Encapsulated flywheel actuation modules and methods and systems for using, designing, and prototyping with flywheel actuation modules

Abstract

An actuator module includes a motor, a flywheel coupled to the motor and configured to be rotated by the motor, a power source, a controller coupled to the power source and the motor, and a housing enclosing the motor, the flywheel, the power source, and the controller. The controller is programmed to operate the motor using the power source in response to instructions received from a remote device.

Description

ENCAPSULATED FLYWHEEL ACTUATION MODULES AND METHODSAND SYSTEMS FOR USING, DESIGNING, AND PROTOTYPING WITH FLYWHEEL ACTUATION MODULESCROSS-REFERENCE TO RELATED APPLICATION

[0001] The application claims priority benefit of U.S. Provisional Patent Application Serial No. 63 / 598,699 filed on November 14, 2023 and U.S. Provisional Patent Application Serial No. 63 / 557,891 filed on February 26, 2024, the entire contents of both of which are incorporated herein by reference .BACKGROUND

[0002] This disclosure generally relates to flywheel actuation modules, and more particularly to encapsulated flywheel actuation modules and methods and systems for using, designing, and prototyping with flywheel actuation modules.

[0003] A flywheel is generally a raw spinning mass. Flywheels are unique, versatile actuators that store and convert kinetic energy to torque. They are widely utilized in aerospace, robotics, haptics, and more.However , learning about the operation of flywheels and prototyping interaction using flywheels is not trivial due to safety concerns related to the rotating flywheel , unintuitive principles , and complex control .

[0004] This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure . Accordingly , it should be understood that these statements are to be read in this light , and not as admissions of prior art .BRIEF SUMMARY

[0005] One aspect of the present disclosure is an actuator module . The actuator module includes a motor , a flywheel coupled to the motor and configured to be rotated by the motor , a power source, a controller coupled to the power source and the motor , and a housing enclosing the motor , the flywheel , the power source , and the controller . The controller is programmed to operate the motor using the power source in response to instructions received from a remote device . The housing includes a plurality of panels .

[0006] Another aspect of this disclosure is an actuator module kit . The kit includes an actuator module and a non- transitory computer readable medium. The actuator module includes a motor , a flywheel coupled to the motor and configured to be rotated by the motor , a power source , a controller coupled to the power source and the motor , a housing enclosing the motor , the flywheel , the power source , and the controller . The controller is programmed to operate the motor using the power source in response to instructions received from a remote device . The housing includes a plurality of panels . The non- transitory computer readable medium includes instructions that , when executed by a processor of the remote device , program the processor to display a user interface on a display device of the remote device , receive a user input through the user interface , the user input including one or more parameters for operation of the actuator module , and transmit instructions to the actuator module based on the user input .

[0007] Various refinements exist of the features noted in relation to the above-mentioned aspects . Further features may also be incorporated in the above- mentioned aspects . These refinements and additionalfeatures may exist individually or in any combination. For instance , various features discussed below in relation to any of the illustrated embodiments may be incorporated into any of the above -de scribed aspects , alone or in any combination .BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The following figures illustrate various aspects of the disclosure .

[0009] Fig. 1 is an example actuator module kit.

[0010] Fig. 2 is an example actuator module system including the actuator module kit shown in Fig. 1.

[0011] Fig. 3 is a block diagram of an actuator module for use in the actuator module system shown in Fig. 2.

[0012] Fig. 4 is a block diagram of a remote device for use in the actuator module system shown in Fig. 2 .

[0013] Fig. 5 is an isometric view of an actuator module for use in the actuator module system shown in Fig. 2.

[0014] Fig. 6 is a partial cutaway view of the actuator module shown in Fig. 5.

[0015] Fig. 7 is a plan view of the actuator module shown in Fig. 5 with a top panel removed.

[0016] Fig. 8 is a plan view of the housing of the actuator module of Fig. 5 without any components installed therein.

[0017] Fig. 9 is an isometric view of the housing shown in Fig. 7.

[0018] Fig. 10 shows additional panels that may be used with the actuator module shown in Fig. 5.

[0019] Fig. 11 is a diagram of the software architecture of an example actuator module system.

[0020] Fig. 12 is an example graphical user interface for the software architecture shown in Fig. 11.

[0021] Corresponding reference characters indicate corresponding parts throughout the drawings.DETAILED DESCRIPTION

[0022] This disclosure generally relates generally to flywheel actuation modules, and moreparticularly to encapsulated flywheel actuation modules and methods and systems for using, designing , and prototyping with flywheel actuation modules . The flywheel actuation modules are sometimes also referred to as "actuation modules ," "torque capsules ," "torque modules ," or "flywheel modules . "

[0023] The example actuation modules described herein are generally operable in two , broad ways . First , the flywheel in the actuation module may be rotated continuously to cause the actuation module to function as a gyroscope that will tend to maintain its spin orientation and resist any force that attempts to change it . Second, the flywheel within the actuation module may be rotated at a speed and then stopped quickly (referred to as "braked" or "braking") . When the flywheel is stopped quickly, momentum based force is generated. This force will result in the actuation module attempting to rotate around the same axis as the flywheel , which can be used to produce movement (such as rolling / jumping of the module , twisting off / on of a cap , and the like) .

[0024] Fig. 1 is an example actuator module kit 100. The kit includes an actuator module 102 and a non- transitory computer readable medium 104 that includesinstructions 106 that , when installed on a remote device and executed by a processor of the remote device (not shown in Fig. 1) , program the processor to control the actuator module as described herein . Although a single actuator module is shown , the kit may include any number of actuator modules , all of which may be controlled by a processor of a single remote device programmed by the instructions in the computer readable medium.

[0025] Fig. 2 is an example actuator module system 200 created from the actuator module kit 100. The system includes the actuator module 102 and a remote device 202. The remote device includes a memory 204 storing the instructions 106 from the non- transitory computer readable medium 104 , a processor 206 , and a display device 208 . The remote device is communicatively coupled to the actuator module and controls the actuator module according to the instructions stored in the memory . The remote device also displays a graphical user interface on the display device to allow a user to interact with the remote device and to provide user inputs of parameters for the operation of the actuator modules . Although a single actuator module is shown , the kit may include any number of actuator modules , all of which may be controlled by the remote device .

[0026] Fig. 3 is a block diagram of an actuator module 102 for use in the actuator module system 200. The actuator module a motor 300 , a flywheel 302 , a power source 304 , a controller 306 , and a housing 308 . The flywheel is coupled to the motor and configured to be rotated by the motor . The controller is coupled to the power source and the motor . The power source is a rechargeable battery in the example embodiment . In other embodiments , the power source is any other suitable power source , such as a non-rechargeable battery, a photovoltaic cell , a capacitor , or the like . In the example , the motor is a DC brushless motor . Other embodiments use any other suitable motor . The controller is programmed to operate the motor using the power source in response to instructions received from the remote device 202 (shown in Fig. 2) . The controller may be any microcontroller , microprocessor , digital logic device (e . g. , FPGA or ASIC) , system-on-chip , or any other computing systems and devices suitable for placement within the actuator module . The housing encloses the motor , the flywheel , the power source , and the controller . The example controller includes a communication interface for receiving instructions from the remote device 202 . In the example embodiment, the communication interface is a Bluetooth communicationinterface . Other embodiments include any other suitable wired or wireless communication interface for receiving instructions according to any suitable communication protocol . In some embodiments , the communication interface is a separate component from the controller, but is communicatively connected to the controller (e . g . , a separate Bluetooth or WiFi chip connected to the controller) .

[0027] Fig. 4 is a block diagram of an example computing device 400 useable as the remote device 202 in the actuator module system 200 (shown in Fig. 2) . The computing device 400 includes the processor 206 , the memory 204 , a media output component 406 , an input device 410 , and communications interfaces 412. Other embodiments include different components , additional components , and / or do not include all components shown in FIG. 4.

[0028] The processor 206 is configured for executing instructions , such as the instructions 106. In some embodiments , executable instructions are stored in the memory 204 . The processor 206 may include one or more processing units (e . g . , in a multi-core configuration) . The memory 204 is any device allowing information such as executable instructions and / or other data to be stored andretrieved. The memory 204 may include one or more computer- readable media.

[0029] The media output component 406 is configured for presenting information, such as a graphical user interface, to user 408. The media output component 406 is any component capable of conveying information to the user 408. In some embodiments, the media output component 406 includes an output adapter such as a video adapter and / or an audio adapter. The output adapter is operatively connected to the processor 206 and operatively connectable to an output device such as display device 208. The display device may be, for example, a liquid crystal display (LCD) , organic light emitting diode (OLED) display, cathode ray tube (CRT) , "electronic ink" display, one or more light emitting diodes (LEDs)) or the like.

[0030] The computing device 400 includes, or is connected to, the input device 410 for receiving input from the user 408. The input device is any device that permits the computing device 400 to receive analog and / or digital commands, instructions, or other inputs from the user 408, including visual, audio, touch, button presses, stylus taps, etc. The input device 410 may include, for example, a variable resistor, an input dial, akeyboard / keypad, a pointing device , a mouse , a stylus , a touch sensitive panel (e . g . , a touch pad or a touch screen) , a gyroscope , an accelerometer , a position detector , or an audio input device . A single component such as a touch screen may function as both an output device of the media output component 406 and the input device 410 .

[0031] The communication interfaces 412 enable the computing device 400 to communicate with remote devices and systems , including the actuator modules 102 , other remote devices 202 , and the like . The communication interfaces 412 may be wired or wireless communications interfaces that permit the computing device to communicate with the remote devices and systems directly or via a network . Wireless communication interfaces 412 may include a radio frequency (RF) transceiver , a Bluetooth® adapter , a Wi-Fi transceiver , a ZigBee® transceiver , a near field communication (NFC) transceiver , an infrared (IR) transceiver , and / or any other device and communication protocol for wireless communication . (Bluetooth is a registered trademark of Bluetooth Special Interest Group of Kirkland, Washington; ZigBee is a registered trademark of the ZigBee Alliance of San Ramon , California . ) Wired communication interfaces 412 may use any suitable wiredcommunication protocol for direct communication including, without limitation , USB , RS232 , I2C , SPI , analog, and proprietary I / O protocols . In some embodiments , the wired communication interfaces 412 include a wired network adapter allowing the computing device to be coupled to a network , such as the Internet , a local area network (LAN) , a wide area network (WAN) , a mesh network , and / or any other network to communicate with remote devices and systems via the network . In the example embodiment , the remote device 202 uses wireless communications interfaces 412 to communicate with actuator module (s) 102 via Bluetooth communication . In other embodiments , any other wired or wireless communication interfaces and protocol (s) may be used for communication between the remote device and the actuator module (s) .

[0032] Fig. 5 is an isometric view of an example implementation of the actuator module 102 . The housing 308 defines the outer shape of the actuator module . In this example , the housing is generally a rectangular prism shape (also referred to herein sometimes as a cuboid shape) . The housing includes a plurality of panels 500. Because the example housing is a rectangular prism, the example housing includes six panels , four sides 502 (onlytwo are visible in Fig. 5) , a bottom 504 , and a top (not visible in Fig . 5) . The references to top and bottom are arbitrary directions assigned for convenience based on the orientation of the actuator module in Fig. 5. It should be understood that the "bottom" panel 504 may be physically a "top" panel if the actuator module turned upside-down from the orientation in Fig. 5. In the example embodiment , each side panel 502 is connected to its adjacent side panels by rounded corners 506. The rounded corners may be considered part of the side panels 502 or may be considered separate panels / connectors . The rounded corners facilitate rotation of the actuator module from resting on one side panel to resting on an adjacent side panel (i . e . , rolling along the sides of the actuator module) . In other embodiments , the side panels are connected directly to each other without rounded corners .

[0033] Fig. 6 is a simplified cutaway side view of the actuator module 102 taken along the line A-A shown in Fig. 5. In this figure , the rounded corners 506 are not shown and the side panels 502 are shown connected directly to each other . In Fig . 6 , the top panel 600 of the housing 308 can be seen . Moreover , the top panel is shown separated from the other panels 500 of the housing.In the example embodiment, at least one panel of the housing of the actuator module is designed to be removeable by the user. In this example, the top panel 600 is the user removeable panel. As will be discussed more below, the user removable panel allows the user to customize the actuator module for different configurations and uses. In other embodiments, none of the panels 500 is user removeable. Moreover, in some embodiments, additional panels (as discussed below) may be attached to the actuator module 102 without removing any of the panels, such as via hook and loop attachment, usings screws, using two sided tape, or using any other suitable means of attachment. As can be seen in Fig. 6, each panel 500 has an exterior surface 602 and an interior surface 604 opposite the exterior surface . The interior surface of each panel is oriented toward the interior of the actuator module when the panels are connected to form the housing.

[0034] Fig. 7 is a plan view of the actuator module 102 shown in Fig. 5 with the top panel 600 removed.

[0035] Fig. 8 is a plan view of the housing 308 of the actuator module of Fig. 5 without the top panel 600 and without any components (e.g. , motor 300, flywheel302, controller 306, battery 304, etc.) installed therein.Fig. 9 is an isometric view of the housing shown in Fig.8 . The interior of this example housing includes a ring 800 that defines a chamber for housing the motor 300 , and screw holes 802 for mounting the motor to the housing within the chamber . Panel mounting holes 804 are located in the housing to allow the user removable panel (e . g. , the top panel 600) to be attached to and detached from the rest of the housing.

[0036] As mentioned above , the actuator module 102 includes at least one user-removeable panel 500 to allow the user to customize the actuator module . The user may customize the actuator module in at least two general ways . First , being able to remove a panel allows the user to change one or more components of the actuator module housed within the housing. For example , the user may change the flywheel 302 to a different size flywheel , change the flywheel a different material flywheel (which may change the mass of the flywheel without changing its size) , add one or more additional flywheel (s) on top of the existing flywheel , change the motor 300 to a different motor , replace the battery 304 with a battery having different capacity, voltage , or chemistry, add an additional battery, or make any other suitablemodification. Second, the user can replace the user- removeable panel with a user removeable panel having a different configuration . In the example embodiments , the user removeable panel is the top panel 600. The top panel 600 has a smooth interior surface and a smooth exterior surface . Panels with different configurations allow the user to customize the capabilities and add features to the actuator module .

[0037] Fig. 10 shows the smooth top panel 600 along with additional top panels that may be used with the actuator module 102. The additional panel 1000 has the configuration of an interlocking building system on the exterior surface of the panel . An interlocking building system allows parts to be connected and disconnected to build or deconstruct items , typically, but not always , without additional tools . Inclusion of such a system on the additional panel allows the user to easily connect compatible items to the actuator module . In an example interlocking building system, uniformly sized and shaped first components are arranged in a uniform spacing on a first item (e . g . , the exterior surface of the panel 1000) , and uniformly sized and spaced second components are arranged on a second item (e . g. , the block 1002) . The firstand second components are configured for mating engagement with one another . The first and second components may be referred to as male / f emale components . Other embodiments may use interlocking building configurations different than the one shown in Fig. 10. Additional panel 1016 has another interlocking building system configuration on its exterior surface . The additional panel 1004 includes a handle 1006 protruding from the exterior surface . This panel can be attached to the housing 308 by the user to add a handle to the actuator module 102 to change the way the user may hold / interact with the module . The additional panels can include other geometric projections extending from the outer surface of the panel . For example , the additional panel 1008 includes a geometric projection that is a conical frustum 1010 extending from the outer surface of the additional panel . This particular panel may be useful for balancing on when operating the actuator module as a gyroscope . The illustrated panel is a geometric projection attached via an interlocking building system, but in other embodiments the geometric projection is integrally formed as part of the additional panel 1008 , attached by adhesive , attached by welding, or any other suitable means of attachment . The additional panel 1012 includes attachment point 1014 for an external securement device protrudingfrom the exterior surface . The example attachment point for an external securement device is configured for receiving a belt, a strap , a band, a hook and loop fastener strip , an elastic cord, or the like . Other embodiments may include an attachment point configured for a carabiner clip , an s-hook , a c-clamp , or any other suitable external securement device . This panel allows the user to use an external securement device to attach the actuator module to something else , such as a part of a human body (e . g. , an arm, a leg, a wrist , a chest , a head, etc . ) , a post , a fence , or the like . Other example additional panels (not shown) have one or more magnets on the exterior surface , one part of a hook and loop fastener on the exterior surface , or the like . Another example additional panel (not shown) is an extension panel that is used to increase the internal volume of the housing. This allows , for example , one or more additional flywheels to be stacked and attached to the flywheel 302 or for the flywheel to be replaced with a taller / thicker flywheel that would not fit in the housing with the top panel 600 attached. The extension panel has a top surface similar to the top panel 600 and four side extension panels that extend from the top panel toward the bottom panel 504 and contact the side panels 502 when the extension panel is mounted to thehousing. The extension panel may also have features on the external surface as described above for the other additional panels .

[0038] Generally , the remote device 202 receives instructions that include one or more operating parameters of the actuator module 102 from a user , and the remote device commands the actuator module to operate according to the instructions and parameters received from the user . The parameters include which direction to spin the flywheel 302 (or which direction to rotate the shaft of the motor 300) , the speed of rotation , when / if to stop rotation , and when / if to brake rotation . The instructions may also include to which actuator module the parameters are to be applied if more than one actuator module is available to be used. The remote device transmits the instructions to each module in substantially real time when the instruction is to be acted on . For example , if the user selects to spin the flywheel of the first module counterclockwise at 3000 RPM for six seconds and then brake the motor , the remote device will transmit to the first module to rotate its flywheel counterclockwise at 3000 RPM. After six seconds , the remote device will instruct the first module to brake the motor . In other embodiments , theremote device transmits all of the parameters to the module (s) at once and each module saves the instructions and acts on them when and as required.

[0039] Fig. 11 is a diagram of the software architecture of an example actuator module system and Fig. 12 is an example graphical user interface 1100 for the software architecture shown in Fig. 11. In this example , three actuator modules 102 are communicatively coupled to remote device 202. Each actuator module includes programming on its controller 306 that allow it to communicate with the remote device and control the motor 300 in response to instructions received from the remote device . The remote device includes instructions 106 that program it to communicate with the actuator modules , present the graphical user interface to a user , receive instructions / parameters from the user , and transmit the appropriate commands to the appropriate actuator module in response to the instructions / parameters received from the user via the graphical user interface .

[0040] This written description uses examples to disclose the invention , including the best mode , and also to enable any person skilled in the art to practice the invention, including making and using any devices orsystems and performing any incorporated methods . The patentable scope is defined by the claims , and may include other examples that occur to those skilled in the art . Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims , or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims .

[0041] As used herein , the terms "about," "substantially," "essentially" and "approximately" when used in conjunction with ranges of dimensions , concentrations , temperatures or other physical or chemical properties or characteristics is meant to cover variations that may exist in the upper and / or lower limits of the ranges of the properties or characteristics , including, for example , variations resulting from rounding , measurement methodology or other statistical variation .

[0042] When introducing elements of the present disclosure or the embodiment (s) thereof , the articles "a" , "an" , "the" and "said" are intended to mean that there are one or more of the elements . The terms "comprising," "including ," "containing" and "having" are intended to be inclusive and mean that there may beadditional elements other than the listed elements . The use of terms indicating a particular orientation (e.g., "top", "bottom", "side", etc.) is for convenience of description and does not require any particular orientation of the item described.

[0043] As various changes could be made in the above constructions and methods without departing from the scope of the disclosure, it is intended that all matter contained in the above description and shown in the accompanying drawing [s] shall be interpreted as illustrative and not in a limiting sense.

Claims

WHAT IS CLAIMED IS :1 . An actuator module comprising: a motor; a flywheel coupled to the motor and configured to be rotated by the motor; a power source ; controller coupled to the power source and the motor , the controller programmed to operate the motor using the power source in response to instructions received from a remote device ; and a housing enclosing the motor , the flywheel , the power source , and the controller .2 . The actuator module of claim 1 , wherein the housing includes a plurality of panels , and at least one panel of the plurality of panels is a user-removeable panel having an inner surface oriented toward an interior of the housing and an outer surface opposite the inner surface and oriented away from the interior of the housing when the user-removeable panel is attached to the housing.3 . The actuator module of claim 2 , wherein the user-removable panel has a first configuration including a smooth surface on the outer surface of the user-removable panel .4 . The actuator module of claim 3 , further comprising an additional panel configured for mounting to the housing in place of the user-removeable panel , the additional panel having an inner surface configured to be oriented toward the interior of the housing when the additional panel is attached to the housing, an outer surface opposite the inner surface and oriented away from the interior of the housing when the additional panel is attached to the housing, and a second configuration different than the first configuration .5 . The actuator module of claim 4 , wherein the second configuration comprises one or more of an interlocking building system component disposed on the outer surface of the additional panel , a handle extending from the outer surface of the additional panel , a geometric projection extending from the outer surface of the additional panel , or an attachment point for an external securement device disposed on the outer surface of the additional panel .6 . The actuator module of claim 4 , wherein the second configuration comprises the additional panel configured to increase a volume within the housing when the additional panel is attached to the housing.7 . The actuator module of any one of claims 1 to 6 , wherein the controller includes a communication device to receive instructions from the remote device .8 . The actuator module of claim 7 , wherein the communication device comprises a wireless communication device .9 . The actuator module of any one of claims 1 to 6 , wherein the controller is programmed to operate the motor using the power source to control a speed of rotation of the flywheel , a direction of rotation of the flywheel , and a braking of rotation of the flywheel in response to instructions received from a remote device and identifying the actuator module , and the instructions received from the remote device includes at least two of an identification of the actuator module , the direction of rotation of the flywheel , the speed of rotation of the flywheel , and the braking of rotation of the flywheel .

10. The actuator module of any one of claims 1 to 6 , wherein the plurality of panels of the housing comprise six panels arranged in a cuboid shape .

11. The actuator module of claim 10 , wherein at least some intersections between the six panels are rounded to facilitate movement of the actuator module .

12. An actuator module kit comprising: an actuator module including: a motor ; a flywheel coupled to the motor and configured to be rotated by the motor ; a power source ; controller coupled to the power source and the motor , the controller programmed to operate the motor using the power source in response to instructions received from a remote device ; and a housing enclosing the motor , the flywheel , the power source , and the controller ; anda non-transitory computer readable medium that includes instructions that , when executed by a processor of the remote device , program the processor to : display a user interface on a display device of the remote device ; receive a user input through the user interface , the user input including one or more parameters for operation of the actuator module; and transmit instructions to the actuator module based on the user input.

13. The actuator module kit of claim 12 , wherein the housing includes a plurality of panels , and at least one panel of the plurality of panels is a user-removeable panel having an inner surface oriented toward an interior of the housing and an outer surface opposite the inner surface and oriented away from the interior of the housing when the user-removeable panel is attached to the housing.

14. The actuator module kit of claim 12 or claim 13 , wherein the controller includes a controller communication device to receive instructions from a communication device of the remote device .

15. The actuator module kit of claim 14 , wherein the controller communication device comprises a wireless communication device .

16. The actuator module kit of claim 12 or claim 13 , wherein the controller is programmed to operate the motor using the power source to control a speed of rotation of the flywheel , a direction of rotation of the flywheel , and a braking of rotation of the flywheel in response to instructions received from a remote device and identifying the actuator module , and the instructions received from the remote device includes at least two of an identification of the actuator module , the direction of rotation of the flywheel , the speed of rotation of the flywheel , and the braking of rotation of the flywheel .

17. The actuator module kit of claim 13 , wherein the user-removable panel has a first configuration including a smooth surface on the outer surface of the user-removable panel .

18. The actuator module kit of claim 17 , further comprising an additional panel configured for mounting to the housing in place of the user-removeable panel , the additional panel having an inner surface configured to beoriented toward the interior of the housing when the additional panel is attached to the housing, an outer surface opposite the inner surface and oriented away from the interior of the housing when the additional panel is attached to the housing, and a second configuration different than the first configuration .

19. The actuator module kit of claim 18 , wherein the second configuration comprises one or more of an interlocking building system component disposed on the outer surface of the additional panel , a handle extending from the outer surface of the additional panel , a geometric projection extending from the outer surface of the additional panel , or an attachment point for an external securement device disposed on the outer surface of the additional panel .

20. The actuator module kit of claim 18 , wherein the second configuration comprises the additional panel configured to increase a volume within the housing when the additional panel is attached to the housing.

21. The actuator module kit of claim 13 , wherein the flywheel is a user-removeable flywheel , the actuator module kit further comprises an additional flywheeldifferent than the user-removeable flywheel and configured to be coupled to the motor in place of the user-removeable flywheel when the user-removeable flywheel is removed.

22. The actuator module kit of claim 13 , further comprising an additional flywheel configured for attachment to the flywheel to create a combined flywheel having a mass greater than the flywheel .

23. An actuator module system comprising: an actuator module including: a motor ; a flywheel coupled to the motor and configured to be rotated by the motor ; a power source ; controller coupled to the power source and the motor , the controller programmed to operate the motor using the power source in response to instructions received from a remote device ; and a housing enclosing the motor , the flywheel , the power source , and the controller ; anda remote device including a processor , a memory , and a display device , the memory storing instructions that , when executed by the processor , program the processor to : display a user interface on the display device ; receive a user input through the user interface , the user input including one or more parameters for operation of the actuator module; and transmit instructions to the actuator module based on the user input.

24. The actuator module system of claim 23 , wherein the housing includes a plurality of panels , and at least one panel of the plurality of panels is a user- removeable panel having an inner surface oriented toward an interior of the housing and an outer surface opposite the inner surface and oriented away from the interior of the housing when the user-removeable panel is attached to the housing.

25. The actuator module system of claim 23 or claim 2 , wherein the remote device includes a remote device communication device and the controller includes acontroller communication device to receive instructions from the remote device communication device .

26. The actuator module system of claim 25 , wherein the controller communication device and the remote device communication device comprise wireless communication devices .

27. The actuator module system of claim 23 or claim 24 , wherein the controller is programmed to operate the motor using the power source to control a speed of rotation of the flywheel , a direction of rotation of the flywheel , and a braking of rotation of the flywheel in response to instructions received from a remote device and identifying the actuator module , and the instructions received from the remote device includes at least two of an identification of the actuator module , the direction of rotation of the flywheel , the speed of rotation of the flywheel , and the braking of rotation of the flywheel .

28. The actuator module system of claim 24 , wherein the user-removable panel has a first configuration including a smooth surface on the outer surface of the user-removable panel .

29. The actuator module system of claim 28 , further comprising an additional panel configured for mounting to the housing in place of the user-removeable panel , the additional panel having an inner surface configured to be oriented toward the interior of the housing when the additional panel is attached to the housing, an outer surface opposite the inner surface and oriented away from the interior of the housing when the additional panel is attached to the housing, and a second configuration different than the first configuration.

30. The actuator module system of claim 29 , wherein the second configuration comprises one or more of an interlocking building system component disposed on the outer surface of the additional panel , a handle extending from the outer surface of the additional panel , a geometric projection extending from the outer surface of the additional panel , or an attachment point for an external securement device disposed on the outer surface of the additional panel .

31. The actuator module system of claim 29 , wherein the second configuration comprises the additional panel configured to increase a volume within the housing when the additional panel is attached to the housing.

32. The actuator module system of claim 24 , wherein the flywheel is a user-removeable flywheel , the actuator module system further comprises an additional flywheel different than the user-removeable flywheel and configured to be coupled to the motor in place of the user- removeable flywheel when the user-removeable flywheel is removed.

33. The actuator module system of claim 24 , further comprising an additional flywheel configured for attachment to the flywheel to create a combined flywheel having a mass greater than the flywheel .

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