WO2013134388A4 - Synchronized array of vibration actuators in a network topology - Google Patents

Synchronized array of vibration actuators in a network topology Download PDF

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Publication number
WO2013134388A4
WO2013134388A4 PCT/US2013/029375 US2013029375W WO2013134388A4 WO 2013134388 A4 WO2013134388 A4 WO 2013134388A4 US 2013029375 W US2013029375 W US 2013029375W WO 2013134388 A4 WO2013134388 A4 WO 2013134388A4
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WO
WIPO (PCT)
Prior art keywords
vibration
actuators
vibration device
controller
actuator
Prior art date
Application number
PCT/US2013/029375
Other languages
French (fr)
Other versions
WO2013134388A1 (en
Inventor
Rob MORRIS
John Houston
Nathan Delson
Gabe GRAHAM
Original Assignee
Coactive Drive Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US13/422,453 external-priority patent/US8981682B2/en
Application filed by Coactive Drive Corporation filed Critical Coactive Drive Corporation
Priority to EP13757289.7A priority Critical patent/EP2823377A4/en
Priority to US14/382,976 priority patent/US9459632B2/en
Publication of WO2013134388A1 publication Critical patent/WO2013134388A1/en
Publication of WO2013134388A4 publication Critical patent/WO2013134388A4/en

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/28—Simulation of stick forces or the like
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/25—Output arrangements for video game devices
    • A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/25—Output arrangements for video game devices
    • A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
    • A63F13/285—Generating tactile feedback signals via the game input device, e.g. force feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
    • B06B1/0207—Driving circuits
    • B06B1/0215—Driving circuits for generating pulses, e.g. bursts of oscillations, envelopes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
    • B06B1/04—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/1633—Constructional details or arrangements of portable computers not specific to the type of enclosures covered by groups G06F1/1615 - G06F1/1626
    • G06F1/1684—Constructional details or arrangements related to integrated I/O peripherals not covered by groups G06F1/1635 - G06F1/1675
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B2201/00—Indexing scheme associated with B06B1/0207 for details covered by B06B1/0207 but not provided for in any of its subgroups
    • B06B2201/20—Application to multi-element transducer
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/013—Force feedback applied to a game
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/014—Force feedback applied to GUI
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M19/00—Current supply arrangements for telephone systems
    • H04M19/02—Current supply arrangements for telephone systems providing ringing current or supervisory tones, e.g. dialling tone or busy tone
    • H04M19/04—Current supply arrangements for telephone systems providing ringing current or supervisory tones, e.g. dialling tone or busy tone the ringing-current being generated at the substations
    • H04M19/047—Vibrating means for incoming calls

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Educational Administration (AREA)
  • Business, Economics & Management (AREA)
  • Mechanical Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Educational Technology (AREA)
  • Health & Medical Sciences (AREA)
  • Medicinal Chemistry (AREA)
  • Pulmonology (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Algebra (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Radiology & Medical Imaging (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

The disclosure relates to a Synchronized Array of Vibration Actuators in a Network Topology that provides for synchronized arrays of low-cost, readily available vibration actuators to emulate superlative single actuators and to bring together sets of these emulated high-performance actuators to create a broad range of desired control effects. Such arrays of actuators may operate in both spatial and temporal modes, which can create haptic effects that relate to the user via their position and orientation in space. The spatial mode may create h-pulses or the amplitude of a vibrational effect may change based on the position of the device. And the temporal mode may create vibrational effects that interact with the user to create an awareness of time. Additionally modes include a performance mode, a bandwidth mode, a magnitude mode and a reliability mode. The different control modalities may be combined together into a single vector control space, which spans the haptic capabilities of sets and/or subsets of actuators.

Claims

AMENDED CLAIMS received by the International Bureau on 23 September 2013 (23.09.13)
1. A vibration device, comprising:
a mounting platform;
a plurality of linear resonant actuators attached to the mounting platform, each of the plurality of linear resonant actuators having a moveable mass and an axis of vibration in accordance with a direction of movement of the moveable mass, the axes of vibration of the plurality of actuators being arranged in a substantially parallel configuration; and
a controller coupled to each of the plurality of actuators, the controller being configured to (1) control each actuator to impart a sinusoidal vibration force of a frequency, fx, onto the mounting platform, and (2) control amplitudes and phases of the sinusoidal vibration force from each actuator to generate a combined vibration waveform onto the mounting platform;
the combined vibration waveform emulating a virtual vibration actuator having one or both of the following properties: a faster amplitude response than any one of the plurality of linear resonant actuators, or a larger amplitude response than any one of the plurality of linear resonant actuators for non-resonant frequencies .
2. The vibration device of claim 1, wherein all of the plurality of linear resonant actuators are substantially identical.
3. The vibration device of claim 2, wherein the vibration device is configured for haptic applications.
4. The vibration device of claim 3, wherein the vibration device is further configured to be portable by a person.
5. The vibration device of claim 4, wherein the vibration device is further configured to be worn or held by a person.
6. The vibration device of any one of claims 1-5, wherein the vibration device is further configured to provide haptic output for one of the following devices: a game controller, a motion game controller, a handheld game console, a remote control, a handheld portable computer, a navigation device, a handheld construction tool, a handheld surgical tool, a stylus, a plush toy, a pair of eyeglasses, a wristband, a wristwatch, a belt, an armband, a leg band, a mobile phone, a tablet computer, a device for aiding a vision-impaired person, a device for aiding a hearing- impaired person, and a device for augmenting reality with haptic feedback, a personal pleasure device for providing pleasurable haptic sensations, and a vibration device used for singly or in a pair for conveying telepresence .
7. The vibration device of claim 1, wherein the combined waveform has the larger amplitude response than any one of the linear resonant actuators for non-resonant frequencies, and the virtual vibration actuator has a control sequence that controls the combined waveform to go from zero amplitude to maximum amplitude within one quarter-wavelength.
8. The vibration device of claim 1, wherein the virtual vibration actuator has a larger amplitude response than any one of the plurality of linear resonant actuators for any given sinusoidal driving force frequency not equal to the resonant frequency of any one of the plurality of linear resonant actuators.
9. The vibration device of claim 1, wherein the controller manages the virtual vibration actuator to implement a control sequence that undergoes optimal amplitude response immediately followed by optimal damping.
10. The vibration device of claim 1, wherein the controller manages the virtual vibration actuator to implement a control sequence that exhibits successive -pulses of arbitrary amplitudes.
11. The vibration device of claim 1, wherein the virtual vibration actuator is controlled by the controller to implement a control sequence that undergoes optimal amplitude response followed
154 by constant sinusoidal motion for N>1 half-wavelengths followed by optimal damping, wherein N is an integer value.
12. The vibration device of claim 1, wherein the virtual vibration actuator is controlled by the controller to implement a control sequence that generates a sequence of h-pulses such that successive h-pulses differ in amplitude.
13. The vibration device of claim 12, wherein changes in amplitude have a relationship to at least one of changes in position of the vibration device and changes in orientation of the vibration device.
14. The vibration device of claim 1, wherein the virtual vibration actuator is controlled by the controller to implement a control sequence that exhibits an -pulse of arbitrary width.
15. The vibration device of claim 14, wherein the arbitrary width is determined by a resonant frequency associated with one or more of the plurality of linear resonant actuators.
16. The vibration device of any one of claims 7-15, wherein the virtual vibration actuator is controlled by the controller to exhibit superposition or sequential concatenation of multiple instances of the control sequence.
17. A vibration device, comprising:
a mounting platform;
a plurality of vibration actuators attached to the mounting platform, each of the plurality of vibration actuators having a moveable mass that is constrained to rotate about an axis of vibration and a spring attached to the moveable mass and the mounting platform, wherein each of the vibration actuators is configured to operate as a mechanical harmonic oscillator, and wherein the axes of vibration of the plurality of actuators are arranged in a substantially parallel configuration; and
155 a controller coupled to each of the plurality of actuators, the controller being configured to (1) control each actuator to impart a sinusoidal vibration torque of a frequency, fi, onto the mounting platform, and (2) control amplitudes and phases of the sinusoidal vibration torque from each actuator to generate a combined vibration torque onto the mounting platform;
the combined vibration torque emulating a single virtual vibration actuator having one or both of the following properties: a faster amplitude response than any one of the plurality of actuators, or a larger amplitude response than any one of the plurality of actuators for non-resonant frequencies.
18. The vibration device of claim 17, wherein the plurality of vibration actuators is a first plurality of actuators, and the vibration device further comprises:
a second plurality of vibration actuators attached to the mounting platform, each of the second plurality of vibration actuators having a moveable mass that is constrained to rotate about an axis of vibration and a spring attached to the moveable mass and the mounting platform, wherein each of the second vibration actuators is configured to operate as a mechanical harmonic oscillator, and wherein the axes of vibration of the second plurality of actuators are arranged in a substantially parallel configuration with the first plurality of vibration actuators ,·
wherein the controller is coupled to each of the second plurality of actuators, the controller being configured to (1) control each of the second plurality of actuators to impart the sinusoidal vibration torque of the frequency, f1( onto the mounting platform such that movement of the moveable masses in the second plurality of vibration actuators counter-rotate relative to movement of the moveable masses in the first plurality of vibration actuators, and the controller is configured to (2) control amplitudes and phases of the sinusoidal vibration torque from each actuator of the second plurality to generate a combined vibration force onto the mounting platform that emulates a single virtual vibration actuator.
19. The vibration device of either claim 17 or claim 18, wherein all of the vibration actuators are substantially identical.
20. The vibration device of claim 19, wherein the vibration device is configured for haptic applications.
21. The vibration device of claim 20, wherein the vibration device is further configured to be portable by. a person.
22. The vibration device of claim 21, wherein the vibration device is further configured to be worn or held by a person.
23. The vibration device of either claim 17 or claim 18, wherein the vibration device is further configured to provide haptic output for one of the following devices: a game controller, a motion game controller, a handheld game console, a remote control, a handheld portable computer, a navigation device, a handheld construction tool, a handheld surgical tool, a stylus, a plush toy, a pair of eyeglasses, a wristband, a wristwatch, a belt, an armband, a leg band, a mobile phone, a tablet computer, a device for aiding a vision- impaired person, a device for aiding a hearing- impaired person, and a device for augmenting reality with haptic feedback, a personal pleasure device for providing pleasurable haptic sensations, or a vibration device used for singly or in a pair for conveying telepresence.
24. A vibration device, comprising:
a mounting platform;
a plurality of linear resonant actuators attached to the mounting platform such that the axes of vibration for the actuators are substantially in a parallel configuration, each linear resonant actuator including a moveable mass; and
a controller coupled to each of the linear resonant actuators, the controller being configured to (1) control each one of the linear resonant actuators to impart a sinusoidal vibration force of a frequency, f1# onto the mounting platform, and to (2) control amplitudes and phases of each sinusoidal vibration force to generate a combined vibration waveform onto the mounting platform, the combined vibration waveform emulating a virtual actuator having a maximum amplitude, Ax; and
the virtual vibration actuator having one or both of the following properties: a faster amplitude response than any one of the plurality of linear resonant actuators, or a larger amplitude response than any one of the plurality of linear resonant actuators for non-resonant frequencies.
25. The vibration device of claim 24, wherein the controller is configured to control the combined vibration waveform so that the virtual vibration actuator starts from rest and extends to the maximum amplitude A2 in one quarter-wavelength of motion with no periods of reduced amplitude oscillation prior to maximal extension.
26. The vibration device of claim 24, wherein the controller is configured to control the combined vibration waveform so that the virtual vibration actuator transitions from extension to the amplitude Ai to a rest position in one quarter-wavelength of motion with no periods of reduced amplitude oscillation posterior to maximal extension.
27. The vibration device of claim 24, wherein the controller is configured to control the combined vibration waveform so that the virtual vibration actuator starts from rest, extends to a desired amplitude in one quarter-wavelength of motion and then returns to rest in the next successive quarter-wavelength of motion, with no periods of reduced amplitude oscillation at the onset or offset of the device's motion.
28. The vibration device of claim 27, wherein the virtual vibration actuator is controlled by the controller to start from rest, extend to a selected amplitude in one quarter-wavelength of motion, oscillate about its rest position at the selected amplitude for an integer number of half -wavelengths , and then return to rest
158 in one quarter-wavelength of motion, with no periods of reduced amplitude oscillation at the onset or offset of the vibration device's motion.
29. The vibration device of either claim 27 or claim 28, wherein the controller is configured to generate a successive series of the combined vibration waveforms, wherein each one of the waveforms in the successive series has the same amplitude.
30. The vibration device of either claim 27 or claim 28, wherein the controller is configured to generate a successive series of the combined vibration waveforms, wherein each one of the waveforms in the successive series has a different amplitude.
31. The vibration device of claim 24, wherein the virtual vibration actuator has an oscillation period, T1( which starts from rest, extends to a selected amplitude in one quarter-period of motion, and then returns to rest in the next successive quarter- period of motion, with no oscillations of reduced amplitude at the onset or offset of the vibration device's motion.
32. The vibration device of claim 24, wherein one or both of input forcing functions and output vibration patterns managed by the controller are related to either (1) an absolute spatial position and orientation of the vibration device, or (2) a spatial position and orientation of the vibration device relative to an external object, living entity or location.
33. The vibration device of claim 32, wherein one or both of input forcing functions and output vibration patterns managed by the controller are dynamically determined by the spatial position and orientation of the vibration device relative to an external object, so that the vibration device is configured to guide a user towards or away from the external object, living entity or location.
159
PCT/US2013/029375 2005-06-27 2013-03-06 Synchronized array of vibration actuators in a network topology WO2013134388A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP13757289.7A EP2823377A4 (en) 2012-03-06 2013-03-06 Synchronized array of vibration actuators in a network topology
US14/382,976 US9459632B2 (en) 2005-06-27 2013-03-06 Synchronized array of vibration actuators in a network topology

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201261607092P 2012-03-06 2012-03-06
US61/607,092 2012-03-06
US13/422,453 US8981682B2 (en) 2005-06-27 2012-03-16 Asymmetric and general vibration waveforms from multiple synchronized vibration actuators
US13/422,453 2012-03-16

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Publication Number Publication Date
WO2013134388A1 WO2013134388A1 (en) 2013-09-12
WO2013134388A4 true WO2013134388A4 (en) 2013-11-07

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EP (1) EP2823377A4 (en)
WO (1) WO2013134388A1 (en)

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CN104922899A (en) * 2014-03-19 2015-09-23 意美森公司 Systems and methods for a shared haptic experience
CN107135665A (en) * 2014-09-24 2017-09-05 泰克宣技术有限公司 Produce the system and method for activating plane motion for the damping electromagnetic of audio frequency vibration

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US9936273B2 (en) 2015-01-20 2018-04-03 Taction Technology, Inc. Apparatus and methods for altering the appearance of wearable devices
JP6445921B2 (en) * 2015-04-21 2018-12-26 任天堂株式会社 Vibration signal generation program, vibration signal generation system, vibration signal generation device, vibration signal generation method, and data output program
US10573139B2 (en) 2015-09-16 2020-02-25 Taction Technology, Inc. Tactile transducer with digital signal processing for improved fidelity
WO2017049241A1 (en) 2015-09-16 2017-03-23 Taction Technology Inc. Apparatus and methods for audio-tactile spatialization of sound and perception of bass
CN109416579B (en) 2016-06-27 2021-10-22 普瑞有限公司 Touch sensitive input device with improved haptic generation
EP3409380A1 (en) * 2017-05-31 2018-12-05 Nxp B.V. Acoustic processor
EP3707820A4 (en) * 2017-11-08 2021-08-11 General Vibration Corporation Coherent phase switching and modulation of a linear actuator array
DE102018107939A1 (en) * 2018-04-04 2019-10-10 Novoluto Gmbh Direct stimulation device with improved drive
CN115378303A (en) * 2021-05-20 2022-11-22 荣耀终端有限公司 Method and device for adjusting drive waveform, electronic device and readable storage medium
CN114979909B (en) * 2022-05-31 2023-04-25 歌尔股份有限公司 Driving excitation device and electronic apparatus

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US6864877B2 (en) * 2000-09-28 2005-03-08 Immersion Corporation Directional tactile feedback for haptic feedback interface devices
US7129824B2 (en) * 2003-08-28 2006-10-31 Motorola Inc. Tactile transducers and method of operating
US7742036B2 (en) * 2003-12-22 2010-06-22 Immersion Corporation System and method for controlling haptic devices having multiple operational modes
US8405618B2 (en) * 2006-03-24 2013-03-26 Northwestern University Haptic device with indirect haptic feedback
US8378965B2 (en) * 2007-04-10 2013-02-19 Immersion Corporation Vibration actuator with a unidirectional drive
KR101636565B1 (en) * 2009-05-22 2016-07-05 엘지전자 주식회사 Apparatus for generating vibration and method for controlling vibration thereof

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Publication number Priority date Publication date Assignee Title
CN104922899A (en) * 2014-03-19 2015-09-23 意美森公司 Systems and methods for a shared haptic experience
CN107135665A (en) * 2014-09-24 2017-09-05 泰克宣技术有限公司 Produce the system and method for activating plane motion for the damping electromagnetic of audio frequency vibration
CN107135665B (en) * 2014-09-24 2020-02-18 泰克宣技术有限公司 System and method for generating damped electromagnetically actuated planar motion for audio vibration

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EP2823377A4 (en) 2016-01-06
EP2823377A1 (en) 2015-01-14

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