Edible soft robot system and method

Abstract

To provide an edible and / or consumable soft robot, e.g., a pneumatic or hydraulic inflatable object, which can be utilized to achieve dynamic motion.SOLUTION: The edible soft robotic system can be used to display and / or interact with edible inflatable objects. In one embodiment, the edible inflatable object is configured to receive a fluid in the internal compartment. The edible inflatable object can be reversibly coupled to the container, and coupling the edible inflatable object to the container includes aligning the port of the edible inflatable object with the fluid conduit to fluidly couple the internal compartment to the fluid conduit. The control system of the edible soft robotic system is configured to receive instructions to regulate inflation of the internal compartment by activating fluid flow to or from the internal compartment via the fluid conduit, wherein regulating inflation of the internal compartment actuates the edible inflatable object on or in the container.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This disclosure claims priority to and the benefit of U.S. Provisional Application No. 62 / 894,405, filed August 30, 2019, entitled "EDIBLE SOFT ROBOTIC SYSTEMS AND METHODS," and U.S. Provisional Application No. 62 / 910,868, filed October 4, 2019, entitled "EDIBLE SOFT ROBOTIC SYSTEMS AND METHODS," the disclosures of which are incorporated herein by reference in their entireties for all purposes.

[0002] (Technical field) The present disclosure relates generally to the field of amusement parks. More specifically, embodiments of the present disclosure relate to systems and methods for providing and enhancing an amusement park experience involving edible soft robotic systems. [Background technology]

[0003] Various entertainment rides and exhibits have been created to provide guests with unique interactive, motion, and visual experiences. Such experiences can be designed to stimulate multiple senses, including touch, smell, and taste. In various rides and exhibits, the guest experience can be enhanced by employing certain interactive robotic features within the rides and exhibits. However, such robotic features can be costly and may not be suitable for incorporation into disposable and / or consumable products that guests may touch, smell, and taste. Summary of the Invention

[0004] A summary of certain embodiments disclosed herein is provided below. It should be understood that these aspects are presented merely to provide the reader with a brief summary of these particular embodiments, and are not intended to limit the scope of the disclosure. Indeed, the disclosure may encompass a variety of aspects not set forth below.

[0005] In one embodiment, an edible soft robotics system is provided that includes at least one edible inflatable object formed at least partially from an edible material and including an internal compartment configured to receive a fluid, and one or more sensors configured to generate sensor data indicative of a parameter of the system. The system also includes a control system coupled to the at least one edible inflatable object. The control system is configured to receive sensor data from the one or more sensors, regulate inflation of the at least one edible inflatable object by directing fluid into or out of the internal compartment based on the sensor data, and activate one or more special effects based on the sensor data.

[0006] In one embodiment, an edible expandable object display system is provided that includes an edible expandable object configured to receive a fluid in an internal compartment of the edible expandable object and a container to which the edible expandable object is reversibly coupled. The reversible coupling comprises a port on the edible expandable object aligned with a fluid conduit such that the fluid conduit is fluidly coupled with the internal compartment. The system also includes a control system configured to receive instructions to regulate the inflation of the internal compartment by initiating fluid flow to or from the internal compartment via the fluid conduit. Regulating the inflation of the internal compartment causes the edible expandable object to actuate on or within the container.

[0007] In one embodiment, an edible soft robotics system is provided that includes an interactive surface having a plurality of elements arranged in an array. The plurality of elements includes fluid conduit elements, sensor elements, and effector elements. The edible soft robotics system includes a plurality of edible expandable objects arranged on the interactive surface such that each edible expandable object contacts at least one of the plurality of elements. The edible soft robotics system further includes a control system configured to actuate at least one edible expandable object of the plurality of edible expandable objects by adjusting an inflation of an interior compartment of at least one edible expandable object of the plurality of edible expandable objects.

[0008] In one embodiment, an edible expandable object display system is provided that includes an edible expandable object that holds a fluid in a closed interior compartment of the edible expandable object. The edible expandable object display system also includes a container in which the edible expandable object is displayed, a fluid conduit extending to the interior of the container, and a pump configured to activate fluid flow to or from the interior of the container through the fluid conduit such that the edible expandable object is actuated within the container.

[0009] In one embodiment, an edible expandable object system is provided. The system includes an edible expandable object configured to receive a fluid in a recess in the edible expandable object. The system also includes a tray to which the edible expandable object is reversibly coupled, the tray including a through passage aligned with the recess. The system also includes a counter, the tray being positioned between the counter and the edible expandable object, and a grommet extending through the counter, the grommet having a grommet passage aligned with the through passage for fluidly coupling the recess to a fluid delivery system, the tray and counter including complementary mating features that align the grommet passage with the through passage when mated.

[0010] These and other features, aspects, and advantages of the present disclosure will become better understood from the following detailed description when taken in conjunction with the accompanying drawings, in which like reference numerals refer to like elements throughout. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram of an amusement park including an edible soft robotics system according to embodiments described herein. [Figure 2] FIG. 1 is a block diagram of an edible soft robotic system according to embodiments described herein. [Figure 3] FIG. 1 is a flow diagram of an edible soft robotics system technology according to embodiments described herein. [Figure 4] FIG. 1 is a schematic diagram of a tabletop layout of an edible soft robotics system, according to embodiments described herein. [Figure 5] FIG. 1 is a schematic diagram of a portable configuration of an edible soft robotic system, according to embodiments described herein. [Figure 6] FIG. 1 is a schematic diagram of a portable arrangement of an edible soft robotic system implemented as an interactive toy, according to embodiments described herein. [Figure 7A] FIG. 1 is a schematic diagram of a console-based arrangement of an edible soft robotic system, according to embodiments described herein. [Figure 7B] FIG. 1 is a schematic diagram of a console-based arrangement of an edible soft robotic system, according to embodiments described herein. [Figure 8] FIG. 1 is a schematic diagram of an interactive surface that can be used in conjunction with an edible soft robotic system, according to embodiments described herein. [Figure 9] FIG. 1 is a schematic diagram of an edible soft robot including a compliant gasket that can be used in conjunction with an edible soft robot system, according to embodiments described herein. [Figure 10]FIG. 1 is a schematic diagram of a tether that can be used to actuate an edible inflatable object in conjunction with an edible soft robotic system, according to embodiments described herein. [Figure 11] FIG. 1 is a schematic diagram of an edible soft robotic system integrated into a food container, according to embodiments described herein. [Figure 12] FIG. 1 is a schematic diagram of a closed volume configuration of an edible soft robotic system, according to embodiments described herein. [Figure 13] FIG. 1 is a schematic diagram of a vacuum chamber arrangement of an edible soft robotic system, according to embodiments described herein. [Figure 14] FIG. 1 is a schematic diagram of components of a customizable edible soft robot that can be used in conjunction with an edible soft robot system, according to embodiments described herein. [Figure 15] FIG. 1 is a schematic diagram of a tray arrangement for an edible soft robotics system, according to embodiments described herein. [Figure 16] FIG. 1 is a perspective view of a grommet that can be used in conjunction with embodiments described herein. [Figure 17] FIG. 1 is an image of edible inflatable objects in a tray arrangement. [Figure 18] FIG. 1 is a schematic diagram of an arrangement of an edible soft robotic system including an adhesive, according to embodiments described herein. [Figure 19] FIG. 1 is a schematic diagram of an edible soft robotics system configuration including an internal heating element, according to embodiments described herein. [Figure 20] FIG. 1 is a schematic diagram of an arrangement of an edible soft robotic system including a flexible membrane, according to embodiments described herein. [Figure 21] FIG. 1 is a schematic diagram of an arrangement of an edible soft robotic system including a flexible membrane, according to embodiments described herein. [Figure 22] FIG. 1 is a schematic diagram of an arrangement of an edible soft robotic system including a flexible membrane, according to embodiments described herein. [Figure 23]FIG. 1 is a schematic diagram of an arrangement of an edible soft robotic system including a flexible membrane, according to embodiments described herein. [Figure 24] FIG. 1 is a schematic diagram of an arrangement of an edible soft robotic system including a flexible membrane, according to embodiments described herein. [Figure 25] FIG. 1 is a schematic diagram of a bulk container system arrangement for use with an edible soft robotics system, according to embodiments described herein. [Figure 26] FIG. 1 is a schematic diagram of a bulk container system in an open configuration. [Figure 27] FIG. 1 is a schematic diagram of an edible inflatable object having a puppet-type configuration. DETAILED DESCRIPTION OF THE INVENTION

[0012] One or more specific embodiments are described below. In an effort to provide a concise description of these embodiments, all features of an actual implementation may not be described herein. It is understood that, as with any engineering or design project, the development of any such actual implementation will require numerous implementation-specific decisions to be made in order to achieve the developer's particular goals, which may vary from implementation to implementation, including compliance with system- and business-related constraints. It is further understood that such a development effort, while complex and time-consuming, would be a routine undertaking of design, fabrication, and manufacture without experimentation for those of ordinary skill in the art having the benefit of this disclosure.

[0013] It is now recognized that various mechanical devices used in amusement park environments may lack interactive components that may come into physical contact with guests. For example, robots may have rigid surfaces and movable joints, but they are not designed to be operated through physical contact by guests. Furthermore, many robots function as stationary elements and are not designed as portable or consumable products that guests can touch or eat. Provided herein are soft robots, e.g., pneumatic or hydraulic inflatable objects, that can be utilized to achieve dynamic movement and are edible and / or consumable. In this way, amusement park or other narratives can be expanded to include interactive experiences with taste elements to broaden sensory immersion. For example, edible soft robots can be operated in conjunction with show effects, such as lighting and / or sound effects, to achieve complex effects not typically associated with food. Edible soft robots can be coupled to a control system that drives their movement and accompanying show effects to enable pre-programmed, responsive, and customized movement. Such control systems can be incorporated into traditional food containers (e.g., plates, trays, cups, utensils, food packaging) to conceal control systems that function to activate the edible soft robot as part of the eating experience. For example, the edible soft robot can be activated to squirm in response to being touched. In one embodiment, the soft robot can be implemented in a shape or configuration that can create enjoyment or reinforce a narrative as part of an immersive environment, rather than a traditional food item or food presentation. In one embodiment, the soft robot can be configured as edible clothing, toys, creatures, building materials, and the like, and can behave in a manner consistent with a desired effect. For example, an edible bracelet can be presented in a display configuration that allows one or more "jewels" to expand (i.e., inflate) when the packaging is handled.

[0014] Movement is achieved by pumping gas and / or liquid through a collapsible or inflatable material designed to be consumed by guests. As used herein, an edible soft robotic system can include a balloon-like or inflatable object with an internal bladder or compartment that receives gas and / or liquid to form a distinct shape or transition between different configurations. In this manner, the soft robotic system can be used to form dynamic shapes, bodies, or structures that are difficult to create using food materials.

[0015] FIG. 1 is a schematic diagram of an implementation of an environment, such as an amusement park 10, that may include one or more edible soft robotic systems that facilitate guest interaction with edible inflatable objects 12 according to the present embodiments. It should be understood that the environment is exemplary, and other related situations are also contemplated for use in conjunction with the edible soft robotic system. The amusement park 10 may include features such as attractions or rides 20, restaurants 22, retail stores 24, interactive exhibits 26, and automated distribution or interaction kiosks 28. For example, edible inflatable objects 12 may be available as menu items in the restaurants 22, available as samples or for purchase at edible inflatable object 12 stores, distributed as part of a queue for the rides or attractions 20, interactable using dedicated interactive surfaces in the interactive exhibits 26, and customizable, activated, or purchased at the kiosks 28. The embodiments described in FIGS. 2-27 are examples of the types of embodiments contemplated. It should be understood that the disclosed embodiments are exemplary and that elements of various embodiments can be combined or substituted with one another. Additionally, although certain embodiments are discussed in the context of an amusement park 10 and interaction with amusement park guests, other contexts are contemplated, including in the home, stand-alone kiosk, or other uses.

[0016] FIG. 2 is a block diagram of an edible soft robotic system 30 according to the disclosed technology for controlling the movement and / or effects used in conjunction with an edible expandable object 12. The edible expandable object 12 can be formed from any suitable material capable of forming a desired shape when expanded with a fluid (e.g., gas or liquid). In one embodiment, the edible expandable object 12 can assume at least two configurations based on varying fill fluids. As provided herein, the edible expandable object 12 can be formed from biocompatible and edible materials that can be actuated via fluid injection into one or more internal bladders or compartments. In one embodiment, the edible expandable object 12 can be formed from one or more edible materials, such as starch, cellulose and derivatives, alginate, chitosan, collagen, gelatin, or glycerin. Additionally, the edible expandable object 12 can include one or more flavor and / or color additives or preservatives. In one embodiment, the edible expandable object 12 is a candy.

[0017] The edible expandable object 12 can be formed by molding or extruding an edible material to create one or more internal compartments. The one or more internal compartments can be accessed through respective valves 36 (e.g., check valves) and / or fluid ports, which can be edible components integrally formed with or otherwise connected to the edible expandable object 12, or can be separate components, such as a rigid polymer or metal component connected to the edible expandable object 12 via a backing or base. In embodiments, the edible expandable object 12 can include one or more sealed compartments that are not accessible through any openings or valves 36. The edible expandable object 12 can be formed from a single edible material or from multiple different edible materials bonded together or assembled in layers, depending on the desired end properties. In one embodiment, the edible expandable object 12 can be manufactured as separate components that are assembled to form the edible expandable object 12. For example, complex or relatively thin elements may be molded separately from thicker elements to reduce errors due to molding components with different material qualities in a single mold.

[0018] Additionally, the edible expandable object 12 can be at least partially adapted such that upon deflation, the interior compartment folds or collapses upon itself in a contracted configuration. Additionally, the expandable object 12 can assume one or more expanded configurations depending on the fill level of the interior compartment. The edible expandable object 12, in one embodiment, can be formed from a resilient material that expands upon inflation. Accordingly, certain portions of the edible expandable object 12 can be made thinner or thicker to achieve desired material properties.

[0019] In one embodiment, the edible expandable object 12 can be formed from a recipe including cold water, granulated sugar, and corn syrup in a 1:2 / 3:1 / 3 ratio. The recipe can also include gelatin (e.g., a 1:1 / 16 ratio of cold water to gelatin) and citric acid (e.g., a 1:1 / 150 to 1:1 / 200 ratio of cold water to citric acid). The sugar and corn syrup are dissolved in water. The gelatin is added. The mixture can be spread and heated in a double boiler. Citric acid and desired colors and flavors can be added. The mixture is poured into molds, allowed to set, and removed to form the edible expandable object 12.

[0020] The edible inflatable object 12 is coupled to a control system 32 that controls the supply of fluid to one or more internal compartments of the edible inflatable object 12 via a fluid control system 34. The fluid control system 34 may be coupled to a fluid source 37 stored in a fluid reservoir and / or may be configured to supply ambient air to the edible inflatable object 12. The fluid control system 34 operates under a controller 38 that controls the activation of a pump 40 that can pump fluid into or out of the edible inflatable object 12. The fluid control system 34 may be communicatively coupled to one or more manifolds, one or more valves, one or more flow meters, one or more sensors, one or more conduits (e.g., tubing), and the like to direct the flow of fluid into and / or out of the edible inflatable object 12.

[0021] The fluid control system 34 can be configured to switch between multiple fluid sources 37 based on commands from the control system 32 to vary the inflation characteristics of the edible inflatable object 12. For example, as described herein, different selectable flavored liquids can be used to enhance the taste of the edible inflatable object 12. In one embodiment, the edible inflatable object 12 can be configured to provide a liquid or wind effect based on the type of liquid used for inflation.

[0022] The control system 32 may include communications circuitry 46, a processor 50, memory 52, input / output (I / O) ports 54, a power source 58 (e.g., a wired power source, a battery), and the like. The communications circuitry 46 may facilitate wired or wireless communications between various components of the control system 32 as well as with external devices 47, such as a user's mobile device, active clothing, or a central or local controller for the amusement park 10 (see FIG. 1 ). The processor 50 may be any suitable type of computer processor or microprocessor capable of executing computer-executable code. The processor 50 may also include multiple processors capable of performing the operations described herein. The memory 52 may also be used to store data executed by the processor 50, various other software applications, and the like. The memory 52 may represent a non-transitory computer-readable medium (e.g., any suitable form of memory or storage) capable of storing processor-executable code used by the processor 50 to perform the various techniques described herein. The I / O port 54 may be an interface that can be coupled to other peripheral components such as input devices (e.g., keyboard, mouse), sensors, input / output (I / O) modules, and the like. The power supply 58 may provide power to one or more components of the control system 32. The components of the control system 32 may be integrated on or within a container 80 that is coupled to or holds the edible inflatable object 12. The container 80 may hide at least a portion of the control system 32 from view of park guests.

[0023] The control system 32 may also include an effects control system 60 that, under processor control, controls one or more special or show effects that may be activated in conjunction with the inflation or configuration change of the edible expandable object 12. The effects control system 60 and / or the fluid control system 34 may be controlled based on data from one or more sensors 78. In one embodiment, the effects control system 60 may control lighting effects via a lighting controller 62 coupled to a light source 64. In one embodiment, an LED or similar light source 64 may be located inside the edible expandable object 12. This light may illuminate the edible expandable object 12 from the inside. The light source 64 may be located within one of the expandable air chambers of the edible expandable object 12 or in a non-expandable space embedded in the edible expandable object 12. The light source 64 may be powered from a wire extending through an airtight hole in the wall of the air chamber of the edible expandable object 12. The light source 64 may be powered via wireless power technology, such as magnetic coupling or UHF energy harvesting. The light source 64 may be located outside the edible expandable object 12 attached to a fiber optic cable or similar internal reflector. The other end of the fiber optic cable is inserted into the edible expandable object 12 so that the edible expandable object 12 is illuminated from within.

[0024] In one embodiment, the edible inflatable object 12 can be illuminated from the outside using conventional architectural / theatrical lighting. The color and direction of the incident light can interact with the surface and / or subsurface color / material properties of the edible inflatable object 12 to produce creative effects. For example, a red edible inflatable object 12 illuminated by green light will appear dark because all of the incident red light is absorbed. Another example is an edible inflatable object 12 with a surface texture resembling a diffraction grating, with many small ridges. This can result in diffraction of white light bouncing off the surface. One or more light sources 64 can be positioned below a portion of the edible inflatable object 12 to create an uplighting effect. The light source can be embedded in the base on which the edible inflatable object 12 rests. For example, LEDs can be incorporated into a table or retail packaging to illuminate the edible inflatable object 12.

[0025] The control system 32 can be configured to generate audio / visual (A / V) effects under the control of the A / V controller 68. In one embodiment, the edible inflatable object 12 can include valves 36, and resonating chambers, vibrating membranes, and other conventional music-generating hardware can be fabricated from the material of the edible inflatable object 12. This allows the edible inflatable object 12 to generate unique sounds in response to targeted fluid flow (e.g., inflation and aeration at the appropriate times). The control system 32 can therefore interface with the fluid control system 34 to achieve desired sounds. For example, a character in the edible inflatable object 12 can "sing" different notes to create a musical piece. In one embodiment, the edible inflatable object 12 can wirelessly communicate with another device via ultrasound generated from the internal fluid flow. This type of audio can be manipulated in real time by the user touching different parts of the edible inflatable object 12. The force of the user's touch causes the edible inflatable object 12 and / or the air to vibrate differently, resulting in a different sound. Conventional sound effects and music may also be used in connection with the experience of the edible inflatable object 12. For example, the control system 32 may include a speaker that plays music in sync with the movement of the animated edible inflatable object 12.

[0026] Other types of effects can include olfactory effects. Conventional odor effects can be used in conjunction with the edible inflatable object 12. The odor can emerge through the edible inflatable object 12 or from another location, or can be in the air inside the edible inflatable object 12 and emerge when the edible inflatable object 12 first deflates. In one embodiment, the interior of the edible inflatable object 12 has a strong odor. When air enters the interior air chamber, it picks up some of the odor. When the air leaves the edible inflatable object 12, it brings the associated odor to guests.

[0027] Wind effects can be created by allowing a controlled release of air from a portion of the interior compartment of the edible inflatable object 12. This can also be turned on or off, directed, or limited based on the movement of the edible inflatable object 12. This wind effect can reach the guest's skin so that the guest can feel it. In one embodiment, the wind effect reaches other objects in the space and moves them for creative effects. For example, the wind effect can blow away from the edible inflatable object 12 and onto nearby confetti, causing it to sway. Traditional wind effects can be used in conjunction with the edible inflatable object 12 experience. For example, the effects control system 60 can control an external fan blowing on the edible inflatable object 12 to enhance the movement caused by the inflation / deflation changes.

[0028] The control system 32 can also be configured to activate heating and cooling effects. The heating and cooling effects can be applied to the edible inflatable object 12 via the temperature controller 72. This temperature change can impart mechanical and creative effects to the edible inflatable object 12. For example, the edible inflatable object 12 may be used as a gaming element (e.g., in an interactive exhibit 26, see FIG. 1 ), and a portion of the edible inflatable object 12 can melt the moment a player loses a game experience. In one embodiment, the edible inflatable object 12 can be cooled when not in use and not activated (but still on display) to retain its shape in atmospheric heat. Upon activation or triggering of operation, the edible inflatable object 12 can be heated to increase flexibility and facilitate smooth operation.

[0029] In one embodiment, the temperature of the edible expandable object 12 is altered by heating or cooling air, which is then moved to an internal compartment within the edible expandable object 12. This allows for location-specific heating / cooling based on which internal compartment is being used. In one embodiment, the temperature of the edible expandable object 12 is altered via a heating / cooling element in contact with the edible expandable object 12. This contact can be via heat transfer from a surface on which the edible expandable object 12 is placed, a surface incorporated into air barbs inside the edible expandable object 12, or another location on the surface of the edible expandable object 12. In one embodiment, the edible expandable object 12 is heated remotely from the outside. For example, hot air jets positioned above the edible expandable object 12 can heat the exterior surface of the edible expandable object 12.

[0030] The edible inflatable object 12 can create effects using liquid within one or more internal compartments. In one example, water can be sprayed from the edible inflatable object 12. This water can be stored within the edible inflatable object 12 or pumped into the edible inflatable object 12 through tubing connections. This water can be colored, flavored, or customized to suit the needs of the theme. For example, spraying "blood" out from the heart. For example, the edible inflatable object 12 can include one or more one-way valves that release water when pressure within the internal compartment reaches a threshold. The water effect can be achieved by continuing to build pressure within the internal compartment by continuing the flow of fluid into the internal compartment (under the control of the fluid control system 34) until a pressure release valve is opened.

[0031] Water or liquid inside the edible inflatable object 12 can be used to create the effect of the edible inflatable object 12 dissolving from the inside. The dissolving effect can also be created by having water or other liquid flow over the exterior surface of the edible inflatable object 12. Water can be used for visual effects inside the chambers of the edible inflatable object 12. This can take the form of a transparent edible inflatable object 12 with colored water moving inside it. Traditional water effects can be used in conjunction with the edible inflatable object 12 experience. For example, a nozzle (not attached to the edible inflatable object 12) can spray water at guests at specific moments during the experience.

[0032] The control system 32 can be configured to generate haptic effects by actuating the edible inflatable object 12 via air expansion and contraction, such that the edible inflatable object 12 itself acts as a haptic device. Additional contemplated effects include atmospheric effects (such as fog machines) or projection effects. Projection mapping effects can be used in conjunction with the edible inflatable object 12, both inside and outside the surface of the edible inflatable object 12. The projections can be updated in real time to match the state / posture of the edible inflatable object 12. Video backdrops can be used in conjunction with the edible inflatable object 12 experience, and video screens can be placed below the edible inflatable object 12 or positioned to be seen through the edible inflatable object 12. Augmented reality and virtual reality devices can be used to enhance the visual effects surrounding the edible inflatable object 12 experience. The visual effects can be updated in real time to match the state of the edible inflatable object 12. Additionally, the edible inflatable object 12 can be updated in real time to reflect the state of the visual effects.

[0033] As provided herein, the fluid control system 34 and / or the effect control system 60 can be activated in response to sensed parameters associated with the system 30, such as the proximity of a user or other edible expandable object 12, the temperature of the system 30 or the edible expandable object 12, pressure on the edible expandable object 12, and / or contact with the edible expandable object 12. That is, one or more of the inflation, deflation, and effect activation can be responsive to sensor data generated by one or more sensors 78. In one embodiment, the sensor 78 can be a capacitive touch sensor attached to the edible expandable object 12 such that the sensor detects when the edible expandable object 12 is being touched. For example, the control system 32 can detect a guest's proximity / touching of the edible expandable object 12, which can be used as an input to trigger activation. This can further be used to trigger the association of the edible expandable object 12 with an individual guest, for example, via triggering the communication circuitry 46 to communicate with a guest device. The control system 32 can detect the proximity of an edible expandable object 12 to other edible expandable objects 12 or physical connection points. This can be useful in experiences where two or more edible expandable objects 12 interact with each other. The control system 32 can detect whether an edible expandable object 12 is properly attached to the control system.

[0034] The sensor 78 can be a resistive touch sensor coupled to the edible expandable object 12 so that the sensor can detect when one part of the edible expandable object 12 is touching another part of the same edible expandable object 12, or whether the edible expandable object 12 is properly attached to the control system. The sensor 78 can detect whether another object (part of an electrical circuit) is touching the edible expandable object 12 (such as a stylus or knife). Additional contemplated sensors 78 include optical sensors that sense light passing through the edible expandable object 12, laser range finders, IR distance sensors, or cameras. The sensor 78 can be a pressure sensor coupled to the edible expandable object 12 or coupled to an air tube attached to the edible expandable object 12. The sensor 78 can measure the pressure inside the edible expandable object 12. Because air pressure is based on chamber or compartment volume, the amount of air inside the sensor can be used to detect air inflow / outflow as well as chamber compression / expansion.

[0035] In one embodiment, the edible inflatable object 12 can be configured into an audio sensor via a membrane, such as the wall of the edible inflatable object 12, that vibrates due to sound waves traveling through the air. This movement can be detected by methods such as a microphone. For example, a magnet can be embedded in, printed on, slotted into, or connected to the membrane. The magnet's movement is captured by a wire coil. In another example, both a vibration source (such as a speaker) and a sensor (such as a microphone) are attached to the edible inflatable object 12. The shape, state, and orientation of the edible inflatable object 12, as well as the object being touched, affect how the vibration changes between the vibration source and the sensor. Therefore, by analyzing the sensor data, information about the shape, state, orientation, and the object being touched can be inferred. Due to the shape-changing nature of the edible inflatable object 12, a calibration process can be used to generate baseline measurements at different states.

[0036] Multiple sensors can be coupled to the edible expandable object 12. Using sections of conductive and non-conductive material in the edible expandable object 12, separate circuit sections can be created within a single element of the edible expandable object 12. This allows for two or more electrical sensors to operate simultaneously on the edible expandable object 12. Time slicing (alternating between different sensors) allows for two or more sensors to operate simultaneously. Additional sensors 78 can include buttons, cameras, microphones, readers, or skeletal trackers.

[0037] It should be noted that the components described above with respect to control system 32 are exemplary components, and control system 32 may include additional or fewer components than those shown. Additionally, certain components of control system 32 may be integrated with or removable from control system 32.

[0038] With the above in mind, FIG. 3 illustrates an exemplary flowchart of a method 100 for controlling an edible soft robotic system 30 based on sensor data. In block 102, the control system 32 can receive a data set from one or more sensors 78. The data can be proximity data, pressure data, audio data, etc. Based on the sensor data, the control system 32 can adjust the inflation of one or more interior compartments of the edible inflatable object 12 in block 104. Additionally, the control system 32 can activate one or more special effects based on the sensor data in block 106. In a specific example, based on the proximity of a customer within a store, the control system 32 can activate an inflation / deflation cycle within a chamber of the edible inflatable object 12 to create an animation effect.

[0039] Activation can include pre-programmed animations (e.g., movements of the edible expandable object 12) using animation tools (keyframes, graph curves, etc.) to control the actuation of the edible expandable object 12 and coordinated special effects. For example, the pre-programmed animations can include sequenced cycles of inflation and deflation to preset pressures within one or more internal compartments to achieve a desired configuration. The method 100 can access the pre-programmed animations from memory 52 and execute processor-based instructions for the fluid control system 32 and the effects control system 60.

[0040] In one embodiment, the physical position of the edible inflatable object 12 is pre-recorded and then played back. A sensor 78 is used to determine the physical position of the edible inflatable object 12 at the time of recording. Using the sensor 78 coupled to the edible inflatable object 12, guests can interact with the logic controlling the edible inflatable object 12 and the activation of special effects. In one embodiment, a video game engine can be used to drive actuation based on game logic, real-time physics simulation, and / or networked multiplayer, etc. The system can use inputs such as live data feeds including time of day, weather data, stock price data, or profile information about guests viewing / interacting with the edible inflatable object 12 to influence actuation and / or select pre-programmed actuation.

[0041] The edible expandable object 12 can itself provide actuation. For example, a Turing-complete computer can be constructed using a set of valves 36 made from soft edible expandable objects 12. Alternatively, simpler computing devices can be used for simple logic and animation functions in a manner similar to microfluidic logic. Using a data storage system as provided herein, the edible expandable object 12 has animation / logic data information stored directly as part of the edible expandable object 12 itself. When the edible expandable object 12 is attached to an external system, the data can be read and the animation or logic data (e.g., computer code) can be executed. In one embodiment, sections of the edible expandable object 12 can have different properties that allow for data storage, including color, height / wall thickness, and density. When the edible expandable object 12 is inflated, thinner sections expand more than thicker sections, providing one way to read this data. Additional integrated data storage implementations include the electrical conductivity of the edible expandable object 12, the electrical capacitance of the edible expandable object 12, an integrated valve in the edible expandable object 12 that can be blocked or opened by another object, a chamber in the edible expandable object 12 with a check valve (also made from the edible expandable object 12) at an opening that can remain inflated or deflated, and a flip-flop valve made from the edible expandable object 12. The disclosed embodiments provide the advantage of directly coupling the edible expandable object 12 to provide data storage that is edible (e.g., does not utilize inedible data storage formats such as metal antennas). When inserted into the opening of the container 80, the edible expandable object 12 can be activated using punch card instructions that selectively allow air flow from one side of the card to the other, such that air only flows where there are holes in the card. The edible expandable object 12 is placed at the back of the card and is inflated based on the hole locations in the card without digitizing the data. By sliding the card forward into the container 80, the edible inflatable object 12 can be animated.Other potential data storage styles can include using edible ink to print barcodes, QR codes, text, images, or color codes on the surface of the edible inflatable object 12. The data can be read using an optical reader and then provided to the control system 32 to control the fluid control system 34 and / or the effects control system 60 based on the encoded data.

[0042] 4-27 are example arrangements of the edible soft robotics system 30 or its individual components. It should be understood that the disclosed embodiments may include all or some of the disclosed elements of the edible soft robotics system 30 of FIG. 2. Certain disclosed embodiments of the edible soft robotics system 30 may be embodied as a packaging or display system for the edible inflatable objects 12. Accordingly, the container 80 may be configured as a packaging assembly, box, tray, table, counter, dishware, display case, etc.

[0043] FIG. 4 is a cross-sectional or cutaway schematic diagram of a counter or tabletop-style arrangement of the edible soft robotics system 30, which may be suitable for a retail store or restaurant display or as retail packaging. Various components of the control system 32 are positioned below a surface 108 of the container 80, which is here implemented as a counter, display case, or table. The edible inflatable object 12 may be reversibly or removably coupled to the surface 108 via ports 109. That is, one or more ports 109 formed in the edible inflatable object 12 allow air or other fluids to flow from a fluid conduit 110 extending through the surface 108 and between the pumps of the fluid control system 34 to an interior compartment 112 of the edible inflatable object 12. The ports 109 may extend from the outer surface 111 of the edible inflatable object to the interior compartment 112, fluidly coupling the fluid conduit 110 to the interior compartment 112.

[0044] The edible inflatable object 12 is positioned to align with the fluid conduits 110 in or on the container 80. Additionally, special effects such as uplighting 64 can be positioned in or under the countertop 108. As disclosed herein, the show / interactive experience can include the effects and movement of the edible inflatable object 12 through a series of inflation / deflation events. Once the show / interactive experience is over, the edible inflatable object 12 can be removed from the countertop 108 (e.g., removed from the barbs or protrusions formed by the fluid conduits and inserted into the ports 109) and eaten. The container 80 can be retained and then reloaded with new edible inflatable object 12.

[0045] FIG. 5 is a schematic cross-sectional view of a package or box-style arrangement of the edible soft robot system 30. Such an arrangement can be portable and part of the retail packaging. The control system 32 is located inside a container 80, which can be a portable device such as a box or tray. The container 80 can function as a retail display and include a transparent window 113 that allows viewing of the edible inflatable object 12. In one embodiment, the edible inflatable object 12 is displayed inside the container 80 before being sold. After the edible inflatable object 12 is sold, a guest can carry the container 80 and continue to view / interact with the edible inflatable object 12 until they are ready to remove it from the box and eat it. The container 80 can have a user input device (e.g., a button) for triggering operation and activation of any special effects. In one embodiment, the container 80 is a tray that can be carried by a waiter. The waiter carries the tray with the attached edible inflatable objects 12, presenting the guest with the actively operable edible inflatable objects 12, which are then removed by the guest for consumption. In a portable arrangement, the container 80 does not include an electrical control system such as a pump, and instead may utilize a portable power storage device such as a compressed air tank. This allows the box to be smaller and less expensive. This tank may be located inside the actual box, but in the case of a waiter carrying a tray, the tank could be located on the waiter's body (e.g., in a backpack). A fluid conduit 110 can transfer air from the tank to the container 80.

[0046] In one embodiment, the edible expandable object 12 can be used one or a limited number of times in conjunction with the container 80, using energy stored within the edible expandable object 12 itself and / or energy stored within the container 80. For example, the effect of the edible expandable object 12 can be powered using energy from fluid stored in a compartment of the edible expandable object 12, an air bladder in the container 80, a coiled spring in the container 80, potential energy stored by the elastic material from which the edible expandable object 12 is formed (e.g., stored energy via winding or stretching of the elastic material), or other one or limited volumetric effect. However, the system 30 can allow for manual reset of the effect so that the effect can be viewed multiple times. As an example, the air bladder in the container 80 can be manually refilled, and the spring can be pushed back to its energy-storing position. Furthermore, if the effect is mediated by the release of air or fluid from a compartment of the edible expandable object 12, refills of the object 12 can be purchased and used in conjunction with the container 80.

[0047] FIG. 6 is a schematic diagram of a portable container 80 including the edible soft robotics system 30 and implemented as an aquarium. The edible inflatable objects 12 are shaped like aquatic creatures and configured to operate under the control of a control system 32, which may be hidden within a rock or decorative feature of the container 80. The edible inflatable objects 12 are coupled to a fluid source or configured to receive ambient air via a fluid conduit 110 (see FIG. 4). In one embodiment, the fluid conduit 110 may have separate outlets for separate internal compartments 112 to allow for more granular control of actuation. For example, an octopus-like creature may have separate internal compartments 112 for each tentacle. In one embodiment, after the edible inflatable objects 12 are removed and consumed, replacements may be obtained and connected to the control system 32, allowing the user to continue enjoying additional iterations of the animation within the container 80. Accordingly, the fluid conduit may have a universal connector that couples to compatible edible inflatable objects 12.

[0048] 7A and 7B are schematic cross-sectional views of a console-type arrangement of the edible soft robotics system 30, in which the control system 32 is enclosed in a console, such as a kiosk or home video game console. The console can work with multiple types of edible expandable objects 12 to create different shows / interactive experiences. The edible expandable objects 12 are connected to the console (possibly by being placed on top of it). This connection can include any actuation connections, sensors, or show effects to which the edible expandable objects 12 are functionally coupled. The console can automatically detect the type of edible expandable object 12 connected, where the connection points are located, and how many pieces of edible expandable object 12 are attached. Alternatively, the user can manually provide some or all of this information. Once the edible expandable object 12 is connected, the console can execute a show / interactive experience compatible with the connected edible expandable object 12. Multiple elements of the edible expandable object 12 can be connected to the console simultaneously, allowing the elements of the edible expandable object 12 to interact during the experience. Show effects such as lighting, sound, and / or video can be incorporated into the console to enhance the experience. In the illustrated embodiment of FIG. 7A , the console can receive a first type of edible expandable object 12 and activate a first animation pattern to cause the first type of edible expandable object 12 to achieve a first configuration 114 based on the detected type and any associated media displayed on the display 120. The console can also receive a second, different type of edible expandable object 12 and activate a second animation pattern to cause the second type of edible expandable object 12 to achieve a second configuration 118 based on the detected type and any associated media displayed on the display 120, as shown in FIG. 7B . The animations are aligned to the object types such that the fill or inflation level of the interior compartment 112 of each object type and / or the flow rate through the fluid conduit 110 are selected to achieve the desired configuration or configurations associated with each animation.

[0049] In a theme park context, the consoles may be implemented as kiosk stations (e.g., kiosk 28, see FIG. 1 ) located within the theme park. Guests may purchase portions or sets of edible inflatable objects 12 from a store, bring them to each kiosk, connect to the kiosk, and experience a unique show / interaction based on guest profile information (which may be provided from a mobile device running a dedicated application), such as the location of the kiosk, the type of edible inflatable object 12 attached, and / or other stations the guest has visited.

[0050] In a home context, the console style can take a form similar to a home video game console. Guests can purchase experiences in the form of pieces or sets of edible inflatable objects 12. They can do this online, in stores, or exclusively from theme parks where the edible inflatable objects 12 can be activated in one or more experiences. After taking the edible inflatable objects 12 home, guests can attach and activate the edible inflatable objects 12 to their console to begin compatible experiences.

[0051] FIG. 8 is a schematic diagram of an interactive surface 130 that can be part of an edible soft robotics system 30 that is part of an interactive experience or exhibit. The surface 130 is covered with an array of different types of connectors and effects, including airflow input / output conduits 138, electrical contacts 136, lights 134, and may include other show effects and sensors. These elements are arranged so that individual edible inflatable objects 12 can be placed anywhere on the surface 130 and directly contact at least a minimum number of connections for the edible inflatable objects 12 to operate. In one embodiment, minimal contact between the interactive surface 130 and the edible inflatable objects 12 is achieved when the edible inflatable objects 12 directly contact at least one array element, at least two array elements, or at least three array elements. The interactive surface 130 can be arranged so that certain adjacent elements differ from one another to facilitate combined actuations / special effects when the edible inflatable objects 12 are in contact with multiple elements. When the edible expandable object 12 is activated, the array can move air within and / or around the edible expandable object 12, causing the edible expandable object 12 to move from one array to another on the surface 130 (or the edible expandable object 12 itself). As the edible expandable object 12 moves, the attached connections change. The control system can activate only those elements detected to be in proximity to or in contact with the edible expandable object 12. Multiple elements of the edible expandable object 12 can be placed on the surface 130 simultaneously and controlled separately. The surface 130 can incorporate show effects, sensing systems, and interactivity. The surface 130 can also be used as a component of other display arrangements such as those disclosed herein. An advantage of the surface 130 is that the control system design is more flexible and therefore can accommodate multiple types of edible expandable objects 12. Additionally, surface 130 allows multiple edible expandable object 12 elements to move about on the surface without a tether or predefined path. Surface 130 allows for placement without complex coupling or alignment steps to control system 32.That is, surface 130 may self-align with edible expandable object 12 to allow for coupling to control system 32. To facilitate such flexible positioning, edible expandable object 12 may be implemented with a tapered valve that is relatively large at the exterior of edible expandable object 12 and narrows toward interior compartment 112. Surface 130 may be part of an interactive exhibit or game (e.g., interactive exhibit 26, see FIG. 1 ) to allow users to move their elements along the surface.

[0052] FIG. 9 shows a cross-section of an embodiment of an edible expandable object 12 that forms an improved seal with a contact surface (e.g., as in FIGS. 4-5 and 7) that facilitates coupling to the control system 32. The depicted contact surface 150 can include multiple through passages that accommodate the respective fluid conduits 110. An integral gasket 156 of the edible expandable object 12 is positioned around the interior compartment 112 that receives fluid from and vents through fluid conduit 110a. The gasket 156 can include grooves or recesses that align with fluid conduit 110b. The gasket can be pulled down when a vacuum is applied to fluid conduit 110b, thereby enhancing the seal. This can cooperate with the expansion and / or contraction of the interior compartment 112 via fluid conduit 110a.

[0053] Additionally, surface 150 may include a heating element that melts gasket 156 to surface 150 to enhance the seal. The seal may be broken upon removal of edible expandable object 12 for consumption. The gasket may be formed from a different (e.g., more rigid) material than the rest of edible expandable object 12, or may be treated differently (e.g., cross-linked) to enhance sealing properties.

[0054] 10 is a cross-sectional detailed schematic diagram of a tether 160 that couples to the edible inflatable object 12 and facilitates fluid flow and show effects. The tether 160 couples the edible inflatable object 12 to the control system 32, which is located out of view of guests, for example, behind a counter or wall, or in a cabinet. The tether 160 can be coupled to the edible inflatable object 12 via mechanical means (such as a barb) or via another method, such as one or more vacuum seals, chemical bonds, food-safe adhesives, or the tackiness of the edible inflatable object 12. The tether 160 can include one or more fluid conduits 110 within a housing 164 for moving air (or other fluids) to and from the interior compartment 112 of the edible inflatable object 12 to operate the edible inflatable object 12. Lighting effects can be created via a light source 64 at the tip of the tether 160 or a light source 64 at the base of the tether 160 where light 170 is internally reflected along the length of the tether using reflectors 168, thereby illuminating the edible inflatable object 12. The tether 160 can also provide electrical connections and sensing (e.g., via sensing wires 166) from the control system 32 to the edible inflatable object 12 and beyond. These connections can be used to power electrical components for show effects and for sensing within the edible inflatable object 12. Once the show / interactive experience is over, the edible inflatable object 12 can be detached from the tether 160 and eaten. The tether 160 can be detachable from the control system 32. The tether 160 can be washable or disposable. The tether 160 can be attached to the edible inflatable object 12 during manufacturing, when the edible inflatable object 12 is placed on display in a store, when the edible inflatable object 12 is purchased, or when the edible inflatable object 12 is ready to be used (e.g., animated).

[0055] FIG. 11 is a cross-sectional schematic diagram of the edible soft robotics system 30 implemented as part of a food container, e.g., an ice cream cone-shaped container. For example, the control system 32 and / or special effects control system 60, as well as related components such as the power source 58 and fluid source 37, are disposed within a container 80. The container 80 is not edible but is configured as a handheld device similar in shape and size to an ice cream cone. The edible inflatable object 12 is attached to the top of the cone and coupled to the container 80 via a fluid conduit 110. This attachment enables the control system to activate the edible inflatable object 12 as well as other effects. One or more sensors 78 are disposed within the cone and extend into the edible inflatable object 12, enabling the control system 32, including the effects control system 60, to detect how and / or when a guest interacts with the edible inflatable object 12 and the cone. The control system 32 can generate commands to activate the edible inflatable object 12 in response to sensed actions, such as licking and biting the edible inflatable object 12. This provides an interactive experience while the edible inflatable object 12 is being eaten. In one embodiment, the sensed contact can cause the edible inflatable object 12 to deflate from a default inflated state, such that the edible inflatable object 12 moves away from the user while being eaten. Thus, the guest eats the edible inflatable object 12 while it is still connected to the control system 32.

[0056] FIG. 12 is a schematic diagram of an edible soft robotic system implemented using sealed fluid volume transfer. That is, in addition to or alternatively to embodiments in which fluid flows into and out of the edible expandable object 12 via an air pump, valve, or pressurized air tank, the edible expandable object 12 can also include one or more connected bladders 180 that can be manually compressed and / or released by a user. When the control bladders 180 are compressed, the edible expandable object 12 expands. Conversely, fluid can be pushed back from the edible expandable object 12 into one or more control bladders 180. The control bladders 180 can be formed from the material of the edible expandable object 12 or can be non-edible. The control bladders 180 can be compressed / expanded by a user, a puppeteer, or the arms of a robotic system. The control bladders 180 can be attached to the edible expandable object 12 via the fluid conduits 110 during manufacture, when the edible expandable object 12 is placed on display, when the edible expandable object 12 is purchased, or when the edible expandable object 12 is ready to be used (e.g., animated). In the illustrated embodiment, separate control bladders 180a, 180b can control different operable elements of the edible expandable object 12. For example, control bladder 180a is coupled to interior compartment 112a corresponding to the creature's eyes (e.g., to cause bulging upon expansion), while control bladder 180b is coupled to interior compartment 112b corresponding to the creature's body.

[0057] FIG. 13 is a schematic diagram of an edible soft robotics system 30 incorporated into a container 80 configured as a vacuum chamber. This chamber is capable of both positive and negative pressure. Here, the edible expandable object 12 does not need to include any holes or valves to allow access to the interior compartment of the edible expandable object 12. Instead, as the pressure in the interior space 181 within the chamber changes, the edible expandable object 12 expands or contracts due to the pressure difference between the interior compartment 182 of the edible expandable object 12 and the interior space 181 of the container 80 surrounding the edible expandable object 12. An advantage of the illustrated embodiment is that the edible expandable object 12 is not attached or coupled to an external structure; for example, the vacuum chamber can be used in implementations where free roaming of the edible expandable object 12 is desired. In the illustrated embodiment, the pressure within the interior space 181 can be regulated by a control system 32, which can add or remove fluid via a conduit 110 coupled to the interior space 181.

[0058] Additionally, the edible expandable object 12 may have a certain amount of energy stored therein that allows for visible movement within the chamber while the interior compartment 182 is sealed. The visible movement effect may decrease as the elasticity of the edible expandable object 12 eventually relaxes or the seal to the interior compartment 182 deteriorates over time. However, the edible expandable object 12 may also have a one-way valve that allows for the interior compartment to be manually refilled with fluid so that the container can be used multiple times in conjunction with the edible expandable object 12. In another embodiment, a user may purchase a new edible expandable object 12 to use with the container 80.

[0059] FIG. 14 is a schematic diagram showing a cross section of a customizable implementation of an edible inflatable object 12, where a guest can provide user input to the control system 32 to make selections regarding the appearance and / or flavor profile of the custom edible inflatable object 12. In one embodiment, based on the input, a custom mold is made on-demand (e.g., 3D printed), or existing modular molds are customized and assembled. The edible inflatable object 12 is poured into the mold, allowed to set, and the guest is presented with the edible inflatable object 12 when ready. In one embodiment, the modular elements 190, 192 of the edible inflatable object 12 are pre-made and adhered to each other using an edible adhesive or tie layer and selected based on guest input. This has the advantage of minimizing the time from guest creation to the completion of the edible inflatable object 12. In the illustrated embodiment, each modular element 190, 192 has a respective interior compartment 112a, 112b. When a first modular element 190 is attached to a second modular element 192, the first interior compartment is fluidly accessible via fluid conduit 110a and is sealed or isolated from a second interior compartment 112b, which is fluidly accessible via fluid conduit 110b. Thus, the modular elements can include elements that, when joined, are aligned to allow desired access by the fluid control system 34 via the joined fluid conduits 110. In another embodiment, the edible expandable object 12 itself can be 3D printed on demand. Customization options can include customization content such as color, flavor, filling, surface texture, decorative shape, mechanical shape (which affects how the edible expandable object 12 moves when actuated), interior compartment filling, and / or name imprinting on the surface.

[0060] 15 is a cross-sectional schematic diagram of an arrangement of edible soft robotics system 30 that incorporates tray 200 and may be suitable for retail or restaurant displays. Tray 200 facilitates rapid exchange of candy on a countertop, as commonly involved in mass-scale food service and vending applications.

[0061] In the illustrated arrangement, the trays 200 can be removable to quickly replenish the supply of edible inflatable objects 12 on replacement trays 200. The trays 200 can be configured to hold the edible inflatable objects 12 while aligning with more complex components of a cart or table to facilitate fluid delivery to the edible inflatable objects 12 via the tray. The trays 200 can serve as interfaces to various ports or openings in the fluid delivery system while isolating the edible inflatable objects 12 from the fluid delivery machine, which can be reused with different trays 200 over time. In this way, the edible inflatable objects 12 can be kept separate from the machine and generally fresh, and more expensive fluid delivery systems will not be compromised by contact with the edible inflatable objects 12. While the illustrated example shows a single edible inflatable object 12, it should be understood that the system 30 can include multiple edible inflatable objects 12 on the trays 200.

[0062] A port or recess 202 (e.g., a dome-shaped portion) of the edible expandable object 12 is positioned in a top surface 204 of the tray 200 and covers a through passage 206 of the tray 200. As shown, the recess 202 is coupled to the top surface 204 to at least partially seal around the through passage 206. The tray 200 is removably coupled to a counter 210, which may be part of a display arrangement, a table, or a mobile cart (e.g., a buffet cart). The illustrated arrangement includes various fluid supply, power, and control components disclosed herein generally located below the counter 210 and out of view of users. In this manner, a server can remove and replace the tray 200 without the machine being visible to users during the replacement step.

[0063] Additionally, to facilitate rapid replacement of the tray 200 on the counter 210, the tray 200 and counter 210 can have complementary mating features that facilitate alignment of the tray 200 and counter 210. By way of example, the tray 200 can include a recess 212 that reversibly mates with a protrusion 216 extending from the counter surface 218. Alignment of the tray 200 with the counter 210 aligns the through passage 206 with a grommet 220 coupled to the counter 210 and extending through an opening in the counter 210. The grommet passage 224 is fluidly coupled to a fluid source 226. In the illustrated example, the fluid source 226 is a bladder or dropper-type assembly. However, other arrangements are contemplated, as disclosed herein. As noted above, various components of the system 30 are located below the counter 210, including a motor 230 that operates to cause fluid to flow from the fluid source 226 to the recess 202. The grommet 220 seals the tray 200 to align the through passage 206 and the grommet passage 224 such that the recess 202 of the edible expandable object 12 and the fluid source 226 are fluidly coupled. The through passage 206 and the grommet passage 224 can have approximately the same inner diameter. In one embodiment, the grommet passage 224 can have a larger inner diameter than the through passage 206.

[0064] When the tray 200 is mated to the counter 210 via the mating features, the grommets 220 generally act to fluidly couple the edible inflatable objects 12 and the fluid source 226. The disclosed arrangement operates such that aligning the tray 200 on the counter 210 aligns the various through passages 206 and grommet passages 224 to seal the air flow paths for the edible inflatable objects 12. Furthermore, removing individual edible inflatable objects 12 from the tray 200 does not affect the sealing of the remaining edible inflatable objects 12 on the tray 200, as the respective grommets 220 maintain a seal for those remaining edible inflatable objects 12. The edible inflatable objects 12 are sealed to the removable tray using melted candy or other food-safe adhesive while the tray 200 is away from the counter 210, allowing the tray to be refilled with candy while away from the air supply system.

[0065] In one embodiment, the tray 200 can be part of a moving conveyor belt for moving the edible expandable objects 12 into position relative to a fluid supply system. The conveyor can be controlled to stop in a position that is properly aligned with the fluid delivery system. Additionally, the grommets 220 can be shaped (e.g., elongated) to create a seal along the direction of movement, allowing the edible expandable objects 12 to be actuated while the conveyor is moving.

[0066] 16 shows a perspective view of grommet 220. Grommet 220 can be configured to include a flange 250 defining a sealing portion 252 that is wider than grommet passage 224 and through passage 206 to allow for a certain tolerance in the alignment of tray 200 and counter 210. That is, flange 250 and sealing portion 252 enlarge the diameter of the sealed air channel of grommet passage 224 and through passage 206, allowing for imprecision in placement of removable tray 200 and improving the speed at which the tray can be placed on counter 210. Grommet 220 can be formed from rubber, silicone, or the like, and is designed to block a corresponding passage in counter 210 and pull the air flow path upward on counter 210, allowing removable tray 200 to rest evenly on grommet 220 and provide an airflow seal for all edible inflatable objects 12 on tray 200. The grommet 220 and / or the counter 210 may be transparent or partially translucent to allow a lighting system to pass light through to the edible expandable object 12 .

[0067] Figure 17 shows a perspective view of an exemplary edible expandable object 12 implemented as an anatomically realistic heart and placed on a tray 200, which is coupled to a counter 210, for example, as shown in Figure 15. It should be understood that the configuration of the edible expandable object 12 is exemplary and that any suitable configuration may be used.

[0068] 18 illustrates an embodiment, shown in cross section, in which the edible expandable object 12 is dip-coated in an edible adhesive 260 on the surface 262 of the edible expandable object 12, which seals or adheres the edible expandable object 12 to the top surface 204 of the tray 200. As discussed above, the tray-based system 200 can prevent the edible adhesive from contacting the counter 210. In another example, the edible adhesive 260 can be applied directly to the top surface 204 of the tray 200, and the edible expandable object 12 can be positioned on the adhesive 260. The edible adhesive can be a molten candy that solidifies over time. In another example, the edible adhesive 260 can be a slime or sticky outer layer of the edible expandable object 12. The edible adhesive 260 can have different flow characteristics than the interior or inner layer of the edible expandable object 12, which is relatively more solid.

[0069] The sealing of the edible expandable object 12 can also be affected by temperature. FIG. 19 shows an embodiment in cross section in which the tray 200 includes an integrated heating element 270. Heating the portion of the edible expandable object 12 in direct contact with the top surface of the tray 200 can cause softening that enhances the seal to the tray 200. Controlling the operation of the heating element 270 to deactivate prior to user contact can allow the edible expandable object 12 to cool and facilitate easy removal from the tray 200. In certain embodiments, the heating element 270 can be on or within the counter 210, and heat can be transferred through the tray 200.

[0070] 20 illustrates an embodiment, shown in cross section, in which a single fluid source can be used to drive one or more edible expandable objects using deformation of a flexible membrane 272. The flexible membrane separates a reservoir 274 from a sealed interior space 276 of the edible expandable object 12. In the illustrated embodiment, the edible expandable objects 12a, 12b are separated from the fluid reservoir 274 by individual deformable membranes 272a, 272b. The individual flexible membranes 272 can have different stiffness and / or size such that changes in pressure within the fluid reservoir 274 cause different deformations of the thicker membrane 272a relative to the thinner membrane 272b. The magnitude and characteristics of the deformation cause a visible movement in each edible expandable object 12a, 12b. An edible expandable object 12a coupled to a thicker membrane 272a may have a visually smaller or less extensive movement than an edible expandable object 12b coupled to a thinner membrane 272b based on deformation caused by a single pressure source supplying the fluid reservoir 274. The fluid reservoir may be coupled to an inlet 277 that allows for a pressure change that causes a resulting change in the movement of the edible expandable object 12. In this manner, the controller can cause a pressure change within one chamber, the fluid reservoir 272, to achieve multiple different types or classes of effects on the edible expandable object 12 relative to one another based on the properties of the corresponding flexible membrane. Furthermore, this change can be mediated by a single non-food-safe pressure source (positive or negative). That is, because the membrane 272 separates the fluid reservoir 274 from the edible expandable object 12, the fluid source does not necessarily have to be food-safe.

[0071] The fluid or pressure source can be a vacuum pump, an air compressor, another mechanically actuated membrane, or any other suitable device for generating pressure changes. The disclosed arrangement can be used in conjunction with other pressure sources to gain more control over the individual edible expandable objects 12. In one embodiment, individual fluid reservoirs coupled to separate individual or multiple edible expandable objects 12 can be adjusted to achieve a desired effect.

[0072] FIG. 21 shows the arrangement of the flexible membrane 272 in cross section. The flexible membrane is coupled to a magnet 282 (e.g., an electromagnet) that moves to operate the flexible membrane 272 in response to the generation of a magnetic field or a change in magnetic field strength. The magnet 282 can be contained within an integral pouch formed in the flexible membrane, glued to the flexible membrane 272, or embedded within the flexible membrane 272. The flexible membrane 272 includes a resilient, folded, shaped, wavy, textured, and / or volume-retaining flexible surface 284 that is part of or coupled to a sealing grommet 286. The sealing grommet 286 seals a tray 278 that holds the edible inflatable object 12 to the base 280. The tray 278 has a fluid port 288 that fluidly couples air or fluid in a region 279 above the flexible membrane 272 to the chamber 276 within the edible inflatable object 12. The sealing grommet 286 functions to seal the fluid within the region 279 and chamber 286 from the ingress or egress of air.

[0073] Movement of the flexible membrane 272 relative to the fluid port 288 or tray 278 changes the pressure in the chamber 276 by either compressing the internal fluid or allowing it to expand, thereby causing the edible expandable object 12 to move. The base 280 also includes a passageway 289 through which the flexible membrane 272 expands, expanding the overall total volume of the region 279, thereby decreasing the pressure in the chamber 276, resulting in a contracting effect on the edible expandable object 12. Movement of the flexible membrane 272 toward the fluid port 288 decreases the overall total volume of the region 279, thereby increasing the pressure in the chamber 276, resulting in an expanding effect on the edible expandable object 12. A change in magnetic force can be used to provide a driving force to the flexible membrane 272 by acting on the magnet 282 via an attractive or repulsive force, causing movement into the tray fluid port 288 or into the base passageway 289, depending on the activation and polarity of the magnetic field. In one example, activation of the magnetic field is controlled via a controller of the system 30.

[0074] As disclosed herein, movement of the flexible membrane 272 can be via the application of magnetic force. Additionally or alternatively, the membrane 272 can be user-actuated to cause a movement effect on the edible expandable object 12. FIG. 22 shows, in cross section, an example of an edible expandable object 12 operated via user (or motor-driven) movement of a handle 292 coupled to the membrane 272. In one embodiment, a user can push or pull the flexible membrane 272, which is incorporated into the box or packaging of the edible expandable object 12 and is integrated into an object base 290 that holds a volume of fluid coupled to a chamber of the edible expandable object 12 via a fluid port 288, as shown. This movement of the membrane 272 creates a positive or negative pressure differential between the inside and outside of the edible expandable object 12, resulting in movement. Pulling the membrane 272 away from the edible expandable object 12, as shown in FIG. 22, creates a contraction effect due to a pressure drop within the edible expandable object 12. The snap-back or unbiased default position may be the expanded configuration of the edible expandable object 12 .

[0075] FIG. 23 is a cross-sectional view of an arrangement in which magnetic material 293 is incorporated into the object base 290 and / or flexible membrane 272 and used to push and pull the membrane 272. In this embodiment, the membrane 272 would have a magnet or ferrous metal embedded within it or incorporated as a layer of the membrane 272. The magnetic material would be attracted by the electromagnet 282, thereby creating a pressure differential between the edible inflatable object 12 and the surrounding environment. The counter 294 or other display surface may have an inset therein to allow the membrane to be attracted toward the electromagnet and align with the counter. In the illustrated embodiment, the membrane 272 is shown in an alternative configuration. A configuration of the membrane 272 closer to the electromagnet 282 is associated with a relatively contracted configuration of the edible inflatable object 12 (not shown), while a configuration relatively farther from the electromagnet 282 is associated with a more expanded configuration of the edible inflatable object 12 as shown. The electromagnet can be activated by the controller of the system 30. Additionally, the membrane may further include a handle 292 for manual actuation.

[0076] 24 is a cross-sectional view of an arrangement in which movement of the membrane 272 via the illustrated handle 292 and / or via a magnet 282 as discussed herein can be used to create a floating or moving effect seen through a package dome or window 296, which also serves to create an environment for the edible expandable object 12 such that a pressure difference caused by the movement of the membrane between the environment and a sealed chamber 298 of the edible expandable object 12 causes the movement effect. The edible expandable object 12 can be placed on a grating 297 that allows air flow within the environment such that movement of the membrane can increase or decrease the pressure within the environment. The edible expandable object 12 can move relative to the grating in response to changes in pressure.

[0077] The disclosed edible expandable objects 12 can be sold in individual retail packages (e.g., trays, containers, etc.) where a consumer purchases the package along with the edible expandable object 12. Additionally, the disclosed technology can also be applied to retail display arrangements that allow the features of the edible expandable object 12 to be viewed. The various embodiments described herein can be implemented in transparent packaging (e.g., package 296) so that the effects (e.g., lighting, activation) of the system 30 can be visible and activated while the edible expandable object 12 is within the package. Additionally, while certain embodiments shown as examples can be described using a single edible expandable object 12, it should be understood that the disclosed embodiments can incorporate multiple edible expandable objects 12.

[0078] In one embodiment, the retail display arrangement can include a bulk container, such as a self-service (or operator-service) bulk container. The edible inflatable objects 12 can be contained within a container that facilitates actuation of the edible inflatable objects 12 therein, as shown in FIG. 25, which illustrates a bulk container system 300 including a bulk container 304 sized and shaped to hold multiple edible inflatable objects 12 therein. The edible inflatable objects 12 within the bulk container 304 can be in such a quantity that they fill the container 304. Alternatively, a separate dispensing system (conveyor, gravity dispenser, etc.) can deposit individual edible inflatable objects 12 into the bulk container 304 to maintain a desired number or fill level. The disclosed arrangement of the bulk container system 300 can alternatively or additionally be implemented as individual retail packages for sale. For example, the container 304 can be sold under some degree of vacuum, triggering a one-time actuation of the candy when the container 304 is opened by a customer.

[0079] The interior 306 of the bulk container 304 may be accessed by a hinged lid 308 or other mechanism (e.g., a door, a spring-loaded tray). The interior 306 of the bulk container may be substantially sealed or enclosed when the lid 308 is closed, preventing exposure of the edible inflatable objects 12 to the surrounding environment. The bulk container 304 may vary the pressure of the interior 306 within the bulk container 304 via a reversible air pump 319 to cause an inflation / deflation effect in the edible inflatable objects 12. In the illustrated embodiment, the reversible pump 319 is fluidly coupled to the interior 306 via a conduit 320.

[0080] In one embodiment, each edible expandable object 12 includes a sealed chamber or sealed interior compartment 318 having an expandable fluid (air, etc.) therein. That is, each edible expandable object 12 does not have any holes or inlets / outlets for accessing the sealed interior compartment 318. The sealed interior compartment 318 is separated (i.e., fluidically isolated) from the interior 306 within the bulk container 304 by the walls 316 of the edible expandable object 12. The sealed interior compartment 318 can have a volume of fluid, e.g., an expandable fluid such as air, within the sealed interior compartment 318. In one embodiment, the volume of fluid enclosed within the sealed interior compartment 318 can be selected so that the edible expandable object 12 appears in an inactive or deflated state, e.g., a relatively under-expanded state by default or under a first external pressure condition. When the container pressure in the interior 306 outside the edible expandable object 12 changes to a second external pressure condition, the resulting pressure difference with the pressure in the sealed internal compartment 318 inside the candy causes the edible expandable object 12 to expand or contract (“expand” or “contract”), resulting in a visible deformation in the shape of the wall 316.

[0081] The reversible air pump 319 is fluidly coupled to the interior 306 via conduit 320 and operates according to commands from the controller 310 to vary or maintain the pressure in the interior 306. In one embodiment, the reversible air pump 319 removes air from the interior 306 to reduce the pressure therein (e.g., create a vacuum), causing the edible inflatable object 12 held within the bulk container 304 to expand based on the difference between the container pressure of the bulk container 304 and the chamber pressure of the edible inflatable object 12. In another embodiment, the reversible air pump 319 creates a positive pressure condition in the interior 306, causing the edible inflatable object 12 therein to expand. Alternating the pumping direction of the reversible air pump 319 can animate the edible inflatable object 12 through sequential inflation and deflation patterns (e.g., pulsating).

[0082] The bulk container 304 can be arranged to include one or more interiors 306, each capable of exhibiting a different container pressure relative to one another to produce different simultaneous effects. With one contiguous interior 306 of the bulk container 304, all of the edible inflatable objects 12 within the bulk container 304 expand and contract together. Multiple interiors 306 allow some candies to expand while others contract. Additionally, the bulk container system 300 can include multiple bulk containers under the control of individual controllers 310 and / or a central controller.

[0083] In one embodiment, the bulk container 304 is maintained in a negative or positive pressure environment relative to the ambient air 312 outside the bulk container 304. In embodiments in which the system 300 generates animation effects, the same container 304 can produce both negative and positive pressure environments at different times as the pump 319 cycles or pulses between positive and negative pressures. In a negative pressure environment, e.g., a vacuum, the lid 308 may be relatively difficult to open compared to a neutral pressure environment (i.e., a neutral pressure that is substantially the same as the ambient environment outside the bulk container 304). This can be addressed by selecting a negative pressure applied by the reversible pump 319 that is high enough to produce an observable change in the state of the edible inflatable object 12 relative to its state at neutral pressure, but low enough to be easily overcome by the patron's force opening the lid 308 or other access mechanism of the bulk container 304.

[0084] The lid 308 is relatively easy to open during positive pressure conditions in the interior 306 of the bulk container 304. Thus, the controller 310 alternates control of the pump 319 between suction and positive pressure, creating a window of time during which the lid 308 can be easily opened. A short interval between switching pump directions (e.g., less than 5 seconds, less than 2 seconds) will allow the lid 308 to be opened at some point during a typical user attempt to open the lid 308.

[0085] In one embodiment, sensor 314 (such as a proximity sensor, capacitive sensor, or force feedback on the lid hinge) provides feedback to controller 310 that the user is attempting to open lid 308, causing controller 310 to command pump 319 to operate in positive pressure mode for a preset time period or while sensor 314 senses the user reaching for lid 308.

[0086] FIG. 26 shows the bulk container system 300 with the lid 308 in an open state. When the bulk container 304 is opened, the pressure in the interior 306 can at least partially equilibrate with the pressure of the surrounding environment 312. This pressure change can change the configuration of the edible expandable object 12 within the bulk container 304 when the lid 308 is opened, creating an animation effect. In the illustrated example, the closed state of the bulk container ( FIG. 25 ) can be associated with a negative pressure that causes the edible expandable object 12 to enter an expanded state. Opening the lid increases the pressure, transitioning the edible expandable object 12 to a more contracted state. When the lid 308 is open, the controller 310 can stop the pump 319. Alternatively, the pump 319 can remain active to compensate for pressure changes caused by the difference between ambient pressure and container pressure.

[0087] FIG. 27 is a schematic diagram of a user-actuated musical instrument or puppet-type edible inflatable object 12. In this embodiment, air pressure (positive and / or negative) is provided by the user's lungs. In the illustrated example, positive pressure is provided to one or more channels 350, e.g., left channel 350a, which causes actuation of the left side of the edible inflatable object 12, and right channel 350b, which causes actuation of the right side of the edible inflatable object 12. It should be understood that other arrangements of edible inflatable object 12 and channels 250 are within the scope of the present disclosure. The edible inflatable object 12 can operate based on a user-provided pressure boost that covers, uncovers, closes, or opens one or more air pathways 360 fluidly coupled to one or more internal channels 350. In certain embodiments, a flap or valve can be actuated in response to user-provided airflow to selectively close one channel.

[0088] The edible expandable object 12 can include a mouthpiece 264 having an interior bore 362 fluidly coupled to the channel 350. In one embodiment, the mouthpiece 364 is also edible, allowing a user to eat the edible expandable object 12 starting from the mouthpiece end, while retaining some actuation functionality as long as the channel 350 is preserved.

[0089] While only certain features of the invention have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention. Furthermore, while the steps of one or more disclosed flowcharts may be shown in a given order, in certain embodiments, the illustrated steps may be rearranged, modified, eliminated, and / or occur simultaneously.

[0090] When introducing elements of various embodiments of the present disclosure, the articles "a," "an," and "the" are intended to mean that there are one or more of the element. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements. In addition, it should be understood that references to "one embodiment" or "one embodiment" of the present invention are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features.

[0091] The approaches presented and claimed herein refer to and apply substantial objects and specific embodiments of a practical nature that clearly improve the art of the present invention, and are therefore not abstract, intangible, or theoretical in nature. Furthermore, to the extent that any claim appended to the end of this specification contains one or more elements designated as "means for 'performing' a "function"" or "steps for 'performing' a "function," such elements shall be construed in accordance with 35 U.S.C. §112(f). However, for any claim containing elements designated in any other manner, such elements shall not be construed in accordance with 35 U.S.C. §112(f). [Explanation of symbols]

[0092] 12 Edible inflatable objects 32 Control System 34 Fluid Control System 36 Valves 37 Fluid source 38 Controller 40 Pump 46 Communication Circuit 47 External Devices 50 processors 52 memory 54 Inputs / Outputs 58 Power supply 60 Effect Control System 62 Lighting Controller 64 Light source 68 A / V Controller 72 Temperature Controller 78 Sensors 206 Removable Tray 210 Counter 230 Motor 310 Controller 314 Sensors 319 Pump

Claims

1. An edible soft robot system, comprising: at least one edible inflatable object formed at least in part from an edible material and including an interior compartment configured to receive a fluid; one or more sensors configured to generate sensor data indicative of a parameter of the system; a control system coupled to the at least one edible expandable object; the control system includes: receiving sensor data from the one or more sensors; adjusting the expansion of the at least one edible expandable object by directing fluid into and out of the internal compartment based on the sensor data; activating one or more special effects based on the sensor data; It is configured as follows: Edible soft robot system.

2. 10. The edible soft robotic system of claim 1, wherein the control system comprises a fluid control system coupled to the at least one edible expandable object, the fluid control system configured to deliver fluid to the internal compartment through an open port formed in the at least one edible expandable object to regulate the expansion.

3. 10. The edible soft robot system of claim 1, wherein the control system includes an effects control system coupled to the at least one edible expandable object or a container holding the at least one edible expandable object, the effects control system configured to activate light, temperature, and / or audio / visual effects based on the sensor data.

4. 10. The edible soft robotic system of claim 1, wherein the one or more sensors include a proximity sensor, and the control system is configured to activate the fluid control system to initiate animation of the at least one edible inflatable object based on the sensor data indicating a user's proximity.

5. The edible soft robot system of claim 4 , wherein the animation includes multiple expansion adjustments of the internal compartment.

6. The edible soft robot system of claim 5 , wherein the one or more special effects are coordinated with the animation.

7. 10. The edible soft robot system of claim 1, comprising a special effects system configured to control activation of the one or more special effects, the special effects system configured to heat or cool a fluid provided to an interior compartment of the at least one edible inflatable object.

8. The edible expandable object of the at least one edible expandable object comprises: a port or valve extending from an opening in the exterior surface of the edible expandable object to an interior compartment of the edible expandable object; a gasket disposed around the opening and including a recess formed in an outer surface of the edible expandable object; The edible soft robot system of claim 1 , comprising:

9. 10. The edible soft robot system of claim 8, comprising a mounting surface on which the edible inflatable object is positioned, the mounting surface including a plurality of passageways extending therethrough and configured to allow fluid flow to and from one or more fluid sources, wherein at least a first passageway of the plurality of passageways is positioned to align with the gasket when a second passageway of the plurality of passageways is aligned with the valve, and wherein the control system is configured to draw a vacuum through the first passageway while allowing fluid to flow to the internal compartment through the second passageway.

10. 1. An edible inflatable object display system comprising: an edible expandable object configured to receive a fluid in an interior compartment of the edible expandable object; a container to which the edible expandable object is reversibly coupled, the reversible coupling of the edible expandable object to the container comprising an alignment port on the edible expandable object that is reversibly coupled to a fluid conduit such that the fluid conduit is fluidly coupled to the interior compartment; a control system configured to receive instructions to regulate the expansion of the internal compartment by initiating fluid flow to and from the internal compartment via the fluid conduit, wherein regulating the expansion of the internal compartment causes the edible expandable object to act on or within the container; Edible inflatable object display system.

11. 11. The edible inflatable object display system of claim 10, wherein the container comprises a tray configured to hold the one or more edible inflatable objects.

12. 11. The edible inflatable object display system of claim 10, wherein the reversible coupling comprises a tether inserted into the port, the tether comprising the fluid conduit.

13. 11. The edible inflatable object display system of claim 10, wherein the control system is configured to activate special effects in the container while the edible inflatable object is activated.

14. 11. The edible expandable object display system of claim 10, comprising a sensor configured to sense contact with an exterior surface of the edible expandable object and send commands to the control system based on said sensing.

15. 11. The edible expandable object display system of claim 10, wherein the control system is configured to heat the edible expandable object before or during the actuation.

16. 11. The edible inflatable object display system of claim 10, wherein the control system is configured to release fluid in the internal compartment through a release valve to create a spray effect.

17. An edible soft robot system, comprising: an interactive surface including a plurality of elements arranged in an array, the plurality of elements including fluid conduit elements, sensor elements, and effect elements; a plurality of edible expandable objects disposed on the interactive surface, each edible expandable object contacting at least one of the plurality of elements; a control system configured to control activation of the plurality of elements to actuate at least one edible expandable object of the plurality of edible expandable objects by adjusting the expansion of an interior compartment of at least one edible expandable object of the plurality of edible expandable objects; Including, edible soft robot system.

18. 18. The edible soft robot system of claim 17, wherein the plurality of elements are arranged in an array such that at least some adjacent elements are different from one another.

19. 18. The edible soft robot system of claim 17, wherein the effect element comprises at least one heating element, and the control system is configured to activate the at least one heating element upon contact with an individual edible expandable object of the plurality of edible expandable objects to cause the individual edible expandable object to adhere to the interactive surface.

20. 1. An edible inflatable object display system comprising: an edible expandable body that holds a fluid in a closed interior compartment of said edible expandable body; a container in which the edible inflatable object is displayed; a fluid conduit extending into the container; a pump configured to activate fluid flow through the fluid conduit to and from the interior of the container such that the edible inflatable object is actuated within the container; 1. An edible inflatable object display system comprising:

21. 21. The edible inflatable object display system of claim 20, wherein the container is a bulk container containing a plurality of edible inflatable objects.

22. 21. The edible inflatable object display system of claim 20, comprising a controller that commands the pump to activate fluid flow.

23. 23. The edible inflatable object display system of claim 22, wherein the controller cycles the pump between a positive pressure cycle and a negative pressure cycle to actuate the edible inflatable object within the container.

24. 23. The edible inflatable object display system of claim 22, including a sensor that generates a signal indicative of a user's proximity to or contact with the container, and wherein the controller commands the pump to create a positive pressure inside the container in response to the signal.

25. 23. The edible inflatable object display system of claim 22, wherein the container comprises a lid or door providing access to an interior of the container, and the signal is indicative of user contact with the lid or door.

26. 21. The edible inflatable object display system of claim 20, wherein the pump activates the flow of fluid to change a container pressure inside the container to be greater than a pressure of fluid in the closed interior compartment, causing fluid within the edible inflatable object to contract.

27. 21. The edible inflatable object display system of claim 20, wherein the pump activates the flow of fluid such that a container pressure inside the container is less than a pressure of fluid in the closed interior compartment, causing the fluid in the edible inflatable object to expand.

28. 21. The edible inflatable object display system of claim 20, wherein the pump actuates the flow of fluid to maintain a container pressure inside the container that is different from a fluid pressure within the closed interior compartment.

29. 21. The edible inflatable object display system of claim 20, wherein the closed interior compartment is separated from an interior of the container by a flexible membrane that deforms in response to pressure changes within the container.

30. 1. An edible inflatable object display system comprising: an edible expandable object, the edible expandable object retaining a fluid in a closed interior compartment of the edible expandable object; a container in which the edible inflatable object is displayed, the container having a container pressure inside the container that is different from the pressure of the fluid in the closed internal compartment and different from the ambient pressure; 1. An edible inflatable object display system comprising:

31. 1. An edible inflatable object system comprising: an edible expandable object configured to receive a fluid in a recess of the edible expandable object; a tray to which the edible expandable object is reversibly coupled, the tray including a through passage aligned with the recess; a counter, the tray being positioned between the counter and the edible expandable object; a grommet having a grommet passage extending through the counter and aligned with the penetration to fluidly couple the recess to a fluid supply system, the tray and the counter including complementary mating features that align the grommet passage with the penetration when mated; 1. An edible inflatable object system comprising:

32. 32. The edible expandable object system of claim 31 , wherein the edible expandable object comprises an edible adhesive disposed on a surface of the edible expandable object.

33. 33. The edible expandable object system of claim 32, wherein the edible adhesive is a liquid having different flow characteristics than the edible expandable object.

34. 32. The edible expandable object system of claim 31, wherein the grommet includes a flange upon which the tray rests, the flange sealing around the through passage of the tray.

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