US20060228982A1 - Interactive figure - Google Patents
Interactive figure Download PDFInfo
- Publication number
- US20060228982A1 US20060228982A1 US11/105,039 US10503905A US2006228982A1 US 20060228982 A1 US20060228982 A1 US 20060228982A1 US 10503905 A US10503905 A US 10503905A US 2006228982 A1 US2006228982 A1 US 2006228982A1
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- United States
- Prior art keywords
- motor mechanism
- eye
- toy
- tongue
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/28—Arrangements of sound-producing means in dolls; Means in dolls for producing sounds
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
- A63H11/10—Figure toys with single- or multiple-axle undercarriages, by which the figures perform a realistic running motion when the toy is moving over the floor
- A63H11/12—Wheeled toys with figures performing a wriggling motion when moving
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
- A63H13/02—Toy figures with self-moving parts, with or without movement of the toy as a whole imitating natural actions, e.g. catching a mouse by a cat, the kicking of an animal
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H23/00—Toy boats; Floating toys; Other aquatic toy devices
- A63H23/10—Other water toys, floating toys, or like buoyant toys
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H2200/00—Computerized interactive toys, e.g. dolls
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Abstract
An interactive toy aquatic animal is provided and includes a head, a tail and a bottom portion. The toy includes a flexible tail extending from the rear portion. A wheel rotatably attached to the bottom portion. A first motor mechanism operatively connected to the wheel, wherein when the first motor mechanism drives said wheel, the figure moves causing the tail to flex. A second motor mechanism is also provided and operatively connected to various other parts of the animal for movement thereof. For example, the second motor mechanism causing the blinking of eyelids, the flapping of side appendages, and/or the vibration of a tongue.
Description
- The present invention relates to a toy figure with various pre-recorded sounds and movements that are played upon the activation of one or more switches.
- Toy figures have always been the mainstay as toys for young children. Included therewith, are figures that when activated by a user talk or sing in response thereto. For example, in some instances a switch may be placed within the figure that when pressed causes the toy figure to emit various sound bites or noises. The present invention is directed more towards aquatic animals or animals and figures that include tails, such as but not limited to, fish, mermaids, dragons, alligators, etc.
- The prior art does include numerous mechanical aquatic animals. In their basic form, aquatic animals have been developed for many years for fish tanks and aquariums. Such aquatic animals may include mechanical moving parts that may be activated by pressure, floats, or springs to simulate movement in the water. More recent robotic aquatic animals include highly developed mechanics to actually move the robotic aquatic animals under water in a manner that simulates an actual fish swimming.
- Nevertheless, there is always a continual need for improvements and novel features not found in the prior art. For example, the ability to provide an aquatic animal or other tailed creature (hereinafter referred to broadly as a “figure”) that does not require water and that still resembles the same movement. Such a figure includes multiple switches and a proximity sensor that when triggered, invokes various responses and movements. For example, if the figure was a fish, the responses and movements could include a moving tail and flippers. The fish may also include vibrations in the mouth to simulate nibbling and include the closing or blinking of an eye. Various sound responses may also be included such as music, voices, and sound effects.
- In one embodiment of the present invention there is provided a toy figure, having a body defined with a front portion, a rear portion, and a bottom portion. The figure further includes a flexible tail extending from the rear portion. The tail being defined as having a flexible membrane with a plurality of sectional coverings separately secured to the flexible membrane. The flexible membrane is able to remain flexible in regions defined between the plurality of sectional coverings. The figure also includes a wheel rotatably attached to the body and extending from the bottom portion of the body. A first motor mechanism is housed in the body and is operatively connected to drive the wheel such that when the first motor mechanism is activated the wheel moves, which causes the freely flexible tail to move.
- The figure may also include a head extending from the front portion of the body. The head has a pair of eyes and a pair of eye lids that are moveable in relation to the eyes and biased in an open position. A second motor mechanism is housed in the body and operatively connected to the eye lids such that when the second motor mechanism is activated, the eye lids are engaged to move to a closed position temporarily to provide an appearance the figure has blinked.
- The figure may also include a mouth with a tongue pivotally connected therein. The second motor mechanism when operating is able to engage and move the tongue causing the tongue to vibrate. The vibration movement simulates the figure nibbling.
- The figure may also include a pair of appendages separately extending from either side of the body of the figure. Each appendage is movably connected to the body of the figure. In addition, the second motor mechanism when operating is able to move the pair of appendages.
- A circuit board having preprogrammed sounds and controls is further positioned in the figure. The preprogrammed controls are defined to control the motor mechanisms and thus control the movement of the figure. The circuit board has programming to replay the preprogrammed sounds and controls upon the triggering of a switch or possibly upon direction of a timing mechanism.
- Numerous other advantages and features of the invention will become readily apparent from the following detailed description of the invention and the embodiments thereof, from the claims, and from the accompanying drawings.
- A fuller understanding of the foregoing may be had by reference to the accompanying drawings, wherein:
-
FIG. 1 is a perspective view of an aquatic animal in accordance to the present invention with a movable tail; -
FIG. 2 is a perspective view of the animal inFIG. 1 illustrating movable eye lids; -
FIG. 3 is a perspective view of the animal inFIG. 1 illustrating a vibrating tongue; -
FIG. 4 a is a bottom view of the animal inFIG. 1 illustrating oscillation of the animal causing the tail to wag; -
FIG. 4 b is a bottom view of the animal inFIG. 1 illustrating the ability for the animal to rotate 360°; -
FIG. 5 is an exploded view of the animal inFIG. 1 ; -
FIG. 6 is a partial sectional view of the animal inFIG. 1 showing some of the internal components; -
FIG. 7 is an exploded view of one of the one way clutch mechanisms, used in the present invention to blink the eyes and vibrate the tongue; -
FIG. 8 a through 8 c are views of the inside cam surface of the eye gear cap illustrating the movement of the pin and engagement of the eye gear cap; -
FIG. 9 is an alternative embodiment including receivers on either side of the figure; and -
FIG. 10 is an alternative embodiment including an interactive figure with an outer covering and mechanically movable tail sections. - While the invention is susceptible to embodiments in many different forms, there are shown in the drawings and will be described in detail herein the preferred embodiments of the present invention. It should be understood, however, that the present disclosure is to be considered an exemplification of the principles of the invention and is not intended to limit the spirit or scope of the invention and/or claims of the embodiments illustrated.
- Referring now to
FIG. 1 , aFIG. 10 is shown and is illustrated as an aquatic animal such as a fish. It being mentioned above, that any tailed animal or creature may be used without deviating from the spirit of the invention as the outside appearance of theFIG. 10 is not meant to limit the scope of the invention. - The
FIG. 10 includes ahead 12, atail 14, adorsal fin 16, and a pair of side fins 18 (one on each side of theFIG. 10 ). Thehead 12 has a pair ofeyes 20 and amouth 22. TheFIG. 10 also includesidler wheels 24 and adrive wheel 26 to support theFIG. 10 on a surface. Various switches (shown in later FIGS) positioned about the figure and/or timing mechanisms are used to activate pre-recorded or programmed responses. - The responses may include mechanical movement of portions of the figure, including, movement of the tail 14 (
FIG. 4 ) and flapping of the side fins 18 (FIG. 1 ). Additionally, the responses may include blinking eyes 20 (FIG. 2 ) and avibrating tongue 23 in themouth 22 to simulate the figure nibbling or eating (FIG. 3 ). These and other responses such as sound and/or movement of the figure across a surface may be in response to sound, light, touch, and/or timing mechanisms that are programmed to automatically activate after a period of time. - Turning now to
FIGS. 5 and 6 , theFIG. 10 includeshousing sections 30 that form thebody 28 of theFIG. 10 . Secured to thehousing sections 30 or captured by the assembly of the housing sections is thetail 14 that is made up of aflexible member 32 andsegment coverings 34. Thesegment coverings 34 are secured to theflexible member 32 to provide the appearance of atail 14. Preferably theflexible member 32 is highly flexible in the horizontal direction to provide for a more realistic type movement from theFIG. 10 (shown inFIG. 4 ). In addition, (as shown inFIG. 4 )segment coverings 34 are spaced apart from each other such that movement of the tail is not completely hindered, moreover, movement of theflexible member 32 is maintained inregions 35 between thesegment coverings 34 - Housed within the
body 28 of theFIG. 10 is acircuit board 40 that is operatively connected to aspeaker 42, various switches, motor mechanisms, and apower supply 44. Thecircuit board 40 also includes a memory portion to store the pre-programmed sounds and pre-programmed controls, which control the mechanical movement of theFIG. 10 . Thepower supply 44 is preferablyreplaceable batteries 46 housed within abattery compartment 48 that is accessible through aremovable door 49. - As mentioned, the
circuit board 40 controls motor mechanisms to move theFIG. 10 or move various aspects of theFIG. 10 . The present invention includes afirst motor 50 that drives thedrive wheel 26 in a forward and a reverse direction causing the figure to rotate in clockwise and counterclockwise directions. Thefirst motor 50 is secured within a two piece firstmotor housing block 52. Thefirst motor 50 drives agear 54 which is meshed to afirst drive train 56 that includes various gears to provide a proper predefined gear ratios. Thefirst drive train 56 is meshed to thedrive wheel 26 that is defined by having awheel 58 and an outer covering 60 with an outside traction to grip the surface. When thefirst motor 50 is operating thedrive wheel 26 rotates. When theFIG. 10 is on a surface and thedrive wheel 26 begins to rotate in a first direction, theFIG. 10 will spin about its idler wheels 24 (FIG. 4 b). Similarly, when thefirst motor 50 drives the wheel forwards and reverse, thedrive wheel 26 will changes from a first direction to a section direction or side to side causing theFIG. 10 to oscillate. Such oscillation will have the effect of moving the flexible tail back and forth to simulate a swimming fish (FIG. 4 a). - Continuing to refer to
FIGS. 5 and 6 , the present invention includes asecond motor 70 that controls the movement of theside fins 18, theeyes 20 and thetongue 23. Thesecond motor 70 rotates a gear train 72 that branches into aneye gear train 74, atongue gear train 76 and afin gear train 78. Referring now also toFIGS. 7 through 8 c, theeye gear train 74 when rotating in a first direction rotates a one wayclutch mechanism 80. The one way clutch mechanism includes agear 81 that has ashaft 82, which includes abore 84 perpendicular to its axis to accommodate apin 86. Attached to thegear 81 over theshaft 82 andpin 86 is agear cap 88 that has aneye flapper arm 90 extending outwardly therefrom. The inside portion of thegear cap 88 includes acam surface 92 that engages thepin 86 when thegear 81 is rotating in a first direction (FIG. 8 a). This in turn moves theeye flapper arm 90 along with thegear 81. When thegear 81 is rotating in a direction opposite to the first direction (FIGS. 8 b and 8 c), thepin 86 will slide along theinside surface 94 of thegear cap 88 without engaging thecam surface 92. As such theeye flapper arm 90 only moves when theeye gear train 74 is moving in a first direction that causes thepin 86 to engage thegear cap 88. When theeye flapper arm 90 moves it comes in contact with and pushes flaps 96 secured to eyelids 98. The eye lids 98 are movably secured to or over theeyes 20. The eye lids 98 are biased in an open position, as such when theeye flapper arm 90 moves theeye lids 98, theeye lids 98 cover theeyes 20 providing a blinking or closing movement. The eyelids are preferably biased by having theflaps 96 weighted such that gravity keeps theflaps 96 up and theeyes 20 uncovered. However, a spring or other mechanism may be used to keep the eyelids in an open position. - Similarly, a second one way clutch mechanism is employed to vibrate the
tongue 23. Thetongue gear train 76 when moving in a specific direction operates agear cap 88 that moves atongue flapper arm 100. Thetongue flapper arm 100 comes in contact with atongue flap 102 that is secured to atongue 23. Thetongue 23 is pivotally secured to thebody 30 such that movement of thetongue flap 102 will cause the tongue to vibrate about its pivot 106. Moreover, theeye gear train 74 and thetongue gear train 76 are laid out such that when thesecond motor 70 is operating in a first direction, theeye flapper arm 90 moves and when thesecond motor 70 is operating in a direction opposite to the first direction, thetongue flapper arm 100 moves. - When the
second motor 70 is operating in either direction, thesecond motor 70 engages thefin gear train 78. Thefin gear train 78 includes a pair of fin gears 110 secured on an axle. The fin gears 110 are diametrically opposed on either side of theFIG. 10 and include acam surface 112. Thecam surface 112 includes various valleys and peaks. Eachside fin 18 has anend 114 positioned through anaperture 116 defined on thebody 26 of theFIG. 10 . Theend 114 is secured to apin 118 that is pivotally attached to a Y-shapedmember 120. The Y-shapedmember 120 includes anend 122 that rests and rides against thecam surface 112. As thecam surface 112 rotates, theend 122 of the Y-shapedmember 120 moves outwardly and inwardly riding the peaks and valleys of the cam surface pivoting thepin 118 and thereby flapping theside fin 18. - Various switches in the
FIG. 10 will trigger the playback of various responses or controls stored on the circuit board. One of theswitches 130 is positioned under thedorsal fin 16. When the dorsal fin is pressed downwardly, theswitch 130 is triggered. The triggering is recognized by thecircuit board 40 which plays a preprogrammed response, which may include controlling the motors to move the figure or various parts of the figure and/or emitting various sounds. - A
second switch 132 may be positioned within themouth 22. Thesecond switch 132 is activated when a user places an object within the mouth, such as a finger (FIG. 3 ). Similarly, once thesecond switch 132 is triggered, thecircuit board 40 will play a preprogrammed response and/or power up the second motor to activate the tongue motion. - Referring now to
FIG. 9 , in another embodiment of the present invention theFIG. 10 may include a pair ofreceivers 140 separately positioned on both sides of the fish and are operatively connected to thecircuit board 40. A transmitter (not shown) may be embedded within an object to send a signal to the receivers. The transmitter may also be a remote control unit. Upon receiving such a signal thecircuit board 40 may play pre-programmed controls, movement and/or sounds. For example, multiple drive wheels can be installed to move theFIG. 10 forwards, backwards, and in various turn radii such that theFIG. 10 may be programmed to follow or chase the transmitter. - Referring now to
FIG. 10 , in another embodiment of the present invention, theFIG. 10 may include a plush or outside covering orskin 150. However, theoutside covering 150 may hinder the flexibility of the tail. As such the flexibility of the tail may be mechanically moved by links and gears. Such construction and movement by links and gears should not be viewed as outside the scope of the present invention. In other constructions, the tail may be multiple segmentedsections 152 pined 154 to each other. Thesegmented sections 152 may be moved by a motor mechanism - The present invention may therefore be described as a motorized interactive audio animatronics toy aquatic animal having semi-realistic styling, motorized moving eyes and mouth as well as a multi-segmented body and tail. The tail has pivoting means for simulating the action of swimming in place when an electronically controlled motorized transverse wheel located beneath the front end of the animal causes the front end of the animal to oscillate. The same motorized wheel can cause the animal to rotate 360° in either direction. The animal is equipped with switches and sensors in various locations to detect petting and feeding and sounds from a person interacting with the fish and further includes a speaker and electronic voice for responding to and/or prompting interaction from a person. The animal may include other sound effects such as bubbling or splashing and/or other human sounds such as burping.
- In another embodiment, the present invention may be a motorized interactive audio animatronics toy animal having robotic styling, as well as a multi-segmented body and tail. The tail having pivoting means for simulating the action of swimming in place when an electronically controlled motorized transverse wheel causes the animal to rotate in either direction and/or perform electronically controlled moves in response to pre-programmed sounds or music. The animal is equipped switches, sensors or lights and a speaker that when combined with its motorized movements can convey a mood of the animal. To increase the quality of play with the animal. The animal can further have electronic circuits programmed to help compose music to convey its mood.
- In yet another aspect of the invention, the present invention may be controlled through a remote controller unit. The remote controller unit may send signals received by receivers in the animal. The circuit board may have programming to control the movement of the animal to follow the signals or move the animal in response to such signals.
- From the foregoing and as mentioned above, it is observed that numerous variations and modifications may be effected without departing from the spirit and scope of the novel concept of the invention. It is to be understood that no limitation with respect to the embodiments illustrated herein is intended or should be inferred. It is intended to cover, by the appended claims, all such modifications within the scope of the appended claims.
Claims (20)
1. A toy figure having a body defined with a front portion, a rear portion, and a bottom portion, the figure further comprising:
a flexible tail extending from the rear portion, the tail being defined as having a flexible membrane with a plurality of sectional coverings separately secured to the flexible membrane, wherein the flexible membrane remains flexible in regions defined between the plurality of sectional coverings;
a wheel rotatably attached to the body and extending from the bottom portion of the body; and
a motor mechanism housed in the body and operatively driving said wheel, wherein when the motor mechanism drives said wheel across a surface, the figure moves further causing the tail to flex.
2. The figure of claim 1 further comprising:
a head extending from the front portion, the head having a pair of eyes and a pair of eye lids moveable in relation to said eyes, each eye lid being biased in an open position; and
a second motor mechanism housed in the body and operatively connected to said eye lids such that when the second motor mechanism is activated, the eye lids are engaged to move to a closed position temporarily to blink the eye lids.
3. The figure of claim 2 , wherein:
each eye lid, of the eye lids, has an eye flap extending within the body of the figure, the eye lids capable of moving to a closed position when the eye flaps are engaged and the eye lids being biased to the open position return thereto when the eye flaps are not engaged; and
the second motor mechanism drives an eye gear train, the eye gear train engages a gear cap when the motor mechanism is operating in a first direction, the gear cap includes a flapper arm that rotates around the gear cap such that the flapper arm engages and moves the eye flaps to a closed position once every revolution of the gear cap,
whereby operation of the second motor mechanism in the first direction causes the eye lids to blink.
4. The figure of claim 3 further comprising:
a mouth positioned on the head of the figure, the mouth having a tongue pivotally connected therein, the tongue including a tongue flap that when engaged moves the tongue about its pivotal connection; and
the second motor mechanism when operating in a direction opposite of said first direction engages a tongue gear train that engages and moves a second gear cap, the second gear cap includes a second flapper arm that rotates around the second gear cap such that the second flapper arm engages and moves the tongue flap once every revolution of the second gear cap;
whereby the second motor mechanism when operating in the second direction causes the second flapper arm to engage and move the tongue flap once every revolution of the gear cap such that the tongue vibrates about its pivotal connection.
5. The figure of claim 4 further comprising:
a pair of appendages separately extending from either side of the body of the figure, each appendage movably connected to the body of the figure; and
the second motor mechanism when operating in the first and second directions drives an appendage gear train that engages and moves the pair of appendages.
6. The figure of claim 5 further comprising a circuit board having preprogrammed sounds and controls, the preprogrammed controls defined to control the motor mechanisms and thus control the movement of the figure, the circuit board replaying said preprogrammed sounds and controls upon the triggering of a switch positioned about the figure.
7. The figure of claim 6 further comprising a first switch positioned within the mouth of the figure, the first switch being triggered upon insertion of an object in said mouth of the figure, and when the first switch is triggered, the circuit board activates the second motor mechanism in the second direction causing the tongue to vibrate and the pair of appendages to move.
8. The figure of claim 6 further comprising a second switch positioned on a top portion of the figure, the second switch when triggered causes the circuit board to activate the second motor mechanism in the first direction to cause the eye lids to blink and the pair of appendages to move.
9. The figure of claim 6 further comprising a speaker to emit the playback of preprogrammed sounds.
10. An interactive toy aquatic animal having a body defined with a head and a bottom portion, the toy further comprising:
a freely flexible tail extending from the rear portion;
a wheel rotatably attached to the body and extending from the bottom portion of the body;
a first motor mechanism housed in the body and operatively driving said wheel, wherein when the motor mechanism drives said wheel the figure moves and such movement of the figure causes the freely flexible tail to wag;
a second motor mechanism housed in the body and driven in a first direction and in a second direction;
a pair of eyes defined on the head, each eye having an eye lid moveable in relation to said eyes, the eye lids biased in an open position and controllable to blink close when the second motor mechanism is driven in the first direction;
a mouth positioned in the head, the mouth having a tongue pivotally connected therein, the tongue controllable to vibrate when the second motor mechanism is driven in the second direction; and
a pair of appendages separately extending from either side of the body, each appendage movably connected to the body and controllable to move when the second motor mechanism is driven in the first and second direction.
11. The toy of claim 10 further comprising:
a switch positioned about the toy; and
a circuit board having a memory portion to store preprogrammed controls, and having programming that plays the controls upon the triggering of said switch, the preprogrammed controls defined to control the first and second motor mechanisms and thus control the movement of the toy.
12. The toy of claim 11 further comprising:
a fin pivotally connected the body; and
a first switch positioned below the fin and which is triggered when the fin is pushed towards the body,
whereby upon triggering said first switch, the circuit board plays a preprogrammed control to move the toy.
13. The toy of claim 12 further comprising:
a second switch positioned within the mouth and which is triggered upon the insertion of an object into the mouth,
whereby upon triggering said second switch, the circuit board plays a preprogrammed control to vibrate the tongue.
14. The toy of claim 10 wherein the tail is defined as having a flexible membrane with a plurality of sectional coverings separately secured to the flexible membrane, wherein the flexible membrane remains flexible in regions defined between the plurality of sectional coverings.
15. A toy figure having a body defined with a front portion, a rear portion, and a bottom portion, the figure further including a flexible tail extending from the rear portion capable of moving when said body moves, a motor housed in the body, a wheel rotatably attached to the body and the drive mechanism connecting said motor to the wheel, wherein when the motor is activated the body will be moved and the flexible tail will flex in response thereto.
16. The toy of claim 15 wherein the flexible tail is defined as having a flexible membrane with a plurality of sectional coverings separately secured to the flexible membrane, wherein the flexible membrane remains flexible in regions defined between the plurality of sectional coverings.
17. The toy of claim 15 further comprising a circuit board housed in the body and a receiver secured to the body and operatively connected to the circuit board, the circuit board further having programming to control the motor in response to a signal received by said receiver.
18. The toy of claim 15 further comprising a motor mechanism housed in the body and driven in a first direction and in a second direction and a pair of eyes defined on the head, each eye having an eye lid moveable in relation to said eyes, the eye lids biased in an open position and having a means to blink close when the second motor mechanism is driven in the first direction.
19. The toy of claim 16 further comprising a mouth positioned in the head, the mouth having a tongue pivotally connected therein, the tongue having a means to vibrate when the second motor mechanism is driven in the second direction.
20. The toy of claim 16 further comprising a pair of appendages separately extending from either side of the body, each appendage having a means to move when the second motor mechanism is driven in the first and second directions.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US11/105,039 US20060228982A1 (en) | 2005-04-12 | 2005-04-12 | Interactive figure |
Applications Claiming Priority (1)
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US11/105,039 US20060228982A1 (en) | 2005-04-12 | 2005-04-12 | Interactive figure |
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US11/105,039 Abandoned US20060228982A1 (en) | 2005-04-12 | 2005-04-12 | Interactive figure |
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Cited By (15)
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US20070270803A1 (en) * | 2006-04-06 | 2007-11-22 | Lukas Giger | Remotely Adjustable Tissue Displacement Device |
US20130017754A1 (en) * | 2011-07-11 | 2013-01-17 | Xiaoping Lu | Driving and Controlling Method for Biomimetic Fish and a Biomimetic Fish |
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