Modular robotic tiles for physical interaction

Abstract

A therapeutic training device includes a shallow housing having an upwardly open cavity in the top surface and a flexible and transparent cover which encloses the cavity at least partially. The housing further includes a force sensor placed inside the cavity communicating with the central part. The force sensor measures the force applied on the flexible and transparent cover and generates a response signal. The housing further includes a light source placed inside the cavity, the light source being visible through the flexible and transparent cover, and a central processor placed inside the housing, which activates the light sources in accordance with a specific software and evaluates the response signal from the force sensor in accordance with the specific software. A plurality of communication devices are located on the side surfaces and is controlled by the central processor and communicates with adjacent devices.

1 . A therapeutic training device comprising
 a shallow housing of a specific shape having a quadratic top surface, a quadratic bottom surface and four rectangular side surfaces, said housing including   an upwardly open cavity in said top surface,   a flexible and transparent cover enclosing said cavity at least partially, said flexible and transparent cover having a size in a range between a size of a human fist and a size of a human foot, and defining a central part,   a force sensor placed inside said cavity and communicating with said central part, said force sensor measuring a force applied on said flexible and transparent cover and generating a response signal,   a light source placed inside said cavity, said light source being visible through said flexible and transparent cover,   a central processor placed inside said housing for activating said light source in accordance with a specific software and evaluating said response signal from said force sensor in accordance with said specific software, and   a plurality of communication means located on said side surfaces controlled by said central processor for communicating with adjacent devices.   
     
     
         2 . A therapeutic training device comprising
 a shallow housing of a specific shape having a quadratic top surface, a quadratic bottom surface and four rectangular side surfaces, said housing including   an upwardly open cavity in said top surface,   a flexible and sound pervious cover enclosing said cavity at least partially, said flexible and sound pervious cover having a size in a range between a size of a human fist and a size of a human foot, and defining a central part,   a force sensor placed inside said cavity and communicating with said central part, said force sensor measuring a force applied on said flexible and sound pervious cover and generating a response signal,   a sound source placed inside said cavity, said sound source being audible through said flexible and sound pervious cover,   a central processor placed inside said housing for activating said sound source in accordance with a specific software and evaluating said response signal from said force sensor in accordance with said specific software, and   a plurality of communication means located on said side surfaces controlled by said central processor for communicating with adjacent devices.   
     
     
         3 . The therapeutic training device according to  claim 1 , wherein said light source includes a light emitting diode. 
     
     
         4 . The therapeutic training device according to  claim 2 , wherein said sound source includes a piezoelectric loudspeaker. 
     
     
         5 . The therapeutic training system according to  claim 1 , wherein said central part includes a shock resistant part. 
     
     
         6 . The therapeutic training device according to  claim 1 , further comprising a plurality of fixating means located on said side surfaces for fastening said housing onto other therapeutic training devices. 
     
     
         7 . The therapeutic training device according to  claim 1 , further comprising a plurality of fixating means located on said bottom surface for fastening said housing onto a wall. 
     
     
         8 . The therapeutic training device according to  claim 6 , wherein said fixating means include at least one of permanent magnets and electro magnets. 
     
     
         9 . The therapeutic training device according to  claim 1 , wherein said force sensor includes a force resistive sensor. 
     
     
         10 . The therapeutic training device according to  claim 1 , wherein said communication means includes infrared communication means. 
     
     
         11 . The therapeutic training device according to  claim 1 , wherein therein are a plurality of said housings fastened in a specific pattern using fastening means and communicating with each other using communication means to form a therapeutic training system. 
     
     
         12 . The therapeutic training device according to  claim 11 , wherein said therapeutic training system includes a master device having a communication system for at least one of communicating with another therapeutic training system and communicating with a personal computer. 
     
     
         13 . The therapeutic training device according to  claim 12 , wherein said therapeutic training system is controlled by the personal computer. 
     
     
         14 . The therapeutic training system according to  claim 2 , wherein said central part includes a shock resistant part. 
     
     
         15 . The therapeutic training device according to  claim 2 , further comprising a plurality of fixating means located on said side surfaces for fastening said housing onto other therapeutic training devices. 
     
     
         16 . The therapeutic training device according to  claim 2 , further comprising a plurality of fixating means located on said bottom surface for fastening said housing onto a wall. 
     
     
         17 . The therapeutic training device according to  claim 7 , wherein said fixating means include at least one of permanent magnets and electro magnets. 
     
     
         18 . The therapeutic training device according to  claim 2 , wherein said force sensor includes a force resistive sensor. 
     
     
         19 . The therapeutic training device according to  claim 2 , wherein said communication means includes infrared communication means. 
     
     
         20 . The therapeutic training device according to  claim 2 , wherein therein are a plurality of said housings fastened in a specific pattern using fastening means and communicating with each other using communication means to form a therapeutic training system. 
     
     
         21 . The therapeutic training device according to  claim 20 , wherein said therapeutic training system includes a master device having a communication system for at least one of communicating with another therapeutic training system and communicating with a personal computer. 
     
     
         22 . The therapeutic training device according to  claim 21 , wherein said therapeutic training system is controlled by the personal computer.