The technology provides for generating pure torque vibrations using a synchronized pair of rotating masses arranged in parallel. Each mass is statically balanced but dynamically imbalanced, producing a torque vibration substantially without generating a net translational force when rotated at a constant angular velocity. By rigidly coupling motors and adjusting the relative phase angle between their shafts, the combined torque output can be varied continuously from approximately zero amplitude to a maximum amplitude. The approach supports co-rotating and counter-rotating modes at the same or differing angular velocities, enabling effects such as torque beating (arising from slightly different co-rotating speeds) and torque spinning (arising from counter-rotating shafts at differing angular velocities). These operational modes effectively decouple vibration amplitude from frequency, offering versatile control over torque-based vibration characteristics. The disclosed technology is applicable to products including handheld or wearable haptic devices, game controllers, personal grooming devices, industrial vibrators, and automotive applications.
B06B 1/16 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
2.
COHERENT PHASE SWITCHING AND MODULATION OF A LINEAR ACTUATOR ARRAY
The present disclosure provides a multi-actuator haptic feedback device comprising an array of linear resonant actuators (LRAs) arranged in multiple directions to produce advanced haptic effects through coherent phase control. The device utilizes phase switching and phase modulation techniques with specific timing to control haptic outputs in multiple spatial directions. Methods are disclosed for optimizing energy consumption by storing energy in the mechanical inertia of the LRAs and efficiently releasing it during haptic events. Additionally, techniques for concealing internal state transitions using a spinning reserve mode are provided, enhancing user experience by preventing undesired haptic sensations during transitions. Applications include touchpads, touchscreens, mobile phones, game controllers, wearable devices, and automotive interior touch surfaces.
09 - Scientific and electric apparatus and instruments
Goods & Services
Vibration actuators, namely, linear resonant actuators and electric voice coil motors; Vibration motors not for the propulsion of land vehicles, namely, eccentric rotating mass vibration motors, balanced rotating mass vibration motors, and tilted balanced rotating mass vibration motors; Devices for generating vibration having one or more vibration components, namely, linear vibration actuators, electric vibration motors not for the propulsion of land vehicles, and a controller for driving and controlling one or more vibration components sold as a unit Electric powered actuators for generating vibration; Electronic devices for generating vibration comprising vibration actuators, vibration motors, or a combination of vibration actuators and vibration motors, and a controller for operating and controlling one or more vibration actuators and/or vibration motors; Downloadable and recorded software for use in operating and controlling one or more vibration actuators, one or more vibration motors, or a combination of one or more vibration actuators and one or more vibration motors; Electronic controllers for operating and controlling one or more vibration actuators, one or more vibration motors, or a combination of one or more vibration actuators and one or more vibration motors; Piezoelectric actuators; Electric vibration actuators, electric vibration motors, and arrays of electric vibration motors sold as integral components of computers, computer hardware, computer peripheral devices, touchscreens, touch-enabled user interfaces, game controllers, smart phones, smart watches, mobile and wearable digital electronic devices, and handheld electronic devices
09 - Scientific and electric apparatus and instruments
Goods & Services
Electric rotary motors, not for the propulsion of land vehicles, each including a rotatable shaft with a mass attachment attached thereto that causes an inertial vibration when the shaft is rotated at a sufficient angular velocity; Mass attachments for a rotatable shaft of an electric rotary motor, not for the propulsion of land vehicles, that, when attached to the rotatable shaft, cause an inertial vibration when the shaft is rotated at a sufficient angular velocity; Devices for generating vibration comprised of electric vibration motors, not for the propulsion of land vehicles, and a controller for driving and controlling the electric vibration motors, sold as a unit Electronic devices for generating vibration comprising a controller for operating and controlling vibration motors, sold as a unit with vibration motors; Downloadable and recorded software for use in operating and controlling one or more vibration motors; Electronic controllers for operating and controlling one or more vibration motors; Electric vibration motors and arrays of electric vibration motors sold as integral components of computers, computer hardware, computer peripheral devices, touchscreens, touch-enabled user interfaces, game controllers, smart phones, smart watches, mobile and wearable digital electronic devices, and handheld electronic devices; Targets and sensors that are attachable to a rotatable shaft of an electric rotary motor that aid in the measurement of the rotatable shaft's angular position and angular velocity
09 - Scientific and electric apparatus and instruments
Goods & Services
Vibration actuators, namely, linear resonant actuators and voice coil motors; Electric rotary motors, not for the propulsion of land vehicles, each including a rotatable shaft with a mass attachment attached thereto that causes an inertial vibration when the shaft is rotated at a sufficient angular velocity; Mass attachments for a rotatable shaft of an electric rotary motor, not for the propulsion of land vehicles, that, when attached to the rotatable shaft, cause an inertial vibration when the shaft is rotated at a sufficient angular velocity; Devices for generating vibration comprised of linear vibration actuators other than for the propulsion of land vehicles, electric vibration motors other than for the propulsion of land vehicles, or both the aforesaid vibration actuators and vibration motors, and also including a controller for driving and controlling one or more of the aforesaid vibration actuators and vibration motors, sold as a unit Electric powered actuators for generating vibration; Electronic devices for generating vibration comprising a controller for operating and controlling vibration actuators and vibrations motors, and sold as a unit with vibration actuators, vibration motors, or a combination of vibration actuators and vibration motors; Downloadable and recorded software for use in operating and controlling one or more vibration actuators, one or more vibration motors, or a combination of one or more vibration actuators and one or more vibration motors; Electronic controllers for operating and controlling one or more vibration actuators, one or more vibration motors, or a combination of one or more vibration actuators and one or more vibration motors; Piezoelectric actuators; Electric vibration actuators, electric vibration motors, and arrays of electric vibration motors sold as integral components of computers, computer hardware, computer peripheral devices, touchscreens, touch-enabled user interfaces, game controllers, smart phones, smart watches, mobile and wearable digital electronic devices, and handheld electronic devices; Targets and sensors that are attachable to a rotatable shaft of an electric rotary motor that aid in the measurement of the rotatable shaft's angular position and angular velocity
6.
Coherent phase switching and modulation of a linear actuator array
The technology provides a multi-actuator haptic vibration device that has a mounting platform and a pair of linear resonant actuators (LRAs) attached to the mounting platform. Each LRA has an axis of vibration and a moveable mass constrained to move backwards and forwards therealong, with the axes of vibration being arranged in a same direction. A controller is configured to produce haptic feedback as a combined output waveform on the mounting platform, by obtaining an input waveform corresponding to a haptic effect and computing a control component waveform for each LRA via either (i) pre-determined performance-timing tables or (ii) pre-determined performance-timing functions. The controller estimates a position of each moveable mass, controls the position of each moveable mass, and controls each LRAs with its respective computed control component waveform.
Aspects of the technology employ components to control and combine the vibration outputs of two vibration motors into essentially a pure vibration force, which can be controlled to output a given frequency and amplitude, produce beat frequencies, and produce brief impulses. For instance, identical attachment elements are affixed to a vibration device but do not contact each other during operation. Such attachment elements are able to cancel undesired torque vibrations to provide a combined pure force vibration output. The attachment elements may be secondary eccentric rotating masses affixed to the shaft of a vibration motor. Along with the vibration motor's primary eccentric rotating mass, these elements can cancel out unwanted parasitic torque vibrations by producing counter-torque vibrations.
A63F 13/285 - Generating tactile feedback signals via the game input device, e.g. force feedback
B06B 1/04 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of electrical energy operating with electromagnetism
B06B 1/16 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
8.
Aerodynamic eccentric rotating mass attachment for vibration motor
The technology introduces a new type of attachment to the shaft of a vibration motor designed to have the dual properties of eccentricity and an aerodynamic shape. This aerodynamic shape is intended to enhance the performance of the ERM-based device, improve its capabilities, or both. In this disclosure the term “performance” means current draw, noise, or controllability of the aerodynamic vibration attachment. The aerodynamic vibration attachment may have additional properties such as an embedded or otherwise incorporated shape or target that facilitates the estimation or measurement of the aerodynamic vibration attachment's angular position, angular velocity, or both, by a sensor or sensors. Alternatively, the aerodynamic vibration attachment may have additional properties such as an embedded sensor or sensors, and facilitates the estimation or measurement of the aerodynamic vibration attachment's angular position, angular velocity, or both, compared to signals obtained from external, non-rotating sensors, targets, markers or references.
H02K 33/18 - Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with coil systems moving upon intermittent or reversed energisation thereof by interaction with a fixed field system, e.g. permanent magnets
H02K 1/34 - Reciprocating, oscillating or vibrating parts of the magnetic circuit
H02K 7/00 - Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
9.
Coherent phase switching and modulation of a linear actuator array
Aspects of the technology employ synchronized arrays of low-cost, readily available vibration actuators to emulate and outperform single actuator systems, bringing together sets of actuators to create desired control effects. This approach involves coherent phase switching and modulation of a linear actuator array. A pair of linear resonant actuators (LRAs) may be employed for improved haptic waveform synthesis performance. According to one feature, energy may stored in the mechanical inertia of the LRA via velocity and stiffness of the LRA via displacement and released through modulation of the relative phase of the LRAs. Phase switching and modulation techniques may be used to control more than two LRAs, and in other arrangements than a dual LRA, including, but not limited to architectures that have LRAs arranged in multiple directions in an array spanning, for example, the two dimensions of a plane, or three dimensions of physical space.
Aspects of the technology employ components to control and combine the vibration outputs of two vibration motors into essentially a pure vibration force, which can be controlled to output a given frequency and amplitude, produce beat frequencies, and produce brief impulses. For instance, identical attachment elements are affixed to a vibration device but do not contact each other during operation. Such attachment elements are able to cancel undesired torque vibrations to provide a combined pure force vibration output. The attachment elements may be secondary eccentric rotating masses affixed to the shaft of a vibration motor. Along with the vibration motor's primary eccentric rotating mass, these elements can cancel out unwanted parasitic torque vibrations by producing counter-torque vibrations.
B06B 1/16 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
B06B 1/04 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of electrical energy operating with electromagnetism
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
11.
Coherent phase switching and modulation of a linear actuator array
Aspects of the technology employ synchronized arrays of low-cost, readily available vibration actuators to emulate and outperform single actuator systems, bringing together sets of actuators to create desired control effects. This approach involves coherent phase switching and modulation of a linear actuator array. A pair of linear resonant actuators (LRAs) may be employed for improved haptic waveform synthesis performance. According to one feature, energy may stored in the mechanical inertia of the LRA via velocity and stiffness of the LRA via displacement and released through modulation of the relative phase of the LRAs. Phase switching and modulation techniques may be used to control more than two LRAs, and in other arrangements than a dual LRA, including, but not limited to architectures that have LRAs arranged in multiple directions in a array spanning, for example, the two dimensions of a plane, or three dimensions of physical space.
The technology introduces a new type of attachment to the shaft of a vibration motor designed to have the dual properties of eccentricity and an aerodynamic shape. This aerodynamic shape is intended to enhance the performance of the ERM-based device, improve its capabilities, or both. In this disclosure the term "performance" means current draw, noise, or controllability of the aerodynamic vibration attachment. The aerodynamic vibration attachment may have additional properties such as an embedded or otherwise incorporated shape or target that facilitates the estimation or measurement of the aerodynamic vibration attachment's angular position, angular velocity, or both, by a sensor or sensors. Alternatively, the aerodynamic vibration attachment may have additional properties such as an embedded sensor or sensors, and facilitates the estimation or measurement of the aerodynamic vibration attachment's angular position, angular velocity, or both, compared to signals obtained from external, non-rotating sensors, targets, markers or references.
H02K 7/06 - Means for converting reciprocating motion into rotary motion or vice versa
B06B 1/16 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
H02K 7/00 - Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
H02K 33/00 - Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
13.
Synchronized array of vibration actuators in an integrated module
The disclosure relates to integrated modules for Synchronized Array of Vibration Actuators (FIG. 125A). The modules provide physical interface, power and communication interfaces. Each module may include vibration actuators (FIG. 123A) which can be precisely attached and aligned to the module housing, a microcontroller or other microprocessor, and one or more sensors for closed loop control of actuators (FIG. 126G). Interleaved pairs of ERMs having a center of mass in the same plane eliminate parasitic torque. A single module can produce a vibration force that rotates at a specific frequency and magnitude, which on its own could cancel out some types of periodic vibrations (FIG. 125B). Two modules paired together and counter-rotating with respect to each other can produce a directional vibration at a specific frequency and magnitude, which could prove even more useful for canceling out a vibration. Such modules are also employed to produce beating patterns (FIGS. 131-133). Both amplitude and frequency of the beating force are variable.
G09G 5/00 - Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
B06B 1/16 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
H02K 7/06 - Means for converting reciprocating motion into rotary motion or vice versa
H02K 33/00 - Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
14.
Synchronized array of vibration actuators in an integrated module
The disclosure relates to integrated modules for Synchronized Array of Vibration Actuators (FIG. 125A). The modules provide physical interface, power and communication interfaces. Each module may include vibration actuators (FIG. 123A) which can be precisely attached and aligned to the module housing, a microcontroller or other microprocessor, and one or more sensors for closed loop control of actuators (FIG. 126G). Interleaved pairs of ERMs having a center of mass in the same plane eliminate parasitic torque. A single module can produce a vibration force that rotates at a specific frequency and magnitude, which on its own could cancel out some types of periodic vibrations (FIG. 125B). Two modules paired together and counter-rotating with respect to each other can produce a directional vibration at a specific frequency and magnitude, which could prove even more useful for canceling out a vibration. Such modules are also employed to produce beating patterns (FIGS. 131-133). Both amplitude and frequency of the beating force are variable.
A63F 13/00 - Video games, i.e. games using an electronically generated display having two or more dimensions
B06B 1/16 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
H02K 7/06 - Means for converting reciprocating motion into rotary motion or vice versa
H02K 33/00 - Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
15.
COHERENT PHASE SWITCHING AND MODULATION OF A LINEAR ACTUATOR ARRAY
Aspects of the technology employ synchronized arrays of low-cost, readily available vibration actuators to emulate and outperform single actuator systems, bringing together sets of actuators to create desired control effects. This approach involves coherent phase switching and modulation of a linear actuator array. A pair of linear resonant actuators (LRAs) may be employed for improved haptic waveform synthesis performance. According to one feature, energy may stored in the mechanical inertia of the LRA via velocity and stiffness of the LRA via displacement and released through modulation of the relative phase of the LRAs. Phase switching and modulation techniques may be used to control more than two LRAs, and in other arrangements than a dual LRA, including, but not limited to architectures that have LRAs arranged in multiple directions in a array spanning, for example, the two dimensions of a plane, or three dimensions of physical space.
One aspect of the technology involves a system for measuring the rotational position of a rotating shaft, including a field source configured to generate a measurable field, a sensor configured to measure the generated field, and a target that is configured to modify the generated field as measured by the sensor to have a shape with (a) at least one measurable feature for a zero reference point, and (b) a shape that varies throughout one or more angles such that a rotational position of the shaft is determined with a selected angular accuracy. There is also a device that receives a query for the rotational position of the shaft a device that responds to the query. Another aspect involves generating multi-frequency vibrations with a single linear resonant actuator (LRA). This LRA can exhibit a beat pattern in response to being driven by the sum of two different sinusoidal functions.
B06B 1/16 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
G01C 21/20 - Instruments for performing navigational calculations
G01D 5/12 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means
G01D 5/40 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light specially adapted for use with infrared light
G01C 21/36 - Input/output arrangements for on-board computers
G01D 5/14 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
17.
Synchronized array of vibration actuators in an integrated module
The disclosure relates to integrated modules for Synchronized Array of Vibration Actuators (FIG. 125A). The modules provide physical interface, power and communication interfaces. Each module may include vibration actuators (FIG. 123A) which can be precisely attached and aligned to the module housing, a microcontroller or other microprocessor, and one or more sensors for closed loop control of actuators (FIG. 126G). Interleaved pairs of ERMs having a center of mass in the same plane eliminate parasitic torque. A single module can produce a vibration force that rotates at a specific frequency and magnitude, which on its own could cancel out some types of periodic vibrations (FIG. 125B). Two modules paired together and counter-rotating with respect to each other can produce a directional vibration at a specific frequency and magnitude, which could prove even more useful for canceling out a vibration. Such modules are also employed to produce beating patterns (FIGS. 131-133). Both amplitude and frequency of the beating force are variable.
B06B 1/16 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
H02K 7/06 - Means for converting reciprocating motion into rotary motion or vice versa
H02K 33/00 - Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
18.
Synchronized array of vibration actuators in an integrated module
The disclosure relates to integrated modules for Synchronized Array of Vibration Actuators (FIG. 125A). The modules provide physical interface, power and communication interfaces. Each module may include vibration actuators (FIG. 123A) which can be precisely attached and aligned to the module housing, a microcontroller or other microprocessor, and one or more sensors for closed loop control of actuators (FIG. 126G). Interleaved pairs of ERMs having a center of mass in the same plane eliminate parasitic torque. A single module can produce a vibration force that rotates at a specific frequency and magnitude, which on its own could cancel out some types of periodic vibrations (FIG. 125B). Two modules paired together and counter-rotating with respect to each other can produce a directional vibration at a specific frequency and magnitude, which could prove even more useful for canceling out a vibration. Such modules are also employed to produce beating patterns (FIGS. 131-133). Both amplitude and frequency of the beating force are variable.
B06B 1/16 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
H02K 7/06 - Means for converting reciprocating motion into rotary motion or vice versa
19.
Differential haptic guidance for personal navigation
One aspect of the technology involves a system for measuring the rotational position of a rotating shaft, including a field source configured to generate a measurable field, a sensor configured to measure the generated field, and a target that is configured to modify the generated field as measured by the sensor to have a shape with (a) at least one measurable feature for a zero reference point, and (b) a shape that varies throughout one or more angles such that a rotational position of the shaft is determined with a selected angular accuracy. There is also a device that receives a query for the rotational position of the shaft a device that responds to the query. Another aspect involves generating multi-frequency vibrations with a single linear resonant actuator (LRA). This LRA can exhibit a beat pattern in response to being driven by the sum of two different sinusoidal functions.
B06B 1/16 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
G01D 5/12 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means
G01D 5/40 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light specially adapted for use with infrared light
G01C 21/36 - Input/output arrangements for on-board computers
G01C 21/20 - Instruments for performing navigational calculations
The present invention relates to synchronized vibration devices that can provide haptic feedback to a user. A wide variety of actuator types may be employed to provide synchronized vibration, including linear actuators, rotary actuators, rotating eccentric mass actuators, and rocking mass actuators. A controller may send signals to one or more driver circuits for directing operation of the actuators. The controller may provide direction and amplitude control, vibration control, and frequency control to direct the haptic experience. Parameters such as frequency, phase, amplitude, duration, and direction can be programmed or input as different patterns suitable for use in gaming, virtual reality and real-world situations.
The present invention relates to synchronized vibration devices that can provide haptic feedback to a user. A wide variety of actuator types may be employed to provide synchronized vibration, including linear actuators, rotary actuators, rotating eccentric mass actuators, and rocking mass actuators. A controller may send signals to one or more driver circuits for directing operation of the actuators. The controller may provide direction and amplitude control, vibration control, and frequency control to direct the haptic experience. Parameters such as frequency, phase, amplitude, duration, and direction can be programmed or input as different patterns suitable for use in gaming, virtual reality and real-world situations.
The present invention pertains to vibration devices that do not require a rotating mass. In accordance with aspects of the invention, a coil causes a plunger to move linearly. A spring device is coupled to one end of the plunger. Activation of the coil causes the plunger to move in a first direction relative to a body and coil deactivation enables the spring device to move the plunger in an opposite direction relative to the body. Activating the coil at a predetermined frequency causes vibration of the plunger. Vibratory forces are transferred via the spring device and coil onto the body at predetermined locations. Opposing spring devices may be affixed to either end of the plunger. Spring devices may be linear or non-linear. Such spring devices may be used in conjunction with magnetic spring devices. A controller and a driver circuit may be used to control system operation.
H02K 33/02 - Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moved one way by energisation of a single coil system and returned by mechanical force, e.g. by springs
The present invention relates to synchronized vibration devices that can provide haptic feedback to a user. A wide variety of actuator types may be employed to provide synchronized vibration, including linear actuators, rotary actuators, rotating eccentric mass actuators, and rocking mass actuators. A controller may send signals to one or more driver circuits for directing operation of the actuators. The controller may provide direction and amplitude control, vibration control, and frequency control to direct the haptic experience. Parameters such as frequency, phase, amplitude, duration, and direction can be programmed or input as different patterns suitable for use in gaming, virtual reality and real-world situations.
The present invention pertains to vibration devices that do not require a rotating mass. In accordance with aspects of the invention, a coil causes a plunger to move linearly. A spring device is coupled to one end of the plunger. Activation of the coil causes the plunger to move in a first direction relative to a body and coil deactivation enables the spring device to move the plunger in an opposite direction relative to the body. Activating the coil at a predetermined frequency causes vibration of the plunger. Vibratory forces are transferred via the spring device and coil onto the body at predetermined locations. Opposing spring devices may be affixed to either end of the plunger. Spring devices may be linear or non-linear. Such spring devices may be used in conjunction with magnetic spring devices. A controller and a driver circuit may be used to control system operation.
H02K 41/00 - Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
