the joint 28. For example, a valve 78 can be opened to cause air 68 to be drawn from the enclosure 60 to the vacuum source 72, thereby creating a low-pressure environment (e.g., a vacuum) within the enclosure 60. As a result, the internal volume 62 of the enclosure 60 can collapse under ambient pressure (e.g., atmospheric pressure), causing the particles 66 to become pressed together against each other. For example, the membrane 64 of the enclosure 60 can be configured to contract inward and compress the particles 66 together. In the compressed state, the particles 66 can be pressed against each other (e.g., compressed to contact each other or tightly packed together), thereby preventing the particle flow discussed herein with respect to the particles 66. In one embodiment, the controller 38 can detect an interruption of power to the actuator 32 and, in response, automatically open the valve 78 to press the particles 66 against each other and prevent movement of the joint 28. (The remaining text appears to be unrelated and likely refers to further details about the controller 38.) Figure 5 The bonding of particles will be discussed in further detail.

[0025] Figure 5A detailed view of an embodiment of particles 66 within a surrounding portion 60 in a compressed state 100 (e.g., a blocked state) is shown. As illustrated, the particles 66 are compressed into close contact with each other to form a rigid agglomerate 102. The rigid agglomerate 102 is held together by a membrane 64, which compresses the particles 66 via vacuum pressure generated by a pressure control system 70. Frictional and interlocking interactions between the particles 66 impede particle flow, thereby hindering the movement of the particles 66 past each other. Thus, the shape of the rigid agglomerate 102 is solidified (e.g., hardened). In embodiments, the particles 66 may have geometric properties to facilitate frictional and interlocking engagement with each other. For example, the particles 66 may have serrated edges, concave surfaces, convex surfaces, holes, forks, and / or various sizes. The rigid agglomerate 102 may be solidified around a joint 28 to impede movement of the joint 28.

[0026] Figure 6 A detailed view of an embodiment of particles 66 within the enclosing portion 60 in a non-compressed state 110 (e.g., a non-blocking state) is shown. In the non-compressed state 110, the particles 66 are arranged less densely, allowing them to flow in a fluid manner. Therefore, the particles 66 do not form rigid clumps, and the membrane 64 is free to conform to external geometry, such as the surface of the appendage 14. For example, during the operational state of the leg 14B, the enclosing portion 60 can conform to cover the joint 28 without impeding its movement. As the joint 28 moves, the particles 66 can flow within the membrane 64, and the membrane 64 itself can change shape to conform to the position of the joint 28. Then, in the compressed state 100, the membrane 64 can compress the particles 66 together to form a rigid mass 102, the shape of which conforms to the joint 28 in the resting state. Thus, the frictional and interlocking interactions between the particles 66 constrain the movement of the joint 28. Particle 66 can be coffee grounds, 3D printed particles (e.g., formed via a 3D printer), polymer beads, and / or any suitable particulate or microparticle material.

[0027] Figure 7 The figure shows a perspective view of the joint restraint device 36. A membrane 64 may be formed, such as a ring or sleeve, and is configured to wrap around the joint 28. For example, the membrane 64 may be toroidal, having a hole 120 along a central axis 122. The membrane 64 can be fitted onto the appendage 14 through the hole 120, and the joint 28 may be at least partially enclosed within the membrane 64. The joint restraint device 36 includes an outlet 74 (e.g., a nozzle), which is configured to connect to... Figure 3 and Figure 4 The conduit 76 is shown. In an embodiment, air 68 may be directed to the enclosure via outlet 74. The joint restraint device 36 may also include a particle inlet 124, which provides openings for adding particles and removing particles from the enclosure 60.

[0028] Figure 8 The illustration shows an embodiment of a control circuit 150 for operating a joint restraint device 36. The control circuit 150 includes a power circuit 152 and a relay circuit 154 connected via a relay 156. The power circuit 152 includes a power supply device 34 (e.g., an alternating current (AC) power supply device) connected to the actuator 32. The relay 156 may be a mechanical relay having a switch 158 (e.g., a normally open switch) connected in series with the power circuit 152. That is, the switch 158 is configured to close and open the power circuit 152, thereby effectively controlling the power to the actuator 32. The relay 156 may also include an electromagnet 160 configured to close the switch 158 when the electromagnet 160 is energized. The electromagnet 160 may be connected in series with the relay circuit 154. That is, current in the relay circuit 154 can energize the electromagnet 160, thereby causing the relay 156 to close the switch 158 and supply power to the power circuit 152 (e.g., the actuator 32).

[0029] The relay circuit 154 includes an additional power supply 162 (e.g., a direct current (DC) power supply, a backup power supply) connected to the valve 78. Additionally, the valve 78, power supply 34, and / or electromagnet may be connected in series with a shut-off switch 44. The shut-off switch 44 may be configured to close and open the relay circuit 154. During normal operation, the shut-off switch 44 may be closed, allowing the additional power supply 162 to energize the electromagnet 160 and provide power to the valve 78. When powered by the additional power supply, the valve 78 may shut off the flow of air between the vacuum source 72 and the enclosure 60, thereby maintaining the pressure difference across the valve 78. For example, see reference... Figure 3 During the operation of leg 14B, when the shut-off switch 44 is closed, the enclosure 60 can contain air 68, and the valve 78 can remain closed to maintain positive air pressure within the enclosure 60.

[0030] In some cases, the disconnect switch 44 can be used as a method to stop the supply of power to the actuator 32. For example, the disconnect switch 44 can be an emergency stop button, and the operator can disconnect (e.g., press) the disconnect switch 44 to stop the operation of the animation image 12. When the disconnect switch 44 is disconnected, the electromagnet 160 can be de-energized, and the relay 156 can close the switch 158 to shut off the power from the power supply device 34 to the actuator 32. Simultaneously, the disconnect switch 44 can shut off the power from another power supply device 162 to the valve 78, thereby causing the valve 78 to open. Therefore, referring to... Figure 4Vacuum pressure can be released from vacuum source 72 to enclosing portion 60, thereby causing membrane 64 to compress around particles 66 and causing particles to press against each other to a compressed state 100. In this way, joint restraint device 36 can restrain (e.g., lock) movement of joint 28 when actuator 32 is stopped from providing power. In an embodiment, relay 156 may be an electrical relay (e.g., a solid-state relay, a metal-oxide-semiconductor field-effect transistor (MOSFET) relay) controlled by controller 38 or another processor.

[0031] In one embodiment, the shut-off switch 44 can be generally used to control operator-actuated inputs to valve 78, thereby enabling the operator to maintain the animated character 12 in a specific position (e.g., for storage, for performance, between ride cycles, etc.). Alternatively, valve 78 can be operated via controller 38. For example, controller 38 can send signals (e.g., instructions) to valve 78 to keep it closed or open. Controller 38 can generate signals in response to operator input, sensor input, operating conditions, scripted (e.g., pre-programmed) operations, or another suitable input.

[0032] Figure 9 The illustration depicts an embodiment of a control circuit 150 that controls multiple actuators 32 and valves 78. For example, the animated figure 12 may include a corresponding actuator 32 and valve 78 for each appendage 14. The control circuit 150 enables a relay circuit 154 to shut down multiple actuators 32 and open multiple valves 78 based on the opening of a shut-off switch 44. As shown, multiple actuators 32 may be connected in parallel with each other and in series with a power supply 34 and a relay 156 (e.g., switch 158). Additionally, multiple valves 78 may be connected in parallel with each other and in series with another power supply 162, a relay 156 (e.g., electromagnet 160), and a shut-off switch 44. Each of the multiple valves 78 may also be controlled via a controller 38. The controller 38 may instruct each of the multiple valves 78 to operate independently of each other or in coordination with each other (e.g., simultaneously). In this way, an operator can control multiple valves 78 even when power is not interrupted.

[0033] In one embodiment, a valve 78 can control the air pressure of multiple joint restraint devices 36 (e.g., surround 60). For example, Figure 10This is a schematic diagram of an embodiment of an appendage control system 30 having a valve 78 configured to regulate air pressure within a plurality of enclosures 60. Specifically, each enclosure 60 may be fluidly connected to a manifold via a corresponding conduit 76. A filter 80 may be disposed along each conduit 76 to prevent particles 66 from exiting the membrane 64. The manifold 180 may be fluidly connected to a vacuum source 72, and the valve 78 may be disposed between the manifold 180 and the vacuum source 72. The conduit 76 may establish an airflow path 182 extending from each of the enclosures 60 to the manifold 180, wherein the airflow paths 182 may converge and connect to the vacuum source 72. The valve 78 may selectively open the vacuum source 72 to the manifold 180 to apply vacuum pressure together (e.g., simultaneously) to the membrane 64. In this way, a plurality of joints 28 of the animated figure 12 may be latched and held to maintain the position of the animated figure 12. Advantageously, this can also prevent the animated character 12 from collapsing, which, for example, reduces damage to the components of the animated character 12, maintains a clean area around the animated character 12, and / or allows the animated character 12 to remain visible to visitors and / or provide entertainment to visitors.

[0034] Although certain examples of the animated characters 12 within the attraction system 10 have been described herein, it should be understood that the embodiments can be used in any environment and in any context of a wide variety of settings. For example, the animated characters 12 can be used in any location of a wide variety of venues, such as theaters, stadiums, schools, restaurants, hotels, shopping malls, etc. Furthermore, the animated characters 12 can be used for any purpose of a wide variety of purposes, such as entertaining tourists, providing education, achieving and / or facilitating the performance of tasks, etc.

[0035] Although only certain features of the invention have been illustrated and described herein, many modifications and alterations will occur to those skilled in the art. Therefore, it is to be understood that the appended claims are intended to cover all such modifications and alterations that fall within the true spirit of the invention. It should be recognized that... Figures 1 to 10 The image shown or referenced Figures 1 to 10 Any of the features described can be combined in any suitable manner.

[0036] The techniques presented and claimed herein are referenced and applied to material objects and specific examples that can arguably improve the practical nature of the art, and are therefore not abstract, abstract, or purely theoretical. Furthermore, if any claim appended to this specification contains one or more elements designated as “device for (performing)...(function)” or “step for (performing)...(function)”, such elements are intended to be interpreted according to 35 USC 112(f). However, for any claim containing elements designated in any other manner, such elements are not intended to be interpreted according to 35 USC 112(f).

Claims

1. An animated character, comprising: Appendages, including joints; as well as A joint restraint device, coupled to the appendage, comprising a membrane defining an internal volume and a plurality of particles disposed within the internal volume, wherein the joint restraint device is configured to press the plurality of particles against each other in response to a vacuum pressure applied to the membrane to restrain the movement of the joint.

2. The animated character of claim 1, further comprising an actuator configured to move the appendage about the joint.

3. The animated character of claim 2, comprising a vacuum source fluidly coupled to the internal volume of the membrane, wherein the vacuum source is configured to apply vacuum pressure to the internal volume.

4. The animated character according to claim 3, comprising: A conduit that fluidly connects the vacuum source to the membrane; as well as A valve is disposed along the conduit, wherein the valve is configured to selectively open to allow air to flow from the membrane toward the vacuum source.

5. The animated character according to claim 4, comprising a control circuit configured to simultaneously stop powering the actuator and open the valve.

6. The animated character according to claim 5, comprising: A power supply device configured to supply power to the actuator; as well as A relay circuit includes a shut-off switch connected in series with an additional power supply device, wherein the relay circuit is configured to shut off the power supplied to the actuator when the shut-off switch is open, and to allow power from the additional power supply device to open the valve.

7. The animated character of claim 6, wherein the off switch is configured to be actuated via a controller of the animated character.

8. The animated character of claim 4, comprising a filter disposed along the conduit, wherein the filter is configured to prevent the particles from flowing through the conduit.

9. The animated character of claim 1, wherein the plurality of particles are configured to flow in the inner volume of the membrane in a relatively uncompressed state without the vacuum pressure applied to the inner volume, and the plurality of particles are configured to be in a compressed state against each other when the vacuum pressure is applied to the inner volume.

10. The animated character of claim 1, wherein the plurality of particles are configured to form relatively rigid clumps around the joint in response to the vacuum pressure being applied to the internal volume.

11. The animated character according to claim 1, wherein the membrane is toroidal.

12. The animated character according to claim 1, wherein the membrane is arranged in a ring around the joint.

13. A joint restraint device for an animated character, the joint restraint device comprising: A membrane that defines the internal volume; A conduit configured to fluidly connect the internal volume to a vacuum source; A valve configured to selectively open an airflow path via the duct between the internal volume and the vacuum source; as well as Multiple particles are disposed within the internal volume of the membrane, wherein the multiple particles are configured to press against each other in response to a vacuum pressure applied to the internal volume to form a relatively rigid body.

14. The joint restraint device of claim 13, wherein the membrane is configured to wrap around the joint of the animated character.

15. The joint restraint device of claim 14, wherein the animated figure includes an actuator configured to move an appendage relative to the joint, and the valve is configured to open in response to an interruption of power to the actuator.

16. The joint restraint device according to claim 15, comprising: The relay circuit is configured as follows: Selectively allowing current to flow from the power supply device to the actuator; and Power is diverted from a separate power supply to the valve; as well as A shut-off switch is configured to selectively disconnect the relay circuit.

17. A limb control system for an animated character, the limb control system comprising: A plurality of actuators, wherein each of the plurality of actuators is configured to move a corresponding appendage of the animated figure relative to a corresponding joint; Multiple joint restraint devices, wherein each of the multiple joint restraint devices includes: An elastic membrane that defines the internal volume; as well as Multiple particles are disposed within the internal volume, wherein the multiple particles are configured to form relatively rigid bodies around corresponding joints in the multiple joints in response to a vacuum pressure applied to the internal volume.

18. The appendage control system according to claim 17, comprising: A vacuum source and a valve, the valve being configured to selectively open the airflow path between each corresponding internal volume of the plurality of joint restraint devices and the vacuum source.

19. The appendage control system of claim 18, wherein the valve is configured to open based on the supply of power to the plurality of actuators.

20. The appendage control system of claim 18, comprising a shut-off switch, wherein when the shut-off switch is open, power to the plurality of actuators is shut off, and the valve is configured to open.

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