Device with multiple electroactive material actuator units and actuating method

1. A method of actuating a device the device comprising, a plurality of electroactive material actuator units arranged as a set, and three power lines, wherein each electroactive material actuator unit comprises three power line terminals, wherein the three power lines comprise a common reference power line, a controller power line, and a driver power line, wherein the each electroactive material actuator unit is connected in parallel between the three power lines, and wherein each of the three power lines connect to one of the three power line terminals; the method comprising:

providing power signals on the three power lines;

providing a data signal, wherein the data signal is modulated onto at least one of the three power lines;

demodulating a data signal carried by the at least one of the three power lines for the each electroactive material actuator unit;

receiving data from the demodulated data signal for the each electroactive material actuator unit; and

driving the each electroactive material actuator unit in dependence of the received data.

2. The method as claimed in claim 1 ,

wherein a first power line of the three power lines carries a power ramp signal,

wherein a second power line of the three power lines carries modulated data in form of addressing and timing data,

wherein the addressing and timing date are arranged to sample the power ramp signal for an addressed circuit at a particular time, and

wherein the second power line is different from the first power line.

3. The method as claimed in claim 1 ,

wherein a first power line of the three power lines carries first modulated data in form of actuation level data,

wherein a second power line of the three power lines carries second modulated data in form of addressing data, and

wherein the second power line is different from the first power line.

4. The method as claimed in claim 1 ,

wherein the each electroactive material actuator unit further comprises a modulator circuit, and

wherein the modulator circuit is arranged to modulate a data signal onto at least one of the three power lines.

5. The method as claimed in claim 1 ,

wherein the each electroactive material unit comprises a sub-set of electroactive material elements, and

wherein the data signal comprises commands for each electroactive material element of the sub-set.

6. The method as claimed in claim 1 , further comprising:

supplying power on the controller power line for a local controller circuit using a first power supply, and

supplying power on the driver power line for a local driver circuit using a second power supply.

7. The method as claimed in claim 1 , wherein the data signal modulated onto at least one power line comprises a unique address associated with a specific actuator unit and a data signal for the specific actuator unit.

8. The method as claimed in claim 1 , further comprising a device controller circuit, wherein the device controller circuit is arranged to provide power signals and data signals on the three power lines.

9. A computer program stored on a non-transitory medium, wherein the computer program when executed on processor performs the method as claimed in claim 1 .

10. The method as claimed in claim 1 , wherein the at least one of the three power lines on which the data signal is modulated is the controller power line.

11. A device comprising:

a plurality of electroactive material actuator units arranged as a set, wherein each electroactive material actuator unit comprises three power line terminals; and

three power lines,

wherein the three power lines comprise a common reference power line, a controller power line, and a driver power line,

wherein the each electroactive material actuator unit is connected in parallel between the three power lines,

wherein each of the three power lines connect to one of the three power line terminals, and

wherein the each electroactive material actuator unit comprises:

an electroactive material actuator;

a demodulator circuit, wherein the demodulator circuit is arranged to demodulate a data signal carried by at least one of the three power lines;

an actuator controller circuit, wherein the actuator controller circuit is arranged to receive data from the demodulated data signal; and

a driver circuit, wherein the driver circuit is arranged to drive the electroactive material actuator in dependence on the received data.

12. The device as claimed in claim 11 ,

wherein a first power line of the three power lines carries a power ramp signal,

wherein a second power line of the three power lines carries modulated data in form of addressing and timing data,

wherein the addressing and timing date are arranged to sample the power ramp signal for an addressed circuit at a particular time, and

wherein the second power line is different from the first power line.

13. The device as claimed in claim 11 ,

wherein a first power line of the three power lines carries first modulated data in form of actuation level data,

wherein a second power line of the three power lines carries second modulated data in form of addressing data, and

wherein the second power line is different from the first power line.

14. The device as claimed in claim 11 ,

wherein the each electroactive material actuator unit further comprises a modulator circuit, and

wherein the modulator circuit is arranged to modulate a data signal onto at least one of the three power lines.

15. The device as claimed in claim 11 ,

wherein the each electroactive material unit comprises a sub-set of electroactive material elements, and

wherein the data signal comprises commands for each electroactive material element of the sub-set.

16. The device as claimed in claim 11 , wherein the data signal modulated onto at least one power line comprises a unique address associated with a specific actuator unit and a data signal for the specific actuator unit.

17. The device as claimed in claim 11 , wherein the at least one of the three power lines on which the data signal is modulated is the controller power line.

18. A catheter comprising a device as claimed in claim 11 , wherein the plurality of electroactive material actuator units are arranged to steer the catheter.

19. The device as claimed in claim 11 , further comprising a device controller circuit, wherein the device controller circuit is arranged to provide power signals and data signals on the three power lines.

20. The device as claimed in claim 19 ,

wherein the device controller circuit is arranged to provide an identification data signal,

wherein the identification data signal comprises a set of identification words and data words in series,

wherein each identification word is associated with a respective one of the plurality of electroactive material actuator units, and

wherein each actuator controller circuit is arranged to recognize its own associated identification word and read the associated data word.