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 - Procédés ou appareils pour produire des vibrations mécaniques de fréquence infrasonore, sonore ou ultrasonore utilisant l'énergie mécanique fonctionnant avec des systèmes impliquant des masses rotatives non équilibrées
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 - Appareils et instruments scientifiques et électriques
Produits et 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 - Appareils et instruments scientifiques et électriques
Produits et 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 - Appareils et instruments scientifiques et électriques
Produits et 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 - Génération de signaux de retour tactiles via le dispositif d’entrée du jeu, p. ex. retour de force
B06B 1/04 - Procédés ou appareils pour produire des vibrations mécaniques de fréquence infrasonore, sonore ou ultrasonore utilisant l'énergie électrique fonctionnant par électromagnétisme
B06B 1/16 - Procédés ou appareils pour produire des vibrations mécaniques de fréquence infrasonore, sonore ou ultrasonore utilisant l'énergie mécanique fonctionnant avec des systèmes impliquant des masses rotatives non équilibrées
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 - Moteurs avec un aimant, un induit ou un système de bobines à mouvement alternatif, oscillant ou vibrant avec des systèmes de bobines se déplaçant, du fait de mises sous tension intermittentes ou inversées, par interaction avec un système de champ magnétique fixe, p. ex. des aimants permanents
H02K 1/34 - Parties du circuit magnétique à mouvement alternatif, oscillant ou vibrant
H02K 7/00 - Dispositions pour la mise en œuvre d'énergie mécanique associées structurellement aux machines dynamo-électriques, p. ex. association structurelle avec des moteurs mécaniques d'entraînement ou des machines dynamo-électriques auxiliaires
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 - Procédés ou appareils pour produire des vibrations mécaniques de fréquence infrasonore, sonore ou ultrasonore utilisant l'énergie mécanique fonctionnant avec des systèmes impliquant des masses rotatives non équilibrées
B06B 1/04 - Procédés ou appareils pour produire des vibrations mécaniques de fréquence infrasonore, sonore ou ultrasonore utilisant l'énergie électrique fonctionnant par électromagnétisme
G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur
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 - Moyens de transformation d'un mouvement alternatif en un mouvement circulaire ou vice versa
B06B 1/16 - Procédés ou appareils pour produire des vibrations mécaniques de fréquence infrasonore, sonore ou ultrasonore utilisant l'énergie mécanique fonctionnant avec des systèmes impliquant des masses rotatives non équilibrées
H02K 7/00 - Dispositions pour la mise en œuvre d'énergie mécanique associées structurellement aux machines dynamo-électriques, p. ex. association structurelle avec des moteurs mécaniques d'entraînement ou des machines dynamo-électriques auxiliaires
H02K 33/00 - Moteurs avec un aimant, un induit ou un système de bobines à mouvement alternatif, oscillant ou vibrant
13.
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 - Procédés ou appareils pour produire des vibrations mécaniques de fréquence infrasonore, sonore ou ultrasonore utilisant l'énergie mécanique fonctionnant avec des systèmes impliquant des masses rotatives non équilibrées
G01C 21/20 - Instruments pour effectuer des calculs de navigation
G01D 5/12 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques
G01D 5/40 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens optiques, c.-à-d. utilisant de la lumière infrarouge, visible ou ultraviolette spécialement adaptés pour l'utilisation avec rayonnements infrarouges
G01C 21/36 - Dispositions d'entrée/sortie pour des calculateurs embarqués
G01D 5/14 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant la valeur d'un courant ou d'une tension
15.
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 - Procédés ou appareils pour produire des vibrations mécaniques de fréquence infrasonore, sonore ou ultrasonore utilisant l'énergie mécanique fonctionnant avec des systèmes impliquant des masses rotatives non équilibrées
G01D 5/12 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques
G01D 5/40 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens optiques, c.-à-d. utilisant de la lumière infrarouge, visible ou ultraviolette spécialement adaptés pour l'utilisation avec rayonnements infrarouges
G01C 21/36 - Dispositions d'entrée/sortie pour des calculateurs embarqués
G01C 21/20 - Instruments pour effectuer des calculs de navigation
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.
