Apparatus and Method for Tactile Stimulation of Human Skin

Abstract

It is disclosed an apparatus (100) for tactile stimulation of C-Tactile afferents comprising a casing (10) configured to be positioned onto a user's skin and at least one tactile stimulation element (21) carried by the casing (10) and operated by a motor (30) at a controlled velocity for generating at least one tactile stimulation. The apparatus (100) further comprises an electronic control unit (40) and at least one pressure sensor (50) in electrical communication with the electronic control unit (40) to control the pressure force exerted by the tactile stimulation element (21) onto the user's skin by adjusting the position of the tactile stimulation element (21) with respect to the user's skin, based on a feedback signal transmitted by said at least one pressure sensor (50). A method of generating at least one tactile stimulation of C-Tactile afferents carried out by using the aforesaid apparatus (100) is also disclosed.

Claims

1-20. (canceled)

21. An apparatus for tactile stimulation of C-Tactile afferents, the apparatus comprising: a casing configured to be positioned onto a user's skin; at least one tactile stimulation element carried by the casing and operated by a motor at a controlled velocity for generating at least one tactile stimulation; an electronic control unit; and at least one pressure sensor in electrical communication with the electronic control unit, wherein a pressure force exerted by said at least one tactile stimulation element onto the user's skin is controlled by adjusting the position of the tactile stimulation element with respect to the user's skin, based on a feedback signal transmitted by said at least one pressure sensor.

22. The apparatus of claim 21, further comprising a stimulation disk supported by the casing, said at least one tactile stimulation element comprising a tactile stimulation element projecting downwards from a peripheral portion of the stimulation disk.

23. The apparatus of claim 22, wherein said at least one pressure sensor is embedded in said at least one stimulation element.

24. The apparatus of claim 22, wherein said at least one pressure sensor is provided under the tactile stimulation element so as to be interposed, in use, between the at least one tactile stimulation element and the user's skin.

25. The apparatus of claim 24, wherein said at least one pressure sensor comprises a membrane inside which a disk made of graphene-composed polymer is housed, with said membrane being connected to the casing at a peripheral edge thereof.

26. The apparatus of claim 21, wherein said at least one tactile stimulation element is controlled for adjusting the position of the tactile stimulation element with respect to the user's skin by at least one further motor in electrical connection with the electronic control unit to lower/raise the tactile stimulation element with respect to the user's skin.

27. The apparatus of claim 21, wherein the at least one tactile stimulation element is controlled by the electronic control unit to move at a velocity between about 1 cm/s to about 10 cm/s.

28. The apparatus of claim 21, wherein the at least one tactile stimulation element is controlled by the electronic control unit to produce a pressure force onto the user's skin lower than 40 mN.

29. The apparatus of claim 21, wherein the electronic control unit can be electrically connected with one or more biosensors which are configured to detect a physiological data of the user and transmit the detected data to the electronic control unit, and wherein the electronic control unit uses the received physiological data to regulate the tactile stimulation according to the user's physiological response.

30. The apparatus of claim 21, wherein the motor is a PCB magnetic motor, the apparatus further comprising a plurality of conductive traces embedded in different layers of the PCB thereby producing a series of electromagnets placed in a peripheral portion of the motor, each electromagnet being individually controlled by the electronic control unit.

31. The apparatus of claim 30, further comprising permanent magnets provided in the stimulation disk, which thus acts as a magnetic spool inside which the tactile stimulation element is mounted, the magnetic spool-tactile stimulation element assembly being allowed to rotate by alternating the magnetic field within the electromagnets embedded in the PCB magnetic motor, and the magnetic spool-tactile stimulation element assembly being allowed to lower and raise by varying the intensity and polarity of the magnetic field.

32. The apparatus of claim 30, further comprising a spring configured to counterbalance the lowering and raising movement of the magnetic spool-tactile stimulation element assembly.

33. The apparatus of claim 21, further comprising one or more vibro electrical motors connected to the control unit to produce on the user's skin a vibrational stimulation greater than 40 mN.

34. The apparatus of claim 21, for use in generating at least one adjustable tactile stimulation for generating pain analgesia and stress relief, to improve well-being in healthy individuals or to promote more immersive experiences in simulated environments for both consumer and clinical uses.

35. The apparatus of claim 21, wherein the at least one tactile stimulation element is controlled by the electronic control unit to move at a velocity equal to about 3 cm/s and to produce a pressure force onto the user's skin equal to about 2.5 mN, which are values at which C-Tactile afferents show the highest firing frequency to light stroking.

36. A method for generating at least one tactile stimulation of C-tactile afferents, the method comprising steps of: operating at least one tactile stimulation element at a controlled velocity to generate at least one tactile stimulation; adjusting a position of the at least one tactile stimulation element with respect to the user's skin to control the pressure force exerted by the at least one tactile stimulation element, based on a feedback signal transmitted by at least one pressure sensor.

37. The method of claim 36, wherein the operating step comprises moving the at least one tactile stimulation element at a velocity between about 1 cm/s to about 10 cm/s.

38. The method of claim 36, wherein the step of adjusting the position of the tactile stimulation element with respect to the user's skin comprises lowering/raising the at least one tactile stimulation element with respect to the user's skin to produce a pressure force onto the user's skin lower than 40 mN.

39. The method of claim 36, further comprising upstream of said operating step a step of lowering the at least one stimulation element until it contacts the user's skin with a pressure force of about 2.5 mN detected by said at least one pressure sensor.

40. The method of claim 36, further comprising a preliminary pressure force calibration procedure comprising steps of: lowering the at least one tactile stimulation element to contact the user's skin until the at least one sensor pressure detects a pressure force value of about 2.5 mN; storing into the electronic control unit an angular and vertical position of the at least one tactile stimulation element, along with pressure data; rotating the at least one tactile stimulation element 15 or more degrees until reaching 360 degrees of rotation; and using the stored angular and vertical position and the pressure data to calculate a morphological map of the user's skin to evaluate and compensate specific surface distortions.

41. The method of claim 36, further comprising a step of lowering and raising the tactile stimulation element to produce on the user's skin a vibrational stimulation greater than 40 mN.

42. The method of claim 36, wherein the operating step comprises moving the at least one tactile stimulation element at a velocity of about 3 cm/s and the step of adjusting the position of the tactile stimulation element with respect to the user's skin comprises lowering/raising the at least one tactile stimulation element with respect to the user's skin to produce a pressure force onto the user's skin equal to about 2.5 mN, which are values at which C-Tactile afferents show the highest firing frequency to light stroking.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Further features and advantages of the present invention will become more readily apparent from the following detailed description of a preferred embodiment of an apparatus and a method for generating at least one tactile stimulation, provided below, by way of non-limiting indication, with reference to the accompanying drawings. In the drawings:

[0037] FIG. 1 is a schematic top view of an apparatus for tactile stimulation according to a first embodiment of the present invention;

[0038] FIG. 2 is a schematic perspective view of the apparatus of FIG. 1;

[0039] FIG. 3 is a schematic cross-sectional view of the apparatus of FIG. 1, with the tactile stimulation element in the retracted or rest condition thereof;

[0040] FIG. 4 is a schematic cross-sectional view of the apparatus of FIG. 1, with the tactile stimulation element in the extracted or operative condition thereof;

[0041] FIG. 5 schematically shows the way of interaction between the different components of the apparatus according to the present invention;

[0042] FIG. 6 is a schematic cross-sectional view of a second embodiment of the apparatus for tactile stimulation according to the present invention, with the tactile stimulation element in the retracted or rest condition thereof;

[0043] FIG. 7 is a schematic cross-sectional view of the apparatus of FIG. 6, with the tactile stimulation element in the extracted or operative condition thereof;

[0044] FIG. 8 is an enlarged view of the particular circled with C in FIG. 7; and

[0045] FIG. 9 is a flow chart, schematically showing the different steps of a method of tactile stimulation of C-Tactile afferents carried out with the apparatuses of FIGS. 1-8.

DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION

[0046] With reference to FIGS. 1 to 5, a tactile stimulation apparatus according to a first embodiment of the present invention is indicated, in general, with the reference numeral 100.

[0047] The apparatus 100 comprises a casing 10, which is configured to house the mechanical and electronical components of the apparatus, which will be described in detail below.

[0048] The casing 10 is preferably made of plastic material and is suitably dimensioned to be portable and easily positioned on the user's body part to be stimulated. For this purpose, the casing 10 comprises a pair of tabs 12, which laterally extend from the casing 10, opposite each other. Each tab 12 is provided with an aperture 13 through which a preferably elastic band (not shown) can pass to suitably position the apparatus onto the user's skin.

[0049] The apparatus 100 further comprises a tactile stimulation element 21 configured to stimulate C-Tactile afferents of the user's skin with predetermined stimulation parameters.

[0050] In the embodiment shown in FIGS. 1 to 4, the tactile stimulation element 21 projects downwards from a peripheral portion of a stimulation disk 20 supported by the casing 10, to contact, in use, the user's skin. Naturally, it is possible to provide a plurality of tactile stimulation elements 21, each downwardly projecting from the peripheral portion of the stimulation disk 20.

[0051] The stimulation disk 20 has preferably a circumference of 10 cm and is connected to a main shaft 31 of a motor 30, which drives the stimulation disk 20, and the tactile stimulation element 21 downwardly projecting therefrom, to generate at least one interoceptive tactile stimulation. Preferably, the motor 30 is a rotary motor, for example a stepper/servo rotary motor, preferably a piezoelectric rotary motor, which moves, preferably rotates (see arrow F1 in FIG. 5) the tactile stimulation element 21 at a controlled velocity for generating a circular stimulation pattern.

[0052] In a preferred embodiment thereof, the tactile stimulation element 21 carried by the stimulation disk 20 has an oval-shape. This preferred configuration of the tactile stimulation element 21 allows a circular stimulation pattern at a specific calibrated velocity thus helps avoiding C-Tactile afferents fatigue and adaptation. C-Tactile afferents tend to exhibit fatigue and adaptation after 5s of continuous stimulation. The circular stimulation patter provided by the tactile stimulation element 21 mounted on the stimulation disk 20, allows to constantly change the site of stimulation, ensuring that CT afferent patches are directly stimulated only for short period of time (<5 s) avoiding fatigue and habituation of the receptors. As shown in greater detail in FIG. 5, the apparatus 100 further comprises an electronic control unit 40, which is in electrical communication with the motor 30 to control the velocity of the tactile stimulation element 21, and thus the C-Tactile afferents stroking velocity. More specifically, and preferably, the motor 30 connected to the tactile stimulation element 21 is controlled by the electronic control unit 40 to produce an interoceptive tactile stimulation at a velocity between 1 cm/s to 10 cm/s, with optimal velocity set to 3 cm/s, velocities at which, how disclosed above, the CTs show the highest firing frequency.

[0053] The apparatus 100 further comprises at least one pressure sensor 50 configured to detect the pressure force exerted by the tactile stimulation element 21 onto the user's skin, during the operation of the apparatus.

[0054] As schematically illustrated in FIGS. 3 and 4, the apparatus 100 comprises a pressure sensor 50, which is embedded in the tactile stimulation element 21. Preferably, the pressure sensor 50 is in the form of micro load cell, pressure sensitive graphene polymers, or any other means able to detect the forces required by the interoceptive tactile stimulation.

[0055] As shown in greater detail in FIG. 5, the pressure sensor 50 is in electrical communication with the electronic control unit 40, which in turn, utilizes a feedback signal transmitted by the pressure sensor 50 to adjust the position of the tactile stimulation element 21 with respect to the user's skin. More specifically, the electronic control unit 40 operates a further motor 60, preferably a pair of motors 60, to adjusting the position of the tactile stimulation element 21 with respect to the user's skin. More specifically, the tactile stimulation element 21 is lowered (see arrow F2) or raised (see arrow F3) by the further motor(s) to produce a pressure force lower than 40 mN, preferably equal to about 2.5 mN. In fact, as disclosed above, C-Tactile afferents show the highest firing frequency to light stroking with a pressure force equal to about 2.5 mN.

[0056] With reference to FIG. 5, the electronic control unit 40 of the apparatus 100 can be electrically connected with one or more biosensors 70, 80, for example—but not limited to—ECG electric sensors, galvanic skin response sensors, temperature sensors, plethysmographic sensors, respiratory band sensors, graphene haptic sensors, which are configured to detect a physiological data of the user, for example hear rate, heart rate variability, sympathetic and parasympathetic responses, stress level, oxygen saturation, and to transmit the detected data to the electronic control unit 40. The electronic control unit 40, in turn, uses the received physiological data to regulate the tactile stimulation according to the user's physiological response. These biosensors can be either embedded in the apparatus 100, or the apparatus can interface with external biosensors such as smart fitness bracelets, fitness bands and other devices, to collect physiological data and modulate the stimulation accordingly.

[0057] The apparatus 100 further comprises a battery (not shown), preferably of the rechargeable type, for supplying power to the motors 30 and 60, the pressure sensor 50, the biosensors when embedded in the apparatus, and the electronic control unit 40. The battery is also housed in the casing 10.

[0058] The apparatus 100 can be equipped with a BLE (Bluetooth low energy) module connected to the electronic control unit 40. The BLE module allows wireless pairing with a smartphone, a personal computer, or any other electronic device that will host the user interface program.

[0059] FIGS. 6 to 8 illustrate an apparatus for tactile stimulation according to a second embodiment of the present invention.

[0060] The apparatus, general designed with the reference numeral 1100, is similar to the apparatus 100 described above and illustrated in FIGS. 1-5, from which differs for the different configuration of the pressure sensor.

[0061] Therefore, the apparatus 1100 comprises a casing 110 and a stimulation disk 120 supported by the casing 110 and provided with a tactile stimulation element 121 downwardly projecting from a peripheral portion of the stimulation disk 120 to contact, in use, the user's skin. A plurality of tactile stimulation elements 121 can be also provided, each projecting from the peripheral portion of the stimulation disk 120.

[0062] The stimulation disk 120, and the at least one tactile stimulation element 121 downwardly projecting therefrom, are operated, preferably rotated by a motor 130 for generating a circular stimulation pattern. The tactile stimulation element 121 is the same of the stimulation element 21 and therefore it is not further described.

[0063] The apparatus 1100 comprises an electronic control unit 140 (see FIG. 5) in electrical communication with the motor 130 to control the velocity of the tactile stimulation element 121 and thus the C-Tactile afferents stroking velocity.

[0064] The apparatus 1100 further comprises a pressure sensor 150, which unlike the pressure sensor 50 disclosed above is not embedded in the stimulation element, but is placed under the tactile stimulation element 121, so as to be interposed, in use, between the stimulation element 121 and the user's skin.

[0065] More specifically, the pressure sensor comprises a membrane 151 inside which a disk 152 made of graphene-composed polymer is housed. The membrane 151 is fixed to the casing 110 at its peripheral edge.

[0066] The membrane 151 is made of a flexible material and has a thickness lower than 1 mm. The disk 152 comprises electrical connections (not shown) to the electronic control unit 140, which, based on a feedback signal transmitted by the pressure sensor 150, operates a further motor 160, preferably a pair of motors 160, to adjust the position of the tactile stimulation element 121 with respect to the user's skin. More specifically, the tactile stimulation element 121 is lowered or raised by the further motor(s) 160 to produce on the C-Tactile afferents a stroking force lower than 40 mN, preferably equal to 2.5 mN.

[0067] The pressure sensor 150 made in the form of a graphene membrane advantageously allows to detect very small pressure values, typically used during the interoceptive tactile stimulation.

[0068] The apparatuses 100, 1100 according the first and second embodiments described above, further comprises a user interface (not shown), through which a user may select a set of stimulation parameters, more specifically stroking time, inter stimulus intervals, or pattern (frequency) of the stimulation. These stimulation parameters may be combined together thereby creating different types of interoceptive tactile stimulation.

[0069] In continuous stimulation, the apparatus 100, 1100, specifically the tactile stimulation element 21, 121, is controlled to provide a continuous interoceptive stimulus. The stroking time or duration of the stimulation may be stored in a memory, for example a flash memory, of the electronic control unit 40, 140; otherwise, the movement of the tactile stimulation element 21, 121 can be stopped at the appropriate time via a coded command selected through user interface.

[0070] In variance stimulation, the tactile stimulation element 21, 121 is controlled to provide a series of stimuli in a sequence. The duration of the single stimulus, the duration of the pause between stimuli, or both may be customized to address different therapeutic purposes.

[0071] The tactile stimulation element 21, 121 can also be continuously lowered and raised to produce on the user's skin a vibrational stimulation with a force greater than 40 mN. The frequency of this continuous oscillatory movement is controlled by the motor(s) 60, 160 driven by the electronic control unit 40, 140 so as to allow a wide range of vibrational frequencies. In such a way, the apparatus 100, 1100 is also configured to produce proprioceptive tactile stimulation, in addition to the interoceptive tactile stimulation. Advantageously, proprioceptive tactile stimulation can also be used in alternate way with interoceptive tactile stimulation to enhance the effect of the latter, further avoiding habituation. The same goal could also be obtained by incorporating small vibro electrical motors in the apparatus 100, 1100 and connecting these vibro electric motors to the same control unit 40, 140 that coordinate/manage the interoceptive stimulation.

[0072] According to an alternative embodiment, the motor 30, 130 is a brushless PCB (printed circuit board) magnetic motor, comprising a plurality of conductive traces (not shown) embedded in different layers of the PCB. A series of electromagnets are thus formed, which are placed in a peripheral portion of the motor 30, 130, each electromagnet being individually controlled by the electronic control unit 40, 140. Permanent magnets (not shown) are provided in the stimulation disk 20, 120, which acts as a magnetic spool inside which the tactile stimulation element 21, 121 is mounted, and further comprises rotating electrical contacts (not shown).

[0073] During use of the apparatus 100, 1100, the magnetic spool/stimulation disk is trapped in a magnetic field and allowed to rotate on the peripheral portion of the casing 10, 110. The electronic control unit 40, 140 determines the alternation in the magnetic field within the electromagnets embedded in the motor 30, 130 and drives the magnetic spool/stimulation disk with the tactile stimulation element 21, 121 to rotate at the predetermined speed. Variations in the intensity and polarity of the magnetic field allow the apparatus 100, 1100 to lower and raise the magnetic spool/stimulation disk and the tactile stimulation element 21, 121, thereby regulating the pressure of the tactile stimulation element 21, 121 on the user's skin so as to match the predetermined force. The lowering and raising movement of the magnetic spool-tactile stimulation element assembly can be either counterbalanced by a spring or be entirely trapped in a magnetic field.

[0074] This embodiment has the advantage to avoid mechanical gears, thereby preventing mechanical failures, and to facilitate the apparatus assembly due to the fact that such magnetic motors can be created directly within a printed circuit board (PCB motors), with current common industrial technology. Therefore, in this embodiment, the apparatus 100, 1100 results in less mechanical pieces, a smaller form factor, with the magnetic motor and the electronic components originating from the same printed circuit board. Moreover, the electromagnetic traces of the PCB motor can be configured in additional rings within the larger one, thereby allowing more than one stimulation disk and tactile stimulation element to be controlled at the same time, effectively multiplying the amount of interoceptive stimulation applied to the skin.

[0075] With reference to FIG. 9, a method for tactile stimulation of C-Tactile afferents according to the present invention will now be described, the method being carried out by using the apparatus 100, 1100 described above and illustrated in FIGS. 1-8.

[0076] The method starts at step S1, in which the apparatus 100, 1100 is placed onto the user's skin, for example onto the area of the volar forearm, so that the tactile stimulation element 21, 121 is in contact with the user's skin.

[0077] The step S1 is followed by a step S2, in which the apparatus 100, 1100 is switched ON by the user, and by a step S3, in which the user selects the tactile stimulation pattern.

[0078] At this point, the apparatus 100, 1100 starts to perform the tactile stimulation based on the selected tactile stimulation pattern.

[0079] In particular, at step S4, the electronic control unit 40, 140 activates the further motor(s) 60, 160 to adjust the position of the tactile stimulation element 21, 121 with respect to the user's skin 21, 121 until it contacts the user's skin and at the same time the pressure sensor 50, 150 detects the pressure force exerted by the tactile stimulation element 21, 121 onto the user's skin. In particular, the tactile stimulation element 21, 121 is lowered until it contacts the user's skin. When the pressure force exerted by the tactile stimulation element 21, 121 onto the user's skin reaches a value lower than 40 mN, preferably a value set at 2.5 mN, the method proceeds to step S5, in which the electronic control unit 40, 140 activates the motor 30, 130 to move, preferably rotate the tactile stimulation element 21, 121 at a controlled velocity, preferably at a velocity between 1 cm/s to 10 cm/s, with optimal velocity set to 3 cm/s, and at the same time the pressure sensor 50, 150 detects the pressure force exerted by the tactile stimulation element 21, 121 onto the user's skin. During movement, the tactile stimulation element 21, 121 stimulates each point of the user's skin substantially for less than 5 seconds and this advantageously avoids the stimulated C-Tactile afferents to exhibit a tendency to fatigue.

[0080] If the pressure force detected by the pressure sensor 50, 150 is different from 2.5 mN (step S6, YES), the electronic control unit 40, 140 activates (S7) the further motor(s) 60, 160 to adjust the position of the tactile stimulation element 21, 121 with respect to the user's skin, so that the pressure force exerted by the stimulation element 21, 121 onto the underlying user's skin becomes equal to about 2.5 mN. More specifically, and preferably, the tactile stimulation element 21, 121 is lowered/raised with respect to the user's skin. In particular, and as an example, if the apparatus is used for the tactile stimulation of the user's volar forearm, when the tactile stimulation element 21, 121 moves along the arm, due to the shape of arm itself, the skin in contact with the tactile stimulation element 21, 121 may become thinner, so as to move away from the tactile stimulation element 21, 121, or vice versa the skin may become thicker, so as to get closer to the tactile stimulation element 21, 121. In the first case, the pressure sensor 50, 150 detects that the pressure force exerted by the tactile stimulation element 21, 121 onto the underlying skin decreases with respect to the set value of about 2.5 mN and thus the tactile stimulation element 21, 121 is lowered, to restore the set pressure force to its optimal value. In the second case, the pressure sensor 50, 150 detects that the pressure force exerted by the tactile stimulation element 21, 121 onto the underlying skin increases with respect to the set value of about 2.5 mN, corresponding to the optimal pressure force value for CT stimulation, and thus the tactile stimulation element 21, 121 is raised, to restore the set pressure force to its optimal value.

[0081] The method proceeds for the desired stimulation time (step S8, NO) and terminates when the stimulation time is lapsed (step S8, YES).

[0082] Preferably, the method further comprises a step in which one or more bio-sensors connected to the user detect respective physiological data of the user and transmit the detected data to the electronic control unit 40, 140. The electronic control unit 40, 140, in turn, uses the received physiological data to regulate the parameters (e.g. time, frequency, and pattern of the stimulation) of tactile stimulation according to the user's physiological response.

[0083] Preferably, the method further comprises, between steps S2 and S3, a pressure force calibration procedure.

[0084] During this calibration step, the tactile stimulation element 21, 121 is lowered to contact the user's skin until the pressure sensor detects the correct pressure force value for CT stimulation and the electronic control unit 40, 140 stores the angular and vertical position of the tactile stimulation element 21, 121, along with the pressure data. The tactile stimulation element 21, 121 is then rotated of 15° or more degrees and the calibration procedure is repeated till reaching 360° degrees of rotation.

[0085] Subsequently, the electronic control unit 40, 140 utilizes the angular and vertical position and the pressure data stored therein, to calculate a morphological map of the user's skin to evaluate and compensate specific surface distortions (e.g., muscles, fat layers, body different morphological conformations).

[0086] From the above description, the features of the apparatus and of the method for tactile stimulation of the present invention, as well as the advantages thereof, are evident.

[0087] In particular, the inventive apparatus and the method allow to automatically regulate the tactile stimulation based on the physical characteristics of the user's skin, so as to stimulate the C-Tactile afferents with the above indicated optimal pressure force and velocity.

[0088] Further, due to its small size, the inventive apparatus is portable in different locations, such as hospitals, laboratories and the like, and may be also used in home treatments.

[0089] Moreover, due to its small size, a plurality of apparatuses may be used for simultaneously stimulating different body parts of a user. In this case all the apparatuses are connected to a personal computer or a remote server, preferably via wireless connections. In this configuration, the personal computer or the remote server can independently communicate with each apparatus to coordinate the stimulation upon large parts of the body. This method will allow to amplify the effect of the tactile stimulation, activating a large quantity of C-Tactile afferents at the same time, enhancing the therapeutic effect.

[0090] The person skilled in the art, in order to satisfy specific requirements, may make modifications to the embodiments of the apparatus for interoceptive tactile stimulation described above and/or replace parts described with equivalent parts, without departing from the scope of the attached claims.

[0091] For example, although separate motors are used for controlling the movement and the lowering/raising of the stimulation element, a single motor may be used to control the stimulation element.