Smart mattress with adaptive actuation system

Abstract

An adaptive actuation system for smart mattresses and flexible fabrics is disclosed. The mattress can include a flexible fabric associated with a sleeping surface configured to engage a user in a lying position. An actuation assembly can be configured to manipulate the sleeping surface. In one example, the actuation assembly includes a flexible bladder containing a fluid and a pair of electrodes at least partially separated by the flexible bladder. The pair of electrodes can manipulate the fluid to change the shape of the flexible bladder, causing the sleeping surface to respond to the shape of the flexible bladder. The actuation assembly can also include an array of shapeable material that changes shape when exposed to heat. The sleeping surface can respond to the shape of the shapeable material.

Description

[Technical Field]

[0001] Relationship to related applications This application claims priority to and benefit of U.S. Provisional Patent Application No. 63 / 105,129, filed October 23, 2020, entitled "SMART MATTRESS WITH ADAPTIVE ACTUATION SYSTEM," the entire disclosure of which is incorporated herein by reference.

[0002] The described embodiments relate generally to actuation systems for fabric, and more particularly to systems and techniques for adaptively controlling the properties of a smart mattress or other cushioning device. [Background technology]

[0003] Conventional smart mattresses utilize automatically air-filled bladders or cells to adjust the mattress' firmness to the user's preference. Air-filled bladders are often inadequate for supporting the user and / or adapting to the user's movements. Rather than helping to maintain spinal support, conventional air-filled bladders can easily deform, creating air movements that can cause the user to unintentionally roll. Conventional smart mattresses also suffer from various drawbacks due to their overall complex design and reliance on power-hungry motors to adjust the air pressure in the individual cells. Bladder leaks, power outages, wear, and the like can cause the system to deflate, resulting in poor user experience and reduced reliability. Summary of the Invention [Means for solving the problem]

[0004] In one example, a mattress is disclosed. The mattress includes a sleep surface that interfaces with a user in a lying position. The mattress includes an actuation assembly configured to manipulate the sleep surface. The actuation assembly includes a flexible bladder that contains a fluid. The actuation assembly includes a pair of electrodes at least partially separated by the flexible bladder. The pair of electrodes is configured to manipulate the fluid to change the shape of the flexible bladder. The sleep surface corresponds to the shape of the flexible bladder.

[0005] In another example, a Peano-HASEL actuator can include a flexible bladder and a pair of electrodes. The stiffness of the bed surface can correspond to the shape of the flexible bladder. The flexible bladder can have a first shape in a first configuration. The flexible bladder can have a second shape in a second configuration. The pair of electrodes can move toward each other in response to an electrical charge to transition the flexible bladder between the first and second shapes.

[0006] In some examples, the second shape can have a height greater than the height of the first shape. The sleeping surface can be deformed by a flexible bladder having the height of the second shape. Further, the second shape can have a length less than the length of the first shape. The sleeping surface can be deformed by a flexible bladder having the length of the second shape.

[0007] In another example, the pair of electrodes can be configured to compress a portion of the flexible bladder in response to receiving an electric charge, thereby moving fluid within the flexible bladder. Furthermore, the flexible bladder can be a first flexible bladder having a first fluid, and the pair of electrodes can be a first pair of electrodes. The actuation assembly can further include a second flexible bladder having a second fluid. The actuation assembly can further include a second pair of electrodes at least partially separated by the second flexible bladder. The second pair of electrodes can be configured to manipulate the fluid to change the shape of the second flexible bladder. The resting surface can correspond to the shape of the second flexible bladder.

[0008] In some examples, the first and second bladders may form a continuous cavity having a first bulbous portion and a second bulbous portion. The first and second pairs of electrodes may be located between the first and second bulbous portions. In this regard, the actuating assembly may be a first actuating assembly. The mattress may further include a third actuating assembly arranged in a matrix with the first actuating assembly. The third actuating assembly may include a third flexible bladder arranged in a spatially offset configuration from the first and second flexible bladders of the first actuating assembly.

[0009] In another example, the mattress may further include a sensor configured to detect a user input. The pair of electrodes may be configured to manipulate fluid to change the shape of the flexible bladder in response to the user input. The user input may include an acoustic input or a force input. If the user input is an acoustic input, the pair of electrodes may manipulate fluid to define a transitional shape of the flexible bladder in response to the acoustic input exceeding a threshold. The transitional shape of the flexible bladder may cause the sleep surface to deform to gently roll a user in a lying position. If the user input is a force input, the force input may displace the pair of electrodes. The sensor may be configured to detect the user input based on a change in capacitance between the pair of electrodes.

[0010] In another example, a mattress is disclosed. The mattress includes a sleep surface configured to engage a user in a lying position. The mattress further includes an actuation assembly configured to manipulate the sleep surface. The actuation assembly includes a shapable material configured to repeatedly transition between a first shape and a second shape in response to receiving energy from an energy source. The sleep surface is responsive to the shapable material being in either the first shape or the second shape.

[0011] In another example, the energy source can include a light source. The light source can be configured to emit light toward the shapeable material. The shapeable material can be configured to transition from a first shape to a second shape upon receiving light from the light source. The shapeable material can be configured to transition from the second shape to the first shape upon terminating the light from the light source. In some examples, the light source can include light waves in one or both of the ultraviolet spectrum and the visible spectrum.

[0012] In some examples, the shapeable material can include a photopolymer or a photopolymerized resin. Further, the energy source can include a heat source. The heat source can be configured to emit heat toward the shapeable material. The shapeable material can be configured to transition from a first shape to a second shape upon receiving heat from the heat source. The heat source can be configured to emit heat by Joule heating.

[0013] In another example, the shapable material can include a blend of high-strength polymer fishing line and sewing thread. The shapable material can be defined by a coiled structure. The coiled structure can have a first length when the shapable material is in a first shape. Further, the coiled structure can have a second length when the shapable material is in a second shape. The second length can be 50% or less of the first length.

[0014] In another example, the shapable material may be a first shapable material of a plurality of shapable materials that may be arranged on a base frame to collectively support the sleeping surface. Further, the plurality of shapable materials may define a series of slats arranged along the length of the sleeping surface, with one or more slats in the series of slats extending along the width of the sleeping surface.

[0015] In another example, the shapable material can define a ciliated structure. The ciliated structure can have a free end. The free end can be in a first position when the shapable material is in a first shape. The free end can be in a second position when the shapable material is in a second shape. The second position of the free end of the ciliated structure can cause the sleeping surface to deform. The ciliated structure can be at least partially encased in gel.

[0016] In another example, the actuation assembly may be a first actuation assembly. A first portion of the sleeping surface may be responsive to the first actuation assembly. The mattress may further include a second actuation assembly. A second portion of the sleeping surface may be responsive to the second actuation assembly.

[0017] In another example, a flexible textile article is disclosed. The flexible textile article includes a flexible outer layer. The flexible textile article includes a pair of electrodes integrated with the flexible outer layer. The flexible textile article includes a flexible bladder for holding a fluid. The pair of electrodes can be operable to compress the flexible bladder to move the fluid. The flexible outer layer can be configured to stretch with the movement of the fluid.

[0018] In other examples, the flexible bladder and pair of electrodes may be components of a Peano-HASEL actuator. The flexible bladder and pair of electrodes may be at least partially encased in a gel. The gel may define a finger-link appendage. The pair of electrodes and the flexible bladder may be components of a first actuation assembly. The finger-link appendage may be one of a series of finger-link appendages, each with a separate actuation assembly. In some examples, the gel is entrapped in a portion of a flexible textile.

[0019] In another example, the flexible bladder can have a first shape in the first configuration. Additionally, the flexible bladder can have a second shape in the second configuration. A pair of electrodes move toward each other in response to an electric charge, causing the flexible bladder to transition between the first and second shapes. The flexible textile can be stretched by the flexible bladder assuming the second shape.

[0020] In another example, the flexible textile article can further include a sensor configured to detect a user input, and the pair of electrodes can be configured to manipulate a fluid to change the shape of the flexible bladder in response to the user input.

[0021] In another example, a mattress is disclosed. The mattress includes any of the flexible fabric articles described herein. The flexible fabric article can define a sleeping surface configured to contact a user in a lying position. Stretching of the flexible outer layer can be configured to induce movement of the user.

[0022] In another example, a hospital bed is disclosed. The hospital bed can have any of the flexible fabrics described herein. The flexible fabric can define a recovery surface configured to contact a user in a recuperating position. The stretching of the flexible outer layer can be configured to induce user movement. The movement can be to rotate the user to prevent bedsores.

[0023] In another example, a surgical table is disclosed. The surgical table can include any of the flexible fabrics described herein. The flexible fabric can define a surgical surface for contacting a user positioned for surgery. Stretching of the flexible outer layer can be configured to induce movement of the user. The movement can be configured to position the user for performing the surgical procedure. Stretching of the outer layer can occur in response to a signal from a computing device. The signal can occur in response to a preprogrammed surgical routine. The signal can occur in response to input from a medical professional.

[0024] In another example, a vehicle seat is disclosed. The vehicle seat includes any of the flexible fabric articles described herein. The flexible fabric article can define a seating surface configured to interface with a seated user. The stretch of the flexible outer layer can be configured to induce movement of the user.

[0025] In another example, a garment is disclosed. The garment comprises any flexible textile article described herein. The flexible textile article can be configured to be worn by a user. The stretch of the flexible outer layer can be configured to resist movement of the user.

[0026] In another example, an insole is disclosed. The insole comprises any of the flexible textile articles described herein. The flexible textile article can define a tread configured to contact a user's foot. The stretch of the flexible outer layer can be configured to induce movement of the user's foot.

[0027] In another example, a bulletproof vest is disclosed. The bulletproof vest includes any of the flexible textile articles described herein. The elongation of the flexible outer layer can be configured to resist movement of a user.

[0028] In another example, a method of manipulating a flexible textile article is disclosed. The method includes transitioning a flexible bladder from a first shape to a second shape by compressing a portion of the flexible bladder between a pair of electrodes. The method further includes causing a deformation of the flexible textile article in response to the flexible bladder assuming the second shape.

[0029] In another example, the method can further include applying an electric charge to the pair of electrodes to move the pair of electrodes toward each other. The method can further include detecting a user input, the user input including an acoustic input or a force input. The transition of the bladder from the first shape to the second shape can occur in response to the detection of the user input.

[0030] In some examples, the flexible fabric article can define a sleeping surface configured to engage a user in a lying position. The user input can be an acoustic input. The method can further include rolling the user using deformation of the flexible fabric article in response to the acoustic input, such as snoring. Additionally or alternatively, the flexible fabric article can define a sleeping surface configured to engage a user in a lying position. The user input can be a force input. Detecting the user input can further include detecting a pressure distribution of the user on the sleeping surface. In some examples, detecting the pressure distribution can include using a wavefront sensor to measure local movement of the user.

[0031] In another example, the flexible bladder can be pressed against the flexible textile article in response to the flexible bladder assuming the second shape, and the method can further include stiffening the flexible textile article using the deformation resulting from the flexible bladder being in the second shape.

[0032] In another example, the first shape can have a first dimension. The second shape can have a second dimension that is greater than the first dimension. The transitioning can further include transitioning the flexible bladder to an intermediate shape having an intermediate dimension. The intermediate dimension can be greater than the first dimension and less than the second dimension. The deformation can further include causing a deformation of the flexible textile article corresponding to a dimension of the flexible bladder, the first, second, or third dimension. The deformation can be a localized deformation of the flexible textile article.

[0033] In addition to the exemplary aspects and embodiments described above, further aspects and embodiments will become apparent by reference to the accompanying drawings and by study of the following descriptions. [Brief explanation of the drawings]

[0034] The present disclosure will be readily understood from the following detailed description taken in conjunction with the accompanying drawings, in which like reference numerals indicate like structural elements.

[0035] [Figure 1] FIG. 1 shows an exemplary mattress.

[0036] [Figure 2] Figure 2 shows a functional diagram of the adaptive actuation system.

[0037] [Figure 3A] FIG. 3A illustrates an exemplary mattress equipped with the adaptive actuation system of FIG. 2 supporting a user in a first lying position.

[0038] [Figure 3B] FIG. 3B shows the mattress of FIG. 3A with the user in a second lying position.

[0039] [Figure 4A] FIG. 4A shows a flexible textile article with the actuation assembly in a first state.

[0040] [Figure 4B] FIG. 4B shows the flexible textile article of FIG. 4A with the actuation system in a second state.

[0041] [Figure 4C] FIG. 4C illustrates the flexible textile article of FIG. 4A with another exemplary actuation system.

[0042] [Figure 5A] FIG. 5A shows another flexible textile article with the actuation system in a first state.

[0043] [Figure 5B] FIG. 5B shows the flexible textile article of FIG. 5A with the actuation system in a second state.

[0044] [Figure 5] FIG. 5C illustrates the flexible fabric article of FIG. 5A with another exemplary actuation system.

[0045] [Figure 6] FIG. 6 shows another exemplary flexible textile product having an array of shapable materials.

[0046] [Figure 7A] FIG. 7A shows an exemplary shapable material in a first state.

[0047] [Figure 7B] FIG. 7B shows the shapeable material of FIG. 7A in a second state.

[0048] [Figure 8] FIG. 8 shows a schematic diagram of a photopolymer or photopolymerized resin.

[0049] [Figure 9A] FIG. 9A shows another exemplary shapable material in a first state.

[0050] [Figure 9B] FIG. 9B shows the shapeable material of FIG. 9A in a second state.

[0051] [Figure 9C] FIG. 9C shows the shapeable material of FIGS. 9A and 9B arranged to support a mattress.

[0052] [Figure 10A] FIG. 10A illustrates an exemplary wavefront sensor measuring a first wavefront.

[0053] [Figure 10B] FIG. 10B shows the wavefront sensor measuring the second wavefront.

[0054] [Figure 11A]FIG. 11A shows the sleep system with the adaptive actuation system and the user in a first lying position.

[0055] [Figure 11B] FIG. 11B shows the sleep system of FIG. 11A with the user in a first lying position.

[0056] [Figure 11C] FIG. 11C shows a schematic diagram of the sleep system of FIG. 11A.

[0057] [Figure 12A] FIG. 12A shows a first user interface of an electronic device configured to operate the sleep system of FIG. 11A.

[0058] [Figure 12B] FIG. 12B illustrates a second user interface of an electronic device configured to operate the sleep system of FIG. 11B.

[0059] [Figure 12C] FIG. 12C illustrates a first user interface of an electronic device configured to operate the sleep system of FIG. 11C.

[0060] [Figure 13A] FIG. 13A shows a medical table with an adaptive actuation system and a user in a first recuperation position.

[0061] [Figure 13B] FIG. 13B shows the medical table of FIG. 13A with the user in a second recuperation position.

[0062] [Figure 14A] FIG. 14A shows a surgical table equipped with an adaptive actuation system with the user in a first surgical position.

[0063] [Figure 14B]FIG. 14B shows the operating table of FIG. 14A with the user in a second operating position.

[0064] [Figure 15A] FIG. 15A shows a car seat with an adaptive actuation system and with the user in a first seating position.

[0065] [Figure 15B] FIG. 15B shows the car seat of FIG. 15A with the user in a second seating position.

[0066] [Figure 16A] FIG. 16A shows the garment with the adaptive actuation system and with the user in a first position.

[0067] [Figure 16B] FIG. 16B shows the garment of FIG. 16A with the user in a second position.

[0068] [Figure 17A] FIG. 17A shows an insole with an adaptive actuation system and with a user's foot in a first position.

[0069] [Figure 17B] FIG. 17B shows the insole of FIG. 17A with the user's foot in a second position.

[0070] [Figure 18A] FIG. 18A shows a bulletproof vest with an adaptive actuation system and with the user in a first position.

[0071] [Figure 18B] FIG. 18B shows the bulletproof vest of FIG. 18A with the user in a second position.

[0072] [Figure 19] FIG. 19 shows a flow chart for operating a flexible fabric product. DETAILED DESCRIPTION OF THE INVENTION

[0073] The following description includes sample systems, methods, and devices that embody various elements of the present disclosure, however, the described disclosure may be embodied in a variety of forms in addition to those described herein.

[0074] This disclosure describes systems and techniques for adaptive actuation of surfaces, such as flexible fabrics or other materials, configured to interface with a user, often for extended periods of time. The sample flexible fabric may be a component of a mattress, including a sleeping surface that interfaces with a user in a reclining position. The mattress may be a smart mattress and may include an actuation assembly integrated with the flexible fabric to alter one or more characteristics of the sleeping surface, including the firmness of the sleeping surface. More generally, sensors within or associated with the mattress or sleep system may be configured to detect a user's condition while the sleeping surface is in use. As two examples, the user's position and pressure distribution may be detected, and the actuation assembly may be configured to alter the characteristics of the sleeping surface based on the detection. In some cases, the actuation assembly may be configured to alter the sleeping surface to gently move the user into a position conducive to their restful sleep. Acoustic and other conditions may also be detected during sleep. The actuation assembly may, in turn, be configured to gently move or roll the user to alleviate snoring, sleep apnea events during REM sleep, and the like.

[0075] In one example, the actuation assembly can manipulate the sleeping surface using a flexible bladder containing a fluid and a pair of electrodes operable to change the shape of the bladder. The flexible bladder and the pair of electrodes can form components of a Peano-HASEL actuator. The flexible bladder can be formed from an elastic material defining a volume for containing fluid therein. The pair of electrodes can be arranged to include a first electrode disposed on a first side of the flexible bladder and a second electrode disposed on a second side of the flexible bladder. In operation, the pair of electrodes can move toward each other in response to an electric charge. When the pair of electrodes approach each other, the fluid in the flexible bladder can be moved without operating a separate pump, such as a power-hungry air pump in conventional systems. The fluid moved by the electrodes can deform the flexible bladder, causing a portion of the flexible bladder to assume a larger dimension. As the flexible bladder deforms, the bladder can be operable to press against a flexible fabric or other component of the actuation assembly to manipulate the sleeping surface.

[0076] Additionally or alternatively, the actuation assembly can implement various shapable materials to manipulate the sleep surface. Broadly, as used herein, "shapable material" can refer to any material configured to repeatedly transform between a first and a second configuration in response to energy from an energy source. Shapeable materials can exhibit a memory effect that cyclically changes between the first and second configurations based on one or more inputs from the energy source. They can perform hundreds of thousands or even millions of cycles, often under heavy mechanical loads. In one example, shape memory materials can include materials that respond to a heat source. Shape memory alloys, including copper-aluminum-nickel alloys and nickel-titanium alloys, can be used. Composite materials, including blends of high-strength polymers, fishing line, and sewing thread, can also be used. Additionally or alternatively, shapeable materials can include materials that respond to light. These can be certain photopolymers or photopolymerized resins that change properties when exposed to light, often in the ultraviolet or visible range.

[0077] The shapeable material can transition between a first and a second configuration upon exposure to thermal and / or light energy. The transition of the shapeable material between the first and second configurations can manipulate sleep surfaces and mattresses more generally. In one example, the shapeable material can be placed under a mattress and serve as a replacement for traditional wooden slats. The shapeable material can be configured to firm or soften with electrical stimulation, providing a responsive mattress without the need for bulky air cells or pumps. Additionally or alternatively, the shapeable material can be integrated into the mattress itself to provide finer (higher resolution) contour zones. As one example, the shapeable material can be an arrangement of ciliated structures that alternately change shape based on the presence and reception of light within the material. Individual ciliated structures can manipulate and fine-tune the sleep surface. Other arrangements of the shapeable material are contemplated and described herein.

[0078] The actuation assembly may be implemented in a sleep system. The sleep system may include a mattress that uses the actuation assembly to change one or more characteristics of the sleeping surface, including firmness. More broadly, the sleep system may be configured to provide a total sensory immersion and accommodate a user's customizable settings to promote restful sleep. An exemplary system includes a pod (container) structure that defines a sleep space. The sleep space may include a mattress, a support element, and an empty volume sufficient for a user to lie on the mattress within the pod structure. The pod structure may include various sensors described herein for detecting a user's condition, including sensors that detect acoustic input (responsive to snoring), force or pressure input (responsive to the user's position and movement), pulse input (responsive to heart rate), etc. As described herein, the actuation assembly may be adapted to change the characteristics of the sleeping surface in response to the acoustic input, force or pressure input, or pulse input, including changing the sleeping surface to gently roll or move the user. The sleep structure may further include an actuator or device that changes the user's environment within the sleep space in response to the detected input. As illustrative examples, the sleep structure may include a vibration device that vibrates the mattress in a relaxing manner, an auditory device that introduces pleasant sounds into the sleep space, a scent-emitting device that introduces pleasant odors into the sleep space, a lighting device that introduces gentle, timely lighting, and the like.

[0079] The actuation system of the present disclosure may also be implemented in various flexible fabrics. As an example, the flexible fabric may be a component of a surgical table, such as a surgical surface that supports a patient during a surgical procedure. The actuation system may be configured to change the flexible fabric to appropriately move the patient during the procedure. For example, the flexible fabric may be deformed by the actuation system to move the patient. This deformation may be adjusted to move the patient into a desired position for the procedure. This deformation may be part of a pre-programmed sequence for the surgical procedure and / or may be controlled by medical staff during the procedure. This may therefore facilitate easier access and surgical management by medical personnel without necessarily relying on direct physical contact with the patient during the procedure. Other uses for the flexible fabric and actuation system are contemplated and described herein, including as components of medical tables, car seats, clothing, insoles, bulletproof vests, and the like.

[0080] Reference will now be made to the accompanying drawings, which serve to illustrate various features of the present disclosure. The following description is presented for purposes of illustration and description. It is not intended to limit the invention to the form disclosed herein. Indeed, variations and modifications commensurate with the teachings below, and skill or knowledge of the relevant art, are within the scope of the present invention.

[0081] FIG. 1 illustrates an exemplary sleep system 100. The sleep system 100 is shown as including a frame support 102 and a mattress 104. The mattress 104 has a sleeping surface 106. The mattress 104 may be a smart mattress, as generally described above and described in more detail below. In this regard, the mattress 104 may include an actuation assembly adapted to alter one or more characteristics of the sleeping surface 106. For example, the actuation assembly may change the firmness of the sleeping surface 106. The sleeping surface 106 may be formed from a flexible fabric or other material and adapted to interface with a user in a reclining position. Accordingly, the sleeping surface 106 may be adapted to deform in response to a configuration of the actuation assembly. In some cases, the actuation assembly may operate to deform the sleeping surface 106 to gently roll or otherwise gradually reposition the user on the sleeping surface 106 for a more restful sleep.

[0082] FIG. 2 shows a functional diagram of an adaptive actuation assembly 200. The adaptive actuation assembly 200 can be implemented in the sleep system 100 of FIG. 1. The adaptive actuation assembly 200 is functionally illustrated in FIG. 2 as including a comfort module 204, an actuation module 208, a sensor module 212, and a support module 216. The comfort module 204 can include any suitable material for facilitating contact between the adaptive actuation assembly 200 and a user. In the case of a mattress 104, the comfort module 204 can include the sleeping surface 106 and the components of the mattress 104 that collectively define the sleeping surface 106 for contact with a user in a lying position. For example, the comfort module 204 can include a cushion, foam, fabric, sheet, or other material configured to enhance a user's comfort on the sleeping surface 106. In one embodiment, a memory foam cushion covered with ultrasuede can be used. The comfort module 204 can additionally or alternatively include a flexible fabric, such as any of the flexible fabrics described herein. For example, the flexible fabric can be sufficiently flexible to allow repeated deformation by the actuators of the actuation assembly 200. The flexible fabric can also be sufficiently durable to withstand the weight of a user and / or the forces from the actuators without undue wear or breakage. The flexible fabric and comfort module 204 may more generally define an interface to the actuators of the actuation assembly 200. In some cases, the actuators may be at least partially held and / or mounted within the flexible fabric itself, allowing the various actuators to be positioned relatively close to the sleeping surface 106.

[0083] With respect to the actuation module 208, the actuation assembly 200 can include various actuator devices, assemblies, subassemblies, etc. to facilitate operation of the comfort module. As described herein, the actuation module 208 can include a Peano-HASEL type actuator device. For example, the actuation module 208 can include a flexible bladder containing a fluid. A pair of electrodes can be provided separated from one another by the flexible bladder. The pair of electrodes can be operable to receive an electrical charge that causes the electrodes to move toward one another. The movement of the electrodes toward one another can move the fluid and deform the bladder. The actuator can engage the comfort module 204 in a manner such that deformation of the bladder causes operation of the comfort module. As an example, a portion of the flexible bladder can expand to compress a portion of a flexible fabric.

[0084] The actuation module 208 can also include various shapable materials. The shapable materials can include materials adapted to change shape upon receiving energy, such as from a heat source and / or a light source, as described above. The shapable materials can have a shape memory effect, allowing the shapable materials to deform and return to their undeformed shape in a consistent manner. Shape memory alloys, nylons, and photopolymers can be included as shapable materials. The shapable materials can also be integrated with a comfort module, in some cases, such that deformation of the shapable materials induces deformations associated with soft fabrics or other materials. Additionally or alternatively, the shapable materials can be integrated with a support module 216, as described below, to provide structural support and firmness control to the system.

[0085] With respect to the sensor module 212, the actuation assembly 200 can implement various sensors that detect a user's state. The user's state can be used to control one or more of the actuators of the actuation module 208. In one example, electrodes of an actuator (e.g., a Peano-HASEL actuator) can be used to detect a user's movement and / or pressure distribution. For example, an initial capacitance can be defined between the electrodes. The position of the electrodes relative to one another can change in response to the user's movement, thereby changing the capacitance between the electrodes. The change in capacitance can be detected and correlated with a force input that causes the electrodes to move. If the force input exceeds a threshold, the actuation assembly 200 can operate one or more actuators to modify a characteristic of the mattress, such as adjusting firmness. In some cases, the force input can be measured and analyzed at each of the array of electrodes to define a user's pressure distribution on the mattress 104. The pressure distribution can be analyzed to determine the user's posture on the sleeping surface 106 and tracked over time to determine the user's sleep patterns.

[0086] In addition to or instead of the actuator electrodes, the sensor module 212 can also include other sensors for detecting force input. For example, resistor-based switches can be used. As shown in more detail in FIGS. 10A and 10B, wavefront sensors or optical sensors can also be used to detect the user's pressure distribution. Additional sensors can be implemented to detect acoustic inputs, such as snoring. The actuation assembly 200 can manipulate the sleeping surface 106 in response to the user's snoring. This can include gently rolling the user and potentially mitigating the effects of sleep apnea during REM sleep. Optical and vibration sensors can also be implemented and integrated into the various actuators described herein to manipulate the sleeping surface 106.

[0087] With respect to the support module 216, the actuation assembly 200 can include structural features that function to support a user in a reclining position on the sleeping surface 106. In some cases, the support module 216 can include structural elements such as a support frame. Additionally or alternatively, the support module 216 can include a waterbed chamber, foam, cushions, etc., that provide additional support and comfort to the user. Various actuators of the present disclosure can, in some cases, form components of the support module 216. As an example, the shapeable material described herein can be used to define a series of support slats under the mattress. The shapeable material can support the weight of a user on the sleeping surface 106 and, if desired, modify the properties of the mattress, such as deforming to provide additional rigidity to the mattress, as shown in more detail in FIG. 9C.

[0088] 3A and 3B illustrate a mattress 300 in which the actuation assembly 200 described above can be implemented. The mattress 300 can include a sleeping surface 306 that includes, or is partially defined by, a flexible fabric. The sleeping surface 306 is shown as having an actuation grid 308 (in phantom). The actuation grid 308 can divide the sleeping surface 306 into multiple sections 310. Broadly, the actuation assemblies described herein can be adapted to modify the characteristics of the mattress 300 in a manner customized for each section 310. For example, the actuation assembly 200 can be disposed below the sleeping surface 306 and configured to operate each section 310. In some cases, the actuation assembly 200 can operate each section 310 individually. For example, a first section 310a can be operated by the actuation assembly 200 in a first manner. A second section 310b can be operated by the actuation assembly 200 in a second, optionally different manner. In the illustrated example, a first mode of operation may cause the sleeping surface 306 to have a first stiffness in a first portion 310a and a second stiffness in a second portion 310b, which may help establish and maintain comfort levels for different users on the same sleeping surface, such as a first user 302a in position A and a second user 302b in position B shown in Figure 3A.

[0089] However, it will be understood that the portions 310 are shown for illustrative purposes. The actuation assemblies of the present disclosure may enable ultra-fine control of the characteristics of the sleeping surface 306. In this regard, FIG. 3A further illustrates a precision grid 312 (in phantom) having portions 314. The portions 314 are subsets of the larger portion 310. Each portion 314 may be configured for manipulation by the actuation assembly 200. In some cases, this may include manipulating a first portion 314a in a first manner and a second portion 314b in a second, optionally different manner. Micro-control of the precision grid 312 may enable customized manipulation of the sleeping surface 306 to affect a user's movement, position, and state. As an example, the portions 314 may be capable of varying stiffness and / or deformation from a base state to maintain support for the user on the sleeping surface 306. Additionally or alternatively, manipulation of portion 314 can be used to move or reposition a user, such as gently moving the user to a position for restful sleep. For example, as shown in FIG. 3B, manipulation of sleep surface 306 by actuation assembly 200 results in first user 302a being in position A' and second user 302b being in position B'.

[0090] The actuation assemblies described herein can be implemented in a flexible textile article. FIGS. 4A-4C show a flexible textile article 400 having an actuation assembly 420. The flexible textile article 400 can be substantially similar to the flexible textile article described above in connection with the comfort module 204. The flexible textile article 400 can be a component of a mattress or define a sleeping surface. In the example of FIGS. 4A-4C, the flexible textile article 400 includes a flexible outer layer 402, a flexible surface 404, and a fabric region 408. The flexible outer layer 402 can generally define a boundary with the actuation assembly 420. For example, as shown schematically in FIG. 4A, the actuation assembly 420 can be contained within the fabric region 408, or more generally blend in with the fabric region 408. The actuation assembly 420 can operate to manipulate the fabric region 408 to cause deformation of the flexible surface 404.

[0091] In the example of Figures 4A-4C, the actuation assembly 420 can include a Peano-HASEL actuator or other actuation device that uses electrodes to move fluid in a flexible bladder. The actuation assembly 420 is shown in Figures 4A-4C as including a first electrode 424 and a second electrode 428. The first and second electrodes 424, 428 collectively form a pair of electrodes. The second electrode 428 can be connected to a power source 430. The first electrode 424 can be connected to a ground 426. A flexible bladder 436 defining a cavity 438 and containing a fluid 432 can be disposed between the first and second electrodes 424, 428.

[0092] FIG. 4A shows the actuation assembly 420 in a first, or unactuated, state. In the unactuated state, the first and second electrodes 424, 428 can be spaced apart from one another. The flexible bladder 436 is in a relaxed, or substantially undeformed, shape. In the first state, the flexible bladder can have a height h1. When the flexible bladder has a height h1, the flexible outer layer 402 can be substantially undeformed, as shown in FIG. 4A.

[0093] The actuation assembly 420 can be configured to manipulate the flexible outer layer 402. During operation, the actuation assembly 420 can receive an electrical charge at the first and second electrodes 424, 428. The electrical charge can urge the first and second electrodes 424, 428 toward each other, as shown in FIG. 4B . The first and second electrodes 424, 428 can move toward each other and compress the flexible bladder 436 disposed therebetween. The fluid 432 contained within the flexible bladder 436 moves with the movement of the electrodes 424, 428, for example, toward the end of the flexible bladder 436 where no electrodes are present. The movement of the fluid 432 can stretch or deform the flexible bladder 436. For example, the fluid 432 can move toward the end of the flexible bladder 436 where no electrodes are present. This can cause the flexible bladder 436 to have a deformed or modified shape. 4B, the flexible bladder 436 is deformed such that an end of the flexible bladder 436 has a height h2. The height h2 may be greater than the height h1. The magnitude of the second height h2 may be based on the value of the charge applied to the first and second electrodes 424, 428. In this regard, the magnitude of the second height h2 may be controlled using the applied charge, thereby allowing for a predetermined and / or customizable magnitude of controlled deformation of the actuation assembly 420.

[0094] Flexible surface 404 can be deformed by flexible bladder 436 having second height h2. For example, transitioning flexible bladder 436 to second height h2 can deform a portion of flexible surface 404, such as to define modified contour 404' shown in FIG. 4B. The modification can be localized to manipulated portion 410 of flexible surface 404. Modified contour 404' can have a deformed height Δs. Deformed height Δs can correspond to the magnitude of the height change between second height h2 and first height h1. The value of deformed height Δs can be controlled using the applied charge used to control the value of second height h2, as described above. Thus, the magnitude of deformation of outer surface 404 can be fine-tuned to provide surface manipulation configured to address specific user conditions, such as user posture change, spinal support, or sleep apnea mitigation.

[0095] It will be understood that the flexible textile article 400 in FIGS. 4A and 4B is shown as having a single actuation assembly 420 for purposes of illustration. Multiple actuation assemblies may be implemented in the flexible textile article 400. The multiple actuation assemblies may be used cooperatively to produce a combined or additive effect for the operation of the flexible textile article 400. For illustrative purposes, FIG. 4C shows a flexible textile article 400'. The flexible textile article 400' has a first actuation assembly 420a and a second actuation assembly 420b. The first and second actuation assemblies 420a, 420b may be substantially similar to the actuation assembly 420 described above in connection with FIGS. 4A and 4B. The first actuation assembly 420a may include a first electrode 424a, a second electrode 428a, a fluid 432a, a flexible bladder 436a, and a cavity 438a. Additionally, the second actuating assembly 420b can include a first electrode 424b, a second electrode 428b, a fluid 432b, a flexible bladder 436b, and a cavity 438b. The first and second actuating assemblies 420a, 420b can be stacked one on top of the other and integral with the fabric region 408 having the flexible outer layer 402.

[0096] FIG. 4C shows first and second actuation assemblies 420a, 420b with an electric charge applied to each electrode. First and second electrodes 424a, 428a can move toward each other, displacing fluid 432a and deforming a portion of flexible bladder 436a. First and second electrodes 424b, 428b can move toward each other, displacing fluid 432b and deforming a portion of flexible bladder 436b. The deforming portions of flexible bladders 436a, 436b can cooperate to define a deformation height h3 of the collective actuation assemblies. Flexible outer layer 402 can be deformed when actuation assemblies 420a, 420b exhibit height h3. For example, actuation assemblies 420a, 420b having height h3 can have actuation portion 410′ in which flexible outer surface 404 exhibits deformation height Δs2. The magnitude of deformation height Δs2 may correspond to the magnitude of deformation height h3 of flexible bladders 436a, 436b. In some cases, the presence of multiple flexible bladders can have an additive or multiplicative effect on the magnitude of deformation height Δs2. For example, flexible bladder 436a may encounter resistance from flexible bladder 436b during fluid movement through the electrodes. Thus, flexible bladder 436a may be deformed more in a direction toward flexible outer surface 404 where bladder expansion encounters less resistance, thereby allowing greater deformation at flexible outer surface 404 than would be possible with a single bladder.

[0097] 5A and 5B show a flexible textile article 500 with an actuation assembly 520. The flexible textile article 500 can include a flexible outer layer 502, a first end 504, and a fabric region 508. The actuation assembly 520 can be substantially similar to the actuation assembly 420 and includes a flexible bladder 536 that contains a fluid 532 within a cavity 538. The fluid 532 can be moved by operation of the actuation assembly 520 to manipulate the flexible outer layer 502.

[0098] The actuation assembly 520 includes a first pair of electrodes and a second pair of electrodes. For example, the actuation assembly 520 includes electrodes 524a, 528a constituting the first pair of electrodes and electrode 524b constituting the second pair of electrodes. b , 528b. Flexible bladder 536 can define cavity 538 as a continuous cavity extending between first pair of electrodes 524a, 528a and second pair of electrodes 524b, 528b. As shown in FIG. 5A , flexible bladder 536 can define first bulbous portion 540a and second bulbous portion 540b, with the first and second pairs of electrodes disposed therebetween. Continuous cavity 538 can have a length d in the unactuated configuration shown in FIG. 5A .

[0099] During operation, the actuation assembly 520 can be caused to receive an electrical charge that moves the first pair of electrodes 524a, 528a toward each other. The actuation assembly 520 can also move the electrodes 524b, 528b of the second pair of electrodes toward each other. 8 The actuation assembly 520 may be adapted to receive an electrical charge that moves the first and second electrodes 504 toward each other. As shown in FIG. 5B, movement of each of the first and second pairs of electrodes can move the fluid 532 and deform the flexible textile article 500. In some cases, as shown in FIG. 5B, deformation of the flexible bladder 536 can cause the length of the continuous cavity 538 to contract, for example, to a length dΔ. The actuation assembly 520 can be integrally incorporated with the fabric region 508 such that the flexible outer layer 502 is manipulated or deformed when the flexible bladder has a length dΔ. For example, contraction of the flexible bladder to a length dΔ can cause a corresponding amount of tension or retraction in the first end 504. The amount of retraction of the first end 504 can be adjusted depending on the electrical charge applied to the electrodes, as described above with respect to FIGS. 4A-4C.

[0100] In some cases, the flexible textile article 500 can have multiple actuating assemblies arranged in parallel. For example, FIG. 5C shows a flexible textile article 500' having a first actuating assembly 520a, a second actuating assembly 520b, a third actuating assembly 520c, a fourth actuating assembly 520d, and a fifth actuating assembly 520e. Each of the actuating assemblies 520a-520e can be similar to the actuating assembly 520 described above with reference to FIGS. 5A and 5B. Each of the actuating assemblies 520a-520e can have a flexible bladder defining a continuous cavity extending between multiple electrodes. Thus, the flexible bladder of each of the actuating assemblies 520a-520e can be configured to contract along its length in response to an electrical charge. Arranging multiple actuating assemblies in series can provide an additive or multiplicative effect on the amount of deformation of the flexible outer layer 502. For example, multiple actuation assemblies allow for localized deformation of the flexible outer layer with greater force, the application of which may be more controlled, including individually at each actuation assembly 520a-520e, which may be beneficial for various applications, such as gently moving a user sleeping using the flexible textile article 500'.

[0101] The actuation assemblies of the present disclosure may also include a shapeable material, as described herein. For example, Figures 6-9C show various actuation assemblies in which a shapeable material is used to manipulate a portion of a flexible textile article. The shapeable material may be cyclically repeated between a first shape and a second shape. The shapeable material may be subjected to energy from an energy source, such as thermal energy and / or light energy, to transition between the first shape and the second shape. The shapeable material may have a shape memory effect such that it returns to the first shape upon cessation of energy.

[0102] FIG. 6 illustrates an exemplary flexible textile article 600 having an actuation assembly 620. The actuation assembly 620 includes a collection of shapable materials and components configured to manipulate the flexible textile article 600. The flexible textile article 600 is illustrated in FIG. 6 as including an outer fabric layer 602, a flexible surface 604, and a fabric region 608. The actuation assembly 620 can be at least partially held within or otherwise coupled to the fabric region 608. The actuation assembly 620 is operable to cause a deformation of the flexible surface 604 upon actuation.

[0103] To accomplish the foregoing, actuation assembly 620 can include an array of shapeable components, including shapeable element 630. Shapeable element 630 can have a first end 632 fixed or otherwise attached to a base. Shapeable element 630 can have a second end 634 that is a free end opposite first end 632. Shapeable element 630 can be at least partially formed of any of the shapeable materials described herein, or the like. Shapeable element 630 can be configured to transition between a first configuration and a second configuration when subjected to energy. In the example of FIG. 6 , the transition of shapeable element 630 can result in movement of second end 634 relative to fabric region 608. Movement of second end 634 relative to fabric region 608 can be caused to cause deformation of flexible surface 604.

[0104] 7A and 7B, shapeable component 630 is shown in relation to base 640 and energy source 645. Shapeable component 630 is coupled to base 640 at a first end 632. Energy source 645 can be coupled to base 640 and / or shapeable component 630 to provide energy to shapeable component 630. For example, shapeable component 630 can be or include a photopolymer or photopolymerizable resin that changes properties when exposed to light. Energy source 645 can include a light source that shines light on shapeable component 630, causing shapeable component 630 to change shape.

[0105] In the embodiment of FIG. 7A , the shapeable component 630 is shown as having a first body configuration 636. For example, in the first body configuration 636, the shapeable component 630 can substantially extend and protrude from the base 640. The first body configuration 636 can correspond to a state of the actuation assembly 620 in which the shapeable component 630 is receiving light energy from the energy source 645. FIG. 7A also shows a second body configuration 636′ and a third body configuration 636″, which can correspond to a state in which the shapeable component is receiving little or no light from the energy source 645. Shapeable component 630 may be configured to transition between a range of configurations and positions between first body configuration 636 and third body configuration 636″ based on the amount of light it receives from light source 645. For example, as shown in FIG. 7B, when energy source 645 is not emitting substantially any light toward shapeable component 630, shapeable component 630 may assume third body configuration 636″.

[0106] In one example, the shapeable component 630 can be formed at least in part from a photopolymer or photopolymerized resin. FIG. 8 shows a schematic diagram of a photopolymer or photopolymerized resin that allows the shapeable component 630 to change shape. As shown in FIG. 8 , in the third body configuration 636″, the shapeable component 630 generally includes a monomer 650, an oligomer 652, and a photoinitiator 654. The monomer 650, the oligomer 652, and the photoinitiator 654 can be associated with each other to define the third body configuration 636″ as shown in FIG. 7B . Light is applied to the shapeable component 630 to transition the shapeable component 630 to the first body configuration 636. As shown in FIG. 8 , upon application of light, links 656 can be formed between at least some of the monomer 650, the oligomer 652, and the photoinitiator 654. In some cases, forming link 656 alters one or more material properties of shapeable component 630, including contracting or otherwise changing length a portion of shapeable component 630 such that shapeable component 630 is operable to transition between the first and second configurations. In some cases, upon cessation of light, link 656 can dissipate, allowing shapeable component 630 to transition from first body configuration 636 to third body configuration 636″. Further, link 656 can dissipate in a manner such that shapeable component 630 exhibits a shape memory effect, assuming substantially the same shape as its initial shape.

[0107] In other examples, various actuation assemblies of the present disclosure may include a shapeable material operable upon receiving thermal energy. For example, Joule heating can be used to heat materials including nylon or certain alloys to change the shape of the shapeable material. FIGS. 9A and 9B illustrate a shapeable material 900 that can be alternately transformed between a first shape and a second shape upon receiving heat. The shapeable material 900 can be a coiled structure 902 having a first end 904 and a second end 906. The first end 904 can be associated with a heat source hs. The second end 906 can be associated with a heat output hr. The heat source hs can be a current source. The heat output hr can be an outlet for current passing through the coiled structure 902. The coiled structure 902 can have a length d in a first configuration, as shown in FIG. 9A . The first configuration can correspond to a substantially cooled configuration in which a reduced amount of heat energy, including no heat energy, is introduced into the shapeable material 900.

[0108] In a second configuration, thermal energy can be introduced into the shapeable material 900 to manipulate the coiled structure 902. For example, as shown in FIG. 9B, thermal energy can be introduced into the coiled structure 902 via a heat source hs. The introduction of heat into the coiled structure 902 causes the coiled structure to shrink in length d Δ The reduced length d Δ The reduced length d may be at least 90% of the length d, at least 70% of the length d, or at least 50% of the length d. Δ The magnitude of hs can be based in part on the amount of thermal energy applied to the coiled structure. For example, in a first state, a first amount of heat can be introduced to the coiled structure 902 by the heat source hs to decrease the length of the coiled structure 902 by a first amount. In a second state, a second, greater amount of heat can be introduced to the coiled structure 902 by the heat source hs to decrease the length of the coiled structure 902 by a second, greater amount.

[0109] The shapable material 900 can be used to manipulate flexible fabrics, such as those of a mattress. In one example shown in FIG. 9C , the shapable material 900 can be incorporated into a sleep system 950 to support a mattress 952 (shown in phantom). For example, the shapable material 900 can form a series of slats 910 on a base frame 956. The series of slats 910 can be configured to function as multiple responsive hammocks beneath the mattress 952. For example, each shapable material 900 can be subjected to electrical stimulation to change the effective length of the coiled structure 902, as described above. The change in effective length can make sections of the slats 910 firmer or softer. The change in slat stiffness can, in turn, change the stiffness of the mattress 952 or otherwise adapt the mattress 952 to the individual needs of the user.

[0110] In some examples, a wavefront sensor can be used to detect a user's posture, orientation, and / or movement relative to the flexible textile article. For example, the wavefront sensor can be configured to detect a perturbed wavefront. The perturbed wavefront can be associated with the user's movement. One or more processing devices can measure values ​​of the perturbed wavefront and associate the perturbed wavefront with the user's movement.

[0111] 10A and 10B illustrate an exemplary sensing system 1000 for measuring a perturbed wavefront. The sensing system 1000 can include a wavefront sensor 1010, a lens array 1014, a sensing structure 1018, and a focal landing surface 1012. The system 1000 can operate by receiving incident light 1002 with the lens array 1014. The incident light 1002 can collectively define a wavefront 1004. The lens array 1014 can focus the light toward a focal point 1016 on the sensing structure 1018. The focal point 1016 can form a focal arrangement 1030 along the focal landing surface 1012. In the example of FIG. 10A , the wavefront 1004 is substantially unperturbed. The focal arrangement 1030 is shown in FIG. 10A as forming a substantially evenly spaced grid configuration.

[0112] With reference to FIG. 10B , the wavefront sensor 1010 can receive incident light 1002′. The incident light 1002′ can define a perturbed wavefront 1004′. For example, the incident light 1002′ can be received by the lens array 1014 at a different angle of incidence than the incident light 1002 of FIG. 10A . The lens array 1014 can operate to direct the incident light to a focal point 1016′ on the sensing structure 1018. The focal point 1016′ can define a focal arrangement 1030′ along the focal landing surface 1012. In the example of FIG. 10B , the wavefront 1004′ is substantially perturbed. Accordingly, the focal arrangement 1030′ is shown in FIG. 10B as forming a substantially non-uniformly spaced feature. The wavefront sensor 1010 can be operable to measure the deviation of the focal arrangement 1030′ from the focal arrangement 1030 to determine the magnitude of the perturbed wavefront relative to a baseline. The magnitude of the perturbation wavefront can then be correlated to the user's movement relative to the flexible fabric article.

[0113] 11A-18B show exemplary illustrations of flexible textile articles and actuation assemblies described herein. Broadly, actuation assemblies of the present disclosure can be used to manipulate any flexible textile article adapted to interface with a user. For example, the flexible textile article can be configured to interface with a user for an extended period of time (e.g., during sleep), support a user in position (e.g., while sitting or standing), remain on the user during movement (e.g., clothing), etc. The actuation assemblies described herein can be configured to manipulate the flexible textile article in such a way that the flexible textile article provides a force input to the user. For example, manipulation of the flexible textile article can deform an outer surface of the flexible textile article, causing the user to experience a force input corresponding to the deformation of the flexible textile article. In some cases, the deformation can be sufficient to move the user to accommodate dynamic and measurable conditions for the user.

[0114] 11A-11C , a sleep system 1100 is shown. The sleep system 1100 can implement an adaptive actuation system, as described above, to control one or more characteristics of the mattress based on the user's state. The sleep system 1100 can be configured to contribute to immersive sleep. For example, the sleep system 1100 can include a pod 1102 defining a sleep space 1104. The sleep space 1104 can have environmental effects 1106, such as lights, scents, and sounds. The sleep space 1104 can be configured to support a mattress 1120 and a user 1110 thereon. The pod 1102 can be substantially spherical and form a partial enclosure over the user 1110. The mattress 1120 can include a sleeping surface 1122 that supports the user in a reclining position within the sleep space 1104. The mattress 1120 can include an adaptive actuation system 1130, such as any of the adaptive actuation systems described herein. The adaptive actuation system 1130 is shown in the example of Figure 11A as a representative grid (shown in phantom lines). The adaptive actuation system 1130 can be configured to modify and deform the sleeping surface 1122 as described herein. For example, in a first configuration shown in Figure 11A, the adaptive actuation system 1130 operates to maintain the user 1110 in a first position. The adaptive actuation system can operate to manipulate the sleeping surface 1122 to place the user 1110 in a second position, as shown in Figure 11B.

[0115] The sleep system 1100 can be configured to detect a state of the user 1110 and alter one or more characteristics of sleep. In the schematic diagram of FIG. 11C , the user 1110 is shown in a lying position on a sleeping surface 1122. An actuation module 1132 is shown below the sleeping surface 1122. The actuation module 1132 can be substantially similar to the actuation module 208 of FIG. 2 , the description of which is omitted here for clarity. The actuation module 1132 can be associated with a sensor module 1136 and an ambient emission module 1140, as shown in FIG. 11C . The sensor module 1136 can be configured to detect one or more states of the user. For example, the sensor module 1136 can be configured to detect an acoustic state of the user 1110, such as snoring or an acoustic command. Additionally or alternatively, the sensor module 1136 may be configured to detect force and / or motion inputs from the user that may indicate a change in the user's 1110 position on the sleeping surface 1122 .

[0116] The actuation module 1132 may be configured to receive signals from the sensor module 1136 and alter one or more characteristics of the sleeping surface 1122. For example, the actuation module 1132 may be configured to alter the firmness of the sleeping surface 1122 according to a user's command. As another example, the actuation module 1132 may be configured to reposition or reposition the user 1110 to provide more support or firmness to the user and / or to alleviate a sleep apnea condition. Additionally or alternatively, the ambient emission module 1140 may be configured to receive signals from the sensor module 1136 and alter one or more characteristics of the sleep space. For example, the emission module 1140 may be configured to introduce a particular scent into the sleep space 1104 based on the user's detected state. Additionally, the ambient emission module 1140 may be configured to introduce light, vibration, heat, and other environmental effects into the sleep space 1104. In some cases, the actuation module 1132 and the ambient emissions module 1140 may work together to produce a combined effect that may alleviate the detected condition. As an example, the sensor module 1136 may detect excessive movement by the user 1110 associated with the user's restlessness. The actuation module 1132 may then adjust the firmness of the sleeping surface 1102 in conjunction with the emissions module 1140 introducing pleasant scents and soothing sounds that may promote restful sleep.

[0117] The sleep system 1100 can operate in part by mapping the body contours of the user 1110. The actuation system 1130 can be configured to modify and deform the sleep surface 1122 based on the body contours to provide a customized sleep experience. In some cases, body mapping can be facilitated using a smartphone or other electronic device. For example, with reference to FIGS. 12A-12C, an electronic device is used to capture an image of the user 1110 to calibrate sensors in the actuation system 1130. For example, FIG. 12A illustrates a first user interface 1200a. The first interface 1200a can include information related to initiating the calibration process. The first interface 1200a can include a prompt 1202 containing a message indicating proper placement of the electronic device or camera to capture an image of the user for calibration. The first interface 1200a can further include a table 1204 and an avatar 1206. The table 1204 can represent a reference object for a frame of the captured image. An avatar 1206 can convey information to the user regarding the appropriate position relative to the reference object for capturing the image. An end button 1208 can be provided to stop the calibration sequence. A start button 1210 is provided to begin the calibration process.

[0118] Referring to FIG. 12B, a second user interface 1200b is shown in which the calibration process is initiated. For example, the second interface 1200b presents a user image 1212 and an overlay 1214. The overlay 1214 can represent the user's target and / or approximate body contours as currently captured in the user image 1212. A countdown 1216 indicating the status of the calibration process is also provided. FIG. 12C shows a third user interface 1200c in which the calibration process has finished. For example, the third interface 1200c presents a resulting match 1218 between the user image and the overlay 1214. A prompt 1220 can be provided containing information requesting user review of the resulting match 1218. In the third interface 1200c, the user can review the match between the overlay 1214 and the image 1212. If the resulting match 1218 is not acceptable, the user can select a retake button 1222 to return to the second interface 1200b. If the resulting match 1218 is acceptable, the user can select an accept button 1224 to complete the calibration process.

[0119] In another example, the actuation assembly of the present disclosure may be implemented in a flexible fabric forming a portion of a medical table. For example, as shown in FIG. 13A , a medical table 1300 is shown having a flexible fabric 1310. The flexible fabric 1310 can define a medical surface 1312 adapted to position a user (patient) 1302 in a recuperation position. The medical table 1300 may be a hospital bed or other device used in the treatment and care of a patient. In the example of FIG. 13A , the hospital bed 1300 is shown including a wheel assembly 1314 and a handrail 1316. In other examples, the hospital bed 1300 can include other components to facilitate treatment of the user 1302.

[0120] The flexible textile 1310 can be associated with an actuation assembly 1320. The actuation assembly 1320 can be substantially similar to actuation assemblies and modules described herein, such as actuation module 208 of FIG. 2, and a detailed description thereof is omitted for clarity. The actuation assembly 1320 can be configured to manipulate the flexible textile 1310. For example, the actuation assembly 1320 can be configured to alter a characteristic, such as the stiffness, of the medical surface 1312 to support healing of the user 1302. In some cases, the manipulation of the flexible textile 1310 can occur in response to the detection of a condition of the user 1302. This condition can include the position and / or movement of the user 1302. Additionally or alternatively, the condition can be associated with a medical diagnosis, and the actuation assembly 1320 can move the user 1302 to facilitate a course of treatment. In some cases, the actuation assembly 1320 can manipulate the medical surface 1312 to move the user 1302. For example, in Figure 13A, user 1302 is shown in a first position 1301a. Actuation assembly 1320 can move user 1302 to a second position 1301b, as shown in Figure 13B. Movement of user 1302 can occur substantially automatically and without direct input from a healthcare professional. This can be beneficial for supporting patient movement during treatment to promote blood circulation and reduce pressure sores, etc.

[0121] In another example, the actuation assembly of the present disclosure can be implemented in a flexible fabric forming a portion of a surgical table. For example, in FIG. 14A , a surgical table 1400 is shown having a flexible fabric 1410. The flexible fabric 1410 can define a surgical surface 1412 adapted to contact a user 1402 in a surgical position. The surgical table 1400 can be associated with other systems and components that facilitate operation of the operating room and / or surgical procedure. In the example of FIG. 14A , the surgical table 1400 is shown including a wheel assembly 1414. In other examples, the surgical table 1400 can include other components that facilitate the surgical procedure of the user 1402. The surgical table 1400 is also shown associated with a control station 1416. The control station can be operatively associated with an actuation assembly 1420. A medical operator 1404 can use the control station 1416 to control the operation of the actuation assembly 1420.

[0122] The flexible fabric 1410 can be associated with an actuation assembly 1420. The actuation assembly 1420 can be substantially similar to actuation assemblies and modules described herein, such as actuation module 208 of FIG. 2, and a detailed description thereof is omitted for clarity. The actuation assembly 1420 can be configured to manipulate the flexible fabric 1410. For example, the actuation assembly 1420 can be configured to alter a characteristic of the surgical surface 1412, such as stiffness or other characteristics, to support healing of the user 1402. In some cases, the manipulation of the flexible fabric 1410 can occur in response to the detection of a condition of the user 1402. The condition can include the posture and / or movement of the user 1402. Additionally or alternatively, the condition can be associated with a medical diagnosis, and the actuation assembly 1420 can be configured to manipulate the user 1402 to facilitate a surgical procedure. In some cases, the actuation assembly 1420 can be configured to manipulate the surgical surface 1412 to move the user 1402. For example, in FIG. 14A , the user 1402 is shown in a first position 1401 a. The actuation assembly 1420 can be operated to move the user 1402 to a second position 1401 b, as shown in FIG. 14B . The movement of the user 1402 can occur substantially automatically, without direct input from the medical practitioner 1404. In other cases, the medical practitioner 1404 can use the control station 1416 to coordinate the operation of the actuation assembly 1420 with the real-time conditions of the user 1402 and the procedure. This can be beneficial for moving and positioning the user 1402 in an appropriate manner during the procedure.

[0123] In another example, the actuation assembly of the present disclosure can be implemented in a flexible fabric that forms part of a car seat. For example, in FIG. 15A , a car seat 1500 is shown having a flexible fabric 1510. The flexible fabric can define a seating surface 1512 that contacts a seated user 1502. The car seat 1500 can be a device used to safely transport children in a motor vehicle. In the example of FIG. 15A , the car seat 1500 is shown to include a seat portion 1514, a back support portion 1516, and side bumper portions 1518. The flexible fabric 1510 can extend to cover one or more or all of the seat portion 1514, the back support portion 1516, and the side bumper portions. In other examples, the car seat 1500 can include other components that facilitate transporting the user 1502.

[0124] The flexible textile 1510 can be associated with an actuation assembly 1520. The actuation assembly 1520 can be substantially similar to actuation assemblies and modules described herein, such as actuation module 208 of FIG. 2, and a detailed description thereof is omitted for clarity. The actuation assembly 1520 can be configured to manipulate the flexible textile 1510. For example, the actuation assembly 1520 can be configured to change a characteristic, such as the firmness of the seat surface 1512, to support the user 1502 in sitting. In some cases, the manipulation of the flexible textile 1510 can occur in response to a detected state of the user 1502. The state can include a posture and / or movement of the user 1502. In some cases, the actuation assembly 1520 can be configured to manipulate the seat surface 1512 to move the user 1502. For example, in FIG. 15A, the user 1502 is shown in a first posture 1501a. The actuation assembly 1520 may be operable to move the user 1502 to a second position 1501b, as shown in Figure 15B. This movement of the user 1502 may occur substantially automatically, without input from other associated users, such as a parent of a child. This may be beneficial for encouraging movement in a patient during extended periods of sitting, and for promoting blood circulation over extended periods of time to enhance use of the car seat 1500.

[0125] In another example, the actuation assembly of the present disclosure can be implemented in a flexible textile article forming a portion of a garment. For example, as shown in FIG. 16A , a garment 1600 is shown having a flexible textile article 1610. The flexible textile article 1610 can define a contact surface 1610 configured to contact a user 1602 such that the garment 1600 can be worn by the user 1602. The garment 1600 can be a shirt or upper body covering used to facilitate exercise by selectively increasing the resistance of the flexible textile article 1610. In the example of FIG. 16A , the garment 1600 is shown including an upper arm portion 1612 and a forearm portion 1614. In other examples, the garment 1600 can include other components that facilitate exercise for the user 1602.

[0126] The flexible textile 1610 can have associated therewith an actuation assembly 1620. The actuation assembly 1620 can be substantially similar to actuation assemblies and modules described herein, such as actuation module 208 of FIG. 2, and a detailed description thereof is omitted for clarity. The actuation assembly 1620 can be configured to manipulate the flexible textile 1610. For example, the actuation assembly 1620 can be configured to change a property, such as elastic stiffness or stiffness, or other property, of one or both of the upper arm 1612 and the forearm 1614 to support an exercise regimen of the user 1602. For example, the actuation assembly 1620 can resist user movement in the upper arm 1612 and / or the forearm 1614 to facilitate resistance training. In some cases, manipulation of the flexible textile 1610 can occur in response to a detected state of the user 1602. The state can include posture and / or movement of the user 1602. For example, in FIG. 16A , user 1602 is shown in a first position 1601 a. Actuation assembly 1620 may operate to increase resistance in upper arm 1612 and / or forearm 1614 as user 1602 moves between first position 1601 a and second position 1301 b, as shown in FIG. 16B . The change in resistance may occur substantially automatically and without direct input from user 1602. This may be beneficial for supporting an exercise regimen without the need for weights or other assistive devices.

[0127] In another example, the actuation assembly of the present disclosure may be implemented in a flexible textile that forms part of an insole. For example, as shown in FIG. 17A , insole 1700 is shown having flexible textile 1710. Flexible textile 1710 defines a tread 1712 that interfaces with a user 1702 in a standing position. Insole 1700 may be a device that is inserted into a shoe, cast, boot, or other component worn on the foot of user 1702. In the example of FIG. 17A , insole 1700 is shown including a front portion 1714 configured to interface with the ball of the foot and a rear portion 1716 configured to interface with the arch of the foot. In other examples, the insole may include other components that facilitate the user's 1702 stepping on the ground.

[0128] The flexible textile 1710 can have associated therewith an actuation assembly 1720. The actuation assembly 1720 can be substantially similar to actuation assemblies and modules described herein, such as actuation module 208 of FIG. 2, and a detailed description thereof is omitted for clarity. The actuation assembly 1720 can be configured to manipulate the flexible textile 1710. For example, the actuation assembly 1720 can be configured to change a characteristic, such as the firmness of the tread 1712, or other characteristic to support the foot of the user 1702. In some cases, the manipulation of the flexible textile 1710 can occur in response to the detection of a condition of the user 1702. The condition can include the posture and / or movement of the user 1702. Additionally or alternatively, the condition can be associated with a medical diagnosis, and the actuation assembly 1720 can be configured to manipulate the user 1702 to facilitate a course of treatment, including alleviating joint pain. In some cases, the actuation assembly 1720 can manipulate the tread 1712 to cause movement of the user 1702. For example, in Figure 17A, the foot of user 1702 is shown in a first position 1701a. Actuation assembly 1720 can move the foot of user 1702 to a second position 1701b, as shown in Figure 17B. The movement of the foot of user 1702 can occur substantially automatically and without direct input from the user during use, including walking or running. This can be beneficial for providing adaptive foot support during walking, running, exercising, and / or other activities depending on the user's condition and environment.

[0129] In another example, the actuation assembly of the present disclosure can be implemented in a flexible fabric that forms part of a bulletproof vest. For example, as shown in FIG. 18A , a bulletproof vest 1800 is shown having a flexible fabric 1810. The flexible fabric 1810 can define a contact surface 1812 configured to contact a user 1802 such that the bulletproof vest 1800 can be worn by the user 1802. The bulletproof vest 1800 can be an upper body covering that can be used to resist bullets. The resistance of the flexible fabric 1810 can be modified to allow for movement of the user 1802 in different combat situations. In the example of FIG. 18A , the bulletproof vest 1800 is shown including a first chest section 1814 and a second chest section 1816. In other examples, the bulletproof vest 1800 can include other components that facilitate protection for the user 1802.

[0130] The flexible textile 1810 can be associated with an actuation assembly 1820. The actuation assembly 1820 can be substantially similar to actuation assemblies and modules described herein, such as actuation module 208 of FIG. 2, and a detailed description thereof is omitted for clarity. The actuation assembly 1820 can be configured to manipulate the flexible textile 1810. For example, the actuation assembly 1820 can be configured to change a characteristic, such as the stiffness of the contact surface 1812, to support the movement of the user 1802. In some cases, the manipulation of the flexible textile 1810 can occur in response to the detection of a state of the user 1802. The state can include a posture and / or a movement of the user 1802. For example, in FIG. 18A , the user 1802 is shown in a first posture 1801a. The actuation assembly 1820 may operate to increase the resistance of the first chest portion 1814 and / or the second chest portion 1816 as the user 1802 moves between the first position 1801a and the second position 1801b as shown in FIG. 18B. The change in resistance of the flexible textile article 1810 may occur substantially automatically and without direct input from the user 1802. This may be beneficial to support the transition between a non-combat situation, as shown in FIG. 18A, and a combat situation, as shown in FIG. 18B.

[0131] To facilitate the reader's understanding of the various functions of the embodiments described herein, reference is made to the flowchart in Figure 19, which illustrates a process 1900. Although particular steps (and the order of steps) of the methods presented herein have been illustrated and described, other methods (including more, fewer, or different steps than those illustrated) consistent with the teachings presented herein are also contemplated and encompassed by the present disclosure.

[0132] In step 1904, a pair of electrodes is moved toward one another. For example, as shown in Figures 4A and 4B, a first electrode 424 and a second electrode 428 are moved toward one another. The second electrode 428 can be connected to a power source 430. The first electrode 424 can be connected to ground 426. An electric charge can be applied to the first and second electrodes 424, 428. This electric charge can create an electromagnetic field that attracts the first and second electrodes 424, 428 toward one another.

[0133] In step 1908, the flexible bladder is transitioned from a first shape to a second shape by the pair of electrodes. For example, as shown in FIGS. 4A and 4B, movement of the first and second electrodes 424, 428 can move a fluid 432 within a flexible bladder 436 disposed between the electrodes 424, 428. The fluid 432 moves toward the ends of the flexible bladder 436, stretching and expanding the bladder 436. For example, the flexible bladder 436 can transition from a first shape having a first height h1 to a second shape having a second, greater height h2.

[0134] In step 1912, the flexible textile article is deformed in response to the flexible bladder assuming the second shape. For example, as shown in FIG. 4B , the flexible bladder 436 transitioning to the second shape causes deformation of the flexible textile article 400. The flexible bladder 436 can be at least partially disposed within the fabric region 408. The fabric region 408 can extend toward the flexible outer surface 404. The flexible bladder 437 can at least partially expand within the flexible fabric region and deform the flexible outer surface to define the manipulation portion 410. The manipulation portion 410 can have a deformation height Δs. The magnitude of the deformation height Δs can correspond to the magnitude of the second height h2 of the flexible bladder 436 in the second shape.

[0135] Other examples and implementations are within the scope and spirit of this disclosure and the appended claims. For example, when implementing functionality, it is possible to physically locate functions in various locations, including having some of the functions implemented in different physical locations. Also, in this specification, including the claims, the use of "or" in a list of items prefaced with "at least one" indicates a disjunctive list, such as, for example, the list "at least one of A, B, or C" meaning A or B or C or AB or AC or BC or ABC (i.e., A and B and C). Furthermore, the use of "examples" does not imply that the illustrated example is preferred or superior to other examples.

[0136] The foregoing description uses specific terminology to aid in understanding the described embodiments. However, it will be apparent to those skilled in the art that the specific terminology is not a limitation on practicing the described embodiments. That is, the foregoing descriptions of the specific embodiments described herein are presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the embodiments to the precise forms disclosed. It will be apparent to those skilled in the art that numerous modifications and variations are possible in light of the above teachings.

Claims

1. a sleeping surface adapted to contact a user in a lying position; an actuation assembly configured to operate the sleep surface, the actuation assembly including a flexible bladder containing a fluid and a plurality of pairs of electrodes disposed along a length of the flexible bladder, each pair of electrodes being at least partially separated by the flexible bladder; Equipped with the plurality of pairs of electrodes are configured to manipulate the fluid to change the shape of the flexible bladder; The mattress wherein the sleeping surface responds to the shape of the flexible bladder.

2. The mattress of claim 1 , wherein the flexible bladder and the plurality of pairs of electrodes are components of a Peano-HASEL actuator.

3. A mattress as described in claim 1, wherein the flexible bladder is adapted to change the firmness of the sleeping surface.

4. the flexible bladder having a first shape in the first configuration and a second shape in the second configuration; 10. The mattress of claim 1, wherein the pairs of electrodes move toward each other in response to an electrical charge to transition the flexible bladder between the first shape and the second shape.

5. The mattress of claim 4 , wherein the second shape has a height greater than a height of the first shape.

6. 6. The mattress of claim 5, wherein the sleeping surface is adapted to be deformed by the flexible bladder having the height of the second configuration.

7. 5. The mattress of claim 4, wherein the second shape has a length that is less than a length of the first shape.

8. 8. The mattress of claim 7, wherein the sleeping surface is adapted to be deformed by a flexible bladder having a length in the second shape.

9. 10. The mattress of claim 1, wherein the plurality of pairs of electrodes are configured to compress a portion of the flexible bladder in response to receiving an electrical charge, thereby displacing fluid within the flexible bladder.

10. the flexible bladder is a first flexible bladder having a first fluid; the plurality of pairs of electrodes includes a first pair of electrodes; The actuation assembly further comprises: a second flexible bladder containing a second fluid; a second pair of electrodes at least partially separated by the second flexible bladder; and the second pair of electrodes configured to manipulate fluid to change the shape of the second flexible bladder; 10. The mattress of claim 1, wherein the sleep surface responds to the shape of the second flexible bladder.

11. the first and second flexible bladders are adapted to form a continuous cavity having a first bulbous portion and a second bulbous portion; 11. The mattress of claim 10, wherein the first and second pair of electrodes are between the first and second bulbous portions.

12. the actuation assembly is a first actuation assembly; The mattress of claim 11 , further comprising a third actuating assembly arranged in a matrix with the first actuating assembly.

13. 13. The mattress of claim 12, wherein the third operative assembly includes a third flexible bladder positioned offset from the first and second flexible bladders of the first operative assembly.

14. further comprising a sensor configured to detect a user input; The mattress of claim 1 , wherein the plurality of pairs of electrodes are configured to manipulate the fluid to change the shape of the flexible bladder in response to the user input.

15. The mattress of claim 14 , wherein the user input comprises an acoustic input or a force input.

16. the user input is an audio input; In response to the acoustic input exceeding a threshold, the plurality of pairs of electrodes manipulate fluid to define a transitional shape of the flexible bladder; 16. The mattress of claim 15, wherein the transitional shape of the flexible bladder causes the sleeping surface to conform to gently roll over a user in a lying position.

17. the user input is a force input; the force input moves the pairs of electrodes; The mattress of claim 15, wherein the sensor is configured to detect the user input based on a change in capacitance between the pairs of electrodes.

18. a sleeping surface configured to engage a user in a lying position; an actuation assembly configured to operate the sleep surface, the actuation assembly having a shapeable material configured to repeatedly transition between a first shape and a second shape in response to receiving energy from an energy source; Equipped with the sleeping surface is adapted to respond to the shapeable material being in the first shape or the second shape; the energy source comprises a heat source; the heat source is configured to emit heat directed toward the shapeable material; The shapeable material is configured to transition from the first shape to the second shape upon receiving heat from the heat source.

19. 20. The mattress of claim 18, wherein the shapeable material is configured to transition from the second shape to the first shape when heat from the heat source is terminated.

20. 20. The mattress of claim 18, wherein the heat source comprises a source of electrical current.

21. 20. The mattress of claim 18, wherein the shapable material comprises nylon.

22. 20. The mattress of claim 18, wherein the heat source is configured to emit heat by Joule heating.

23. 20. The mattress of claim 18, wherein the shapable material comprises a blend of high strength polymer fishing line and sewing thread.

24. 20. The mattress of claim 18, wherein the shapeable material is defined by a coiled structure.

25. 25. The mattress of claim 24, wherein the coiled structure has a first length when the shapeable material is in the first shape and a second length when the shapeable material is in the second shape, the second length being no more than 50% of the first length.

26. the shapable material is a first shapable material of a plurality of shapable materials; 20. The mattress of claim 18, wherein the plurality of shapable materials are arranged on a base frame to collectively support the sleeping surface.

27. the plurality of shapable materials defining a series of slats disposed along a length of the sleeping surface; 27. The mattress of claim 26, wherein one or more slats in the series of slats extend along the width of the sleeping surface.

28. the shapable material has a free end; 20. The mattress of claim 18, wherein the free end is adapted to be in a first position when the shapable material is in the first shape and in a second position when the shapable material is in the second shape.

29. 30. The mattress of claim 28, wherein the free end of the shapeable material is in the second position, thereby deforming the sleeping surface.

30. 20. The mattress of claim 18, wherein the shapeable material is at least partially encased in a gel.

31. the actuation assembly is a first actuation assembly; a first portion of the sleeping surface responsive to the first actuation assembly; a second actuation assembly; 20. The mattress of claim 18, wherein a second portion of the sleep surface is adapted to respond to the second actuation assembly.

32. A flexible outer layer; a pair of electrodes integral with the flexible outer layer; a flexible bladder for holding a fluid; Equipped with the pair of electrodes operable to compress the flexible bladder to move the fluid; the flexible outer layer is configured to stretch with the movement of the fluid; The flexible fabric article, wherein the flexible bladder and the pair of electrodes are at least partially encased in a gel.

33. 33. The flexible fabric article of claim 32, wherein the flexible bladder and the pair of electrodes are components of a Peano-HASEL actuator.

34. 33. The soft fabric article of claim 32, wherein the gel is entrapped in a portion of the soft fabric article.

35. the flexible bladder is adapted to have a first shape in the first configuration and a second shape in the second configuration; 33. The flexible fabric article of claim 32, wherein the pair of electrodes are adapted to move toward each other in response to an electric charge to transition the flexible bladder between the first shape and the second shape.

36. 36. The flexible fabric article of claim 35, wherein the flexible bladder assumes the second shape, thereby allowing the flexible fabric article to be stretched.

37. further comprising a sensor configured to detect a user input; 33. The flexible textile article of claim 32, wherein the pair of electrodes is configured to manipulate the fluid to change the shape of the flexible bladder in response to the user input.

38. 33. A flexible fabric article according to claim 32, the fabric article defining a sleeping surface configured to contact a user in a lying position; The mattress is configured such that stretching of the flexible outer layer induces movement of the user.

39. 33. A flexible fabric article according to claim 32, the flexible fabric defines a recovery surface adapted to contact a user in a recuperating position; The hospital bed, wherein stretching of the flexible outer layer is configured to induce movement of the user.

40. 40. The hospital bed of claim 39, wherein the movement is adapted to rotate the user to prevent bedsores.

41. 33. A flexible fabric article according to claim 32, the flexible fabric defines a surgical surface adapted to contact a user positioned for surgery; A surgical table, wherein stretching of the flexible outer layer is configured to induce movement of the user.

42. 42. The operating table of claim 41, wherein the movement is configured to place the user in a position suitable for performing a surgical procedure.

43. 43. The operating table of claim 42, wherein the extension occurs in response to a signal from a computing device.

44. 44. The operating table of claim 43, wherein the signal is generated in response to a preprogrammed surgical routine.

45. 44. The operating table of claim 43, wherein the signal is generated in response to input from a medical professional.

46. 33. A flexible fabric article according to claim 32, the flexible fabric defines a seating surface adapted to contact a user in a seated position; The vehicle seat is configured such that stretching of the flexible outer layer induces movement of the user.

47. 33. A flexible fabric article according to claim 32, the flexible fabric article is configured to be worn by a user; The garment wherein the stretch of the flexible outer layer is configured to resist movement of a user.

48. 33. A flexible fabric article according to claim 32, the flexible fabric defining a tread configured to contact a user's foot; The insole is configured such that stretching of the flexible outer layer induces movement of the user's foot.

49. 33. A flexible fabric article according to claim 32, the flexible fabric article is configured to be worn by a user; The body armor, wherein the flexible outer layer is configured to stretch to resist movement of the user.

50. 1. A method of manipulating a flexible textile article, comprising: transitioning a portion of a flexible bladder having a continuous cavity with a first bulbous portion and a second bulbous portion between a first and second pair of electrodes positioned between the first and second bulbous portions, thereby transitioning the flexible bladder from a first shape to a second shape; causing a deformation of the flexible fabric article in response to the flexible bladder assuming the second shape; A method comprising:

51. 51. The method of claim 50, further comprising applying an electric charge to the first and second pair of electrodes to move the first and second pair of electrodes toward one another.

52. detecting a user input, including an acoustic input or a force input; 51. The method of claim 50, wherein the transition occurs in response to detecting the user input.

53. the flexible fabric article defining a sleeping surface configured to contact a user in a lying position; the user input is the audio input; 53. The method of claim 52, further comprising: using deformations of the flexible fabric to roll a user in response to the acoustic input.

54. the flexible fabric article defining a sleeping surface adapted to contact a user in a lying position; the user input is a force input; 53. The method of claim 52, wherein detecting the user input further comprises detecting a pressure distribution of the user on the sleeping surface.

55. 55. The method of claim 54, wherein detecting the pressure distribution comprises using a wavefront sensor to measure local motion of the user.

56. 51. The method of claim 50, further comprising pressing the flexible bladder against the flexible fabric article in response to the flexible bladder assuming the second shape.

57. 51. The method of claim 50, further comprising stiffening the flexible fabric article using deformation resulting from the flexible bladder assuming the second shape.

58. the first shape has a first dimension; the second shape has a second dimension greater than the first dimension; the transitioning further comprises transitioning the flexible bladder to an intermediate shape having an intermediate dimension greater than the first dimension and less than the second dimension; 51. The method of claim 50, wherein causing the deformation further comprises causing an amount of deformation of the flexible fabric article corresponding to a dimension of the flexible bladder that is the first dimension, the second dimension, or the intermediate dimension.

59. 59. The method of claim 58, wherein the deformation is a localized deformation of a soft fabric article.

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