WO2015023670A1 - Guidage haptique différentiel pour navigation personnelle - Google Patents

Guidage haptique différentiel pour navigation personnelle Download PDF

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Publication number
WO2015023670A1
WO2015023670A1 PCT/US2014/050724 US2014050724W WO2015023670A1 WO 2015023670 A1 WO2015023670 A1 WO 2015023670A1 US 2014050724 W US2014050724 W US 2014050724W WO 2015023670 A1 WO2015023670 A1 WO 2015023670A1
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WO
WIPO (PCT)
Prior art keywords
vibration
actuators
actuator
force
haptic
Prior art date
Application number
PCT/US2014/050724
Other languages
English (en)
Inventor
John Houston
Charles Alexander SIMPKINS JR.
Joel A. MURPHY
Gabe GRAHAM
Rob MORRIS
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
Application filed by Coactive Drive Corporation filed Critical Coactive Drive Corporation
Priority to US14/773,119 priority Critical patent/US9802225B2/en
Publication of WO2015023670A1 publication Critical patent/WO2015023670A1/fr
Priority to US15/714,649 priority patent/US10421100B2/en

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Classifications

    • 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
    • B06B1/10—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy
    • 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
    • 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
    • B06B1/045—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism using vibrating magnet, armature or coil system
    • 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
    • B06B1/10—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy
    • B06B1/16—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
    • B06B1/161—Adjustable systems, i.e. where amplitude or direction of frequency of vibration can be varied
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means 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 converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means 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 converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means 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 converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means 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 converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means 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 converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields

Definitions

  • This inventive disclosure describes multiple inventions and embodiments of those inventions relating to and building upon SAVANT ("Synchronized Array of Vibration Actuators in a Network Topology") architecture.
  • Vibration devices are used in a wide range of applications including haptic displays, haptic interfaces, force feedback devices, vibratory feeders, beauty products, personal hygiene products, personal pleasure products, personal massagers, tree harvesters, and seismic vibrators.
  • Some widely used products that include haptic displays include the DUALSHOCK® 3 wireless controller for Sony Computer Entertainment's PlayStation® 3; the PlayStation® Move motion controller for motion gaming with Sony Computer Entertainment's PlayStation® 3; Microsoft Corporation's Xbox 360 Wireless Speed Wheel; and the Wii RemoteTM Plus controller which is used for motion gaming with the Nintendo Wii.
  • Vibration actuators are typically the smallest and lowest cost method for generating haptic sensations. Therefore, it is advantageous to use vibration actuators to create a wide range of haptic sensations.
  • Common low cost vibration actuators include Eccentric Rotating Mass actuators (ERMs) and Linear Resonant Actuators (LRAs) .
  • ERMs Eccentric Rotating Mass actuators
  • LRAs Linear Resonant Actuators
  • One of the advantages of both ERMs and LRAs is that they can generate relatively large vibration forces from low power input. Both ERMs and LRAs generally build up kinetic energy during their ramp-up period; an ERM does this as the velocity of its rotating mass increases, and an LRA does this as the amplitude of vibration of its moving mass increases.
  • These low cost actuators are used in many applications, including in consumer electronics products such as smartphones and videogame controllers.
  • Game controllers also commonly termed interchangeably as “videogame controllers” or simply “controllers"
  • videogame controllers often incorporate two ERMs within a two-handed device such as the Xbox 360 Wireless Controller or the Xbox 360 Wireless Speed Wheel (both devices from Microsoft) .
  • dual-ERM controllers are configured with one ERM having a large rotating mass and the other ERM having a small rotating mass.
  • a single-handed controller such as the Wii RemoteTM Plus (from Nintendo) will typically have a single ERM to provide vibration feedback to the user.
  • ERM actuators generate centripetal forces that rotate in a plane, and generally the direction of vibration (that is to say, the instantaneous direction of the rotating centripetal force vector) cannot be not sensed in haptic applications due in part to the high rate of change of the direction of vibrations .
  • a centripetal force is applied onto the eccentric mass by the motor shaft, and an equal and opposite centrifugal force is applied onto the motor shaft.
  • centripetal and centrifugal are used with the understanding that these are equal but opposite forces.
  • LRAs vibrate back and forth, and thus it may be possible to sense the axis of vibration, but it is not possible to provide more of a sensation in the forward direction relative to the backward direction or vice versa.
  • haptic applications are often integrated with audio and video displays such as in computer gaming where directions are an integral component of the game, it is desirable to provide a haptic sensation that also corresponds to a direction.
  • vibration actuators to generate a wide range of vibration waveforms including both directional and non-directional waveforms.
  • FIG. 1 is a chart illustrating a number of different waveform types suitable for use with aspects of the present disclosure .
  • FIG. 2 illustrates a pair of vibration profiles having a phase difference.
  • FIG. 3 illustrates a pair of in-phase vibration profiles.
  • FIG. 4 illustrates a linear motion vibration actuator for use with aspects of the present disclosure.
  • FIGS. 5A-B illustrate an example of a linear motion vibration actuator in accordance with aspects of the present disclosure .
  • FIGS. 6A-B illustrate another example of a linear motion vibration actuator in accordance with aspects of the present disclosure .
  • FIGS. 7A-B illustrate a further example of a linear motion vibration actuator in accordance with aspects of the present disclosure .
  • FIGS. 8A-B illustrate yet another example of a linear motion vibration actuator in accordance with aspects of the present disclosure .
  • FIG. 9 illustrates a further example of a linear motion vibration actuator in accordance with aspects of the present disclosure .
  • FIG. 10 illustrates a vibration device in accordance with aspects of the present disclosure.
  • FIG. 11 illustrates the vibration device of FIG. 10 for generating a counterclockwise rotation in accordance with aspects of the present disclosure.
  • FIG. 12 illustrates the vibration device of FIG. 10 for generating a clockwise rotation in accordance with aspects of the present disclosure.
  • FIG. 13 illustrates the vibration device of FIG. 10 for generating a change in the direction of force in accordance with aspects of the present disclosure.
  • FIG. 14 illustrates a vibration device employing non- orthogonal linear actuators in accordance with aspects of the present disclosure.
  • FIG. 15 illustrates a vibration device employing a set of linear actuators for generation of a three dimensional force vector in accordance with aspects of the present disclosure.
  • FIG. 16 illustrates a game controller in accordance with aspects of the present disclosure.
  • FIG. 17 illustrates a vibration device in accordance with aspects of the present disclosure.
  • FIG. 18 illustrates another vibration device in accordance with aspects of the present disclosure.
  • FIG. 19 illustrates a vibration device for generating a combined torque in accordance with aspects of the present disclosure .
  • FIG. 20 illustrates another vibration device for generating a combined torque in accordance with aspects of the present disclosure .
  • FIG. 21 illustrates a rotary vibration actuator with eccentric mass in accordance with aspects of the present disclosure
  • FIG. 22 illustrates a vibration device with a pair of eccentric mass actuators in accordance with aspects of the present disclosure .
  • FIG. 23 illustrates synchronous vibration of eccentric mass actuators in accordance with aspects of the present disclosure.
  • FIGS. 24A-C illustrate a pivoting actuator in accordance with aspects of the present disclosure.
  • FIGS. 25A-C illustrate another pivoting actuator in accordance with aspects of the present disclosure.
  • FIG. 26 illustrates a pivoting actuator utilizing a pair of spring devices in accordance with aspects of the present disclosure
  • FIGS. 27A-F illustrate a further pivoting actuator in accordance with aspects of the present disclosure.
  • FIG. 28 illustrates a synchronized vibration system employing rotary actuators in accordance with aspects of the present disclosure.
  • FIGS. 29A-B illustrate game controllers in accordance with aspects of the present disclosure.
  • FIG. 30 illustrates a rocking actuator in accordance with aspects of the present disclosure.
  • FIG. 31 illustrates a vibration system in accordance with aspects of the present disclosure.
  • FIG. 32 illustrates control of a vibration system in accordance with aspects of the present disclosure.
  • FIG. 33 illustrates control of a vibration system in accordance with aspects of the present disclosure.
  • FIG. 34 illustrates control of a vibration system in accordance with aspects of the present disclosure.
  • FIG. 35 illustrates a vibration system in accordance with aspects of the present disclosure.
  • FIGS. 36A-B illustrate equation parameter and pattern selection processing in accordance with aspects of the present disclosure .
  • FIG. 37 illustrates a haptic interface system in accordance with aspects of the present disclosure.
  • FIG. 38 illustrates another haptic interface system in accordance with aspects of the present disclosure.
  • FIG. 39 illustrates control of vibration profiles in accordance with aspects of the present disclosure.
  • FIG. 40 illustrates a vibration actuator in accordance with aspects of the present disclosure.
  • FIG. 41 illustrates another vibration actuator in accordance with aspects of the present disclosure.
  • FIG. 42 illustrates a vibration device controller in accordance with aspects of the present disclosure.
  • FIG. 43 illustrates a vibration device with two linear resonant actuators for use with aspects of the disclosure.
  • FIG. 44 illustrates superposition of two synchronized sine waves with a phase offset that generates a combined waveform with asymmetry according to aspects of the disclosure.
  • FIG. 45 illustrates time steps within a vibration cycle of two linear resonant actuators generating an asymmetric waveform according to aspects of the disclosure.
  • FIG. 46 illustrates two linear resonant actuators directly attached to one another for use with aspects of the disclosure.
  • FIG. 47 illustrates an alternative example of two linear resonant actuators attached in line with one another for use with aspects of the disclosure.
  • FIG. 48 illustrates a vibration device that uses a slider- crank linkage for use with aspects of the disclosure.
  • FIG. 49 illustrates a vibration device with n LRAs for use with aspects of the disclosure.
  • FIG. 50 illustrates an asymmetric pulse train according to aspects of the disclosure.
  • FIG. 51 illustrates a pulse train with zero DC according to aspects of the disclosure.
  • FIG. 52 is a flow diagram illustrating a process for maximizing asymmetry according to aspects of the disclosure.
  • FIG. 53 illustrates an example of waveform asymmetry according to aspects of the disclosure.
  • FIG. 54 illustrates another example of waveform asymmetry according to aspects of the disclosure.
  • FIG. 55 illustrates a further example of waveform asymmetry according to aspects of the disclosure.
  • FIG. 56 illustrates synchronized triangular waveforms according to aspects of the disclosure.
  • FIG. 57 illustrates a vibration device that can generate asymmetric torques according to aspects of the disclosure.
  • FIG. 58 illustrates a controller for General Synchronized Vibration of a pair of linear force actuators according to aspects of the disclosure.
  • FIG. 59 illustrates a linear force actuator with a sensor that detects when a moving mass passes a midpoint position according to aspects of the disclosure.
  • FIG. 60 illustrates a sensor attached to a mounting platform according to aspects of the disclosure.
  • FIG. 61 illustrates a vibration device controller that uses sensor measurements to update a commanded amplitude, phase and/or frequency according to aspects of the disclosure.
  • FIG. 62 illustrates a vibration device that includes two orthogonal sets of LRAs according to aspects of the disclosure.
  • FIG. 63 illustrates a vibration device that includes two non-orthogonal sets of LRAs according to aspects of the disclosure.
  • FIG. 64 illustrates an ERM for use with aspects of the disclosure .
  • FIG. 65 illustrates a vibration device using an arbitrary number of ERMs according to aspects of the disclosure.
  • FIG. 66 illustrates a vibration device having 4 ERMs for use with aspects of the disclosure.
  • FIG. 67 illustrates time steps within a vibration cycle of ERMs generating an asymmetric waveform according to aspects of the disclosure .
  • FIG. 68 illustrates an example vibration device with a plurality of ERM pairs.
  • FIG. 69 illustrates a vibration device with four vertically stacked ERMs in one example used according to aspects of the disclosure .
  • FIG. 70 illustrates time steps of an asymmetric waveform for a vibration device with four ERMs that are vertically stacked, according to aspects of the disclosure.
  • FIG. 71 illustrates a vibration device with two ERMs that rotate in the same direction.
  • FIG. 72 illustrates a vibration device with four co- rotating pairs of ERMs according to aspects of the disclosure.
  • FIGS. 73A-B illustrate vibration devices with two ERMs mounted in different arrangements according to aspects of the disclosure .
  • FIG. 74 illustrates an eccentric mass configured for use as a reaction wheel according to aspects of the disclosure.
  • FIG. 75 illustrates an ERM pair with interleaved masses according to aspects of the disclosure.
  • FIGS. 76A-B illustrate example configurations having three ERMs for use with aspects of the disclosure.
  • FIG. 77 illustrates another configuration with three ERMs arranged in a row.
  • FIG. 78 illustrates an ERM with a sensor for use with aspects of the disclosure.
  • FIG. 79 illustrates an ERM with a reflective optical sensor for use with aspects of the disclosure.
  • FIG. 80 illustrates an ERM with a line of sight sensor for use with aspects of the disclosure.
  • FIG. 81 illustrates an ERM with a Hall effect sensor for use with aspects of the disclosure.
  • FIG. 82 illustrates a vibration device with four ERMs arranged in a row for use with aspects of the disclosure.
  • FIG. 83 illustrates time steps of a waveform with cancellation of forces according to aspects of the disclosure.
  • FIG. 84 illustrates a vibration device with two pairs of ERMs that share the same center .
  • FIGS. 85A-B illustrate an ERM pair with interleaved masses having varying thickness according to aspects of the disclosure.
  • FIGS. 86A-C illustrate an ERM pair with interleaved masses having support bearing according to aspects of the disclosure.
  • FIG. 87 illustrates haptic feedback within a system having a visual display according to aspects of the disclosure.
  • FIG. 88 illustrates another example of haptic feedback within a system having a visual display according to aspects of the disclosure .
  • FIG. 89 illustrates a vibration device with sensor feedback according to aspects of the disclosure.
  • FIG. 90 illustrates a locomotion device for use with aspects of the disclosure.
  • FIG. 91 is a diagram illustrating six dimensions of a Synchronized Array of Vibration Actuators in a Network Topology ("SAVANT") Control Space in accordance with aspects of the present disclosure .
  • SAVANT Synchronized Array of Vibration Actuators in a Network Topology
  • FIG. 92A illustrates an example of a SAVANT node having a single LRA in accordance with aspects of the present disclosure.
  • FIG. 92B illustrates an example of a SAVANT node having two LRAs arranged in a stack in accordance with aspects of the present disclosure .
  • FIG. 92C illustrates an example of a SAVANT node having three LRAs arranged in a stack in accordance with aspects of the present disclosure.
  • FIG. 92D illustrates an example of a SAVANT node having two LRAs in a compact planar arrangement in accordance with aspects of the present disclosure.
  • FIG. 92E illustrates an example of a SAVANT node having three LRAs in a compact planar arrangement in accordance with aspects of the present disclosure.
  • FIG. 92F illustrates an example of a SAVANT node having three LRAs in a compact arrangement with their axes of vibration spanning three dimensions in accordance with aspects of the present disclosure .
  • FIG. 92G illustrates an example of a SAVANT node having three LRAs in a cube arrangement with their axes of vibration spanning three dimensions in accordance with aspects of the present disclosure .
  • FIG. 92H illustrates an example of a SAVANT node having six LRAs in a cube arrangement with their axes of vibration spanning three dimensions in accordance with aspects of the present disclosure .
  • FIG. 921 illustrates an example of a SAVANT node having twelve LRAs in a cube arrangement with their axes of vibration spanning three dimensions in accordance with aspects of the present disclosure .
  • FIG. 92J illustrates an example of a SAVANT node having four LRAs in a tetrahedral arrangement with their axes of vibration spanning three dimensions in accordance with aspects of the present disclosure .
  • FIG. 93 illustrates an example of a SAVANT node having three LRAs in a triangular planar arrangement in accordance with aspects of the present disclosure.
  • FIG. 94 illustrates an example portable client device incorporating a SAVANT node in accordance with aspects of the present disclosure.
  • FIG. 95 illustrates another example portable client device incorporating a plurality of SAVANT nodes in accordance with aspects of the present disclosure.
  • FIG. 96 illustrates an example of a handheld game controller incorporating one or more SAVANT nodes in accordance with aspects of the present disclosure.
  • FIG. 97 illustrates an h-pulse of a 3-LRA system at an initial point in time in accordance with aspects of the present disclosure .
  • FIG. 98 illustrates an h-pulse of the 3-LRA system at a second point in time in accordance with aspects of the present disclosure .
  • FIG. 99 illustrates an h-pulse of the 3-LRA system at a third point in time in accordance with aspects of the present disclosure .
  • FIG. 100 illustrates an h-pulse of the 3-LRA system at a fourth point in time in accordance with aspects of the present disclosure .
  • FIG. 101 is a chart of an example oscilloscope trace from the measurement of the ramp-up of an LRA from rest, when driven with a 150Hz input signal.
  • FIG. 102 is a graph of a model fitted to 150Hz LRA data in accordance with aspects of the present disclosure.
  • FIG. 103 is a graph of the response times for a 2-LRA system compared with a 1-LRA system in accordance with aspects of the present disclosure.
  • FIG. 104 is a graph of the response times for a 3-LRA system compared with the 2-LRA and 1-LRA systems in accordance with aspects of the present disclosure.
  • FIG. 105 is a graph of the frequency response curves for various systems of 150 Hz LRAs in accordance with aspects of the present disclosure.
  • FIG. 106 represents four snapshot views of the resultant motion for two orthogonal springs driven with the same amplitude and phase in accordance with aspects of the present disclosure.
  • FIG. 107A represents four snapshot views of the resultant motion for two orthogonal springs driven with the same amplitude but out-of-phase by 180° in accordance with aspects of the present disclosure .
  • FIG. 107B represents four snapshot views of the resultant motion for two orthogonal springs producing a linear vibrational effect with a time-varying direction in accordance with aspects of the present disclosure.
  • FIG. 108A represents four snapshot views of the resultant motion for two orthogonal springs driven with the same amplitude but out-of-phase by 90° in accordance with aspects of the present disclosure .
  • FIG. 108B represents four snapshot views of the resultant motion for two orthogonal springs producing a circular vibrational effect with time-varying radius in accordance with aspects of the present disclosure.
  • FIG. 109 represents four snapshot views of the resultant motion for two orthogonal springs driven with different amplitudes and out-of-phase by 90° in accordance with aspects of the present disclosure .
  • FIG. 110A represents four snapshot views of the resultant motion for two orthogonal springs driven with the different amplitudes and out-of-phase by 22.5° in accordance with aspects of the present disclosure.
  • FIG. HOB represents four snapshot views of the resultant motion for two orthogonal springs producing an elliptical vibrational effect with time-varying direction and axes in accordance with aspects of the present disclosure.
  • FIG. Ill is a graph of an example Lissajous curve produced by two orthogonal LRAs in accordance with aspects of the present disclosure .
  • FIG. 112 is a plot of the beat pattern produced by two parallel LRAs driven at 175Hz and 180Hz respectively in accordance with aspects of the present disclosure.
  • FIG. 113 is a plot of the Sawtooth wave approximation in a 5-LRA system.
  • FIG. 114 is a plot of an Asymmetric waveform produced by three 2-LRA systems driven at the first three harmonics of 22.5Hz in accordance with aspects of the present disclosure.
  • FIG. 115 is a plot of an Asymmetric waveform produced by three 2-LRA systems driven at the first three harmonics of 4.5Hz in accordance with aspects of the present disclosure.
  • FIG. 116 is a plot of an h-pulse control effect for a 3-LRA SAVANT in accordance with aspects of the present disclosure.
  • FIG. 117 is a plot of a Scaled h-pulse of a 3-LRA SAVANT in accordance with aspects of the present disclosure.
  • FIG. 118 is a plot of an Amplitude Seeking control effect using a 3-LRA system in accordance with aspects of the present disclosure .
  • FIG. 119 is an example of a Vibrational Gradient produced with a 3-LRA system in accordance with aspects of the present disclosure .
  • FIG. 120 is an example of an Elongated h-pulse created by 150Hz LRAs driven at 25Hz in accordance with aspects of the present disclosure .
  • FIG. 121 is a graph of the response times for 3-LRA, 2-LRA and 1-LRA systems modeled with a resonant frequency of 175Hz in accordance with aspects of the present disclosure.
  • FIG. 122 is a graph illustrating Optimal Braking of a 3-LRA System in accordance with aspects of the present disclosure.
  • FIGS. 123A-C illustrate examples of co-rotating ERMs in accordance with aspects of the present disclosure.
  • FIGS. 123D-F illustrate the effects of parasitic torque in ERMs .
  • FIGS. 124A-B illustrate examples of parasitic torques based on ERM distance and contact point distance.
  • FIGS. 125A-B illustrate interleaved ERMs and the elimination of parasitic effects in accordance with aspects of the disclosure .
  • FIGS. 126A-I illustrate a method of manufacturing interleaved ERMs in accordance with aspects of the disclosure.
  • FIGS. 127A-C illustrate a game controller device.
  • FIGS. 128A-B illustrate interleaved ERMs as manufactured with regard to FIGS. 126A-I.
  • FIGS. 129A and 129B show an embodiment of interleaved ERMs driven by spur gears, in accordance with aspects of the disclosure.
  • FIGS. 130A and 130B show an embodiment of interleaved ERMs driven by bevel gears, in accordance with aspects of the disclosure .
  • FIGS. 131-133 illustrate examples of beating patterns for a pair of co-rotating ERMs with equal eccentricities, in accordance with aspects of the disclosure.
  • FIG. 134 shows a top-level block diagram of an example
  • FIG. 135 shows a traditional ERM with a single sensor for position sensing.
  • FIG. 136 shows four example targets for use in a MOHAWK
  • FIG. 137 shows a possible sensor location for sensing position in the radial direction.
  • FIG. 138 shows a possible sensor location for sensing position in the axial direction.
  • FIG. 139 shows a possible sensor location and magnet location, for use with ferromagnetic target and magnetic sensor.
  • FIG. 140 shows an ERM where the eccentric mass is used as the sensor target .
  • FIG. 141 shows four equal eccentric masses / sensor targets, driven by four motors.
  • FIG. 142 shows three eccentric masses / sensor targets driven by three motors, where the center eccentric mass / target has twice the mass of each of the outer eccentric masses / targets.
  • FIG. 143 shows an exploded view of the system in FIG.
  • FIG. 144 shows a GEMINI module with example MOHAWK position sensing.
  • FIG. 145 establishes the equivalence of a GEMINI module with a SAVANT node.
  • FIG. 146 shows linear arrays of GEMINI modules.
  • FIGS. 147A-B illustrate an example of an assembled GEMINI module without magnets
  • Figures 147C-D illustrate the assembled GEMINI module with magnets .
  • FIG. 148 illustrates a log taper for a target used in accordance with aspects of the disclosure.
  • FIGS. 149A-B illustrate a physical setup of a MOHAWK
  • FIGS. 150A-B illustrate measured Hall sensor values for the physical setup of FIGS. 149A-B.
  • FIG. 151 is a system level diagram of a wearable haptic device with haptic actuators and a differential haptic guidance algorithm in accordance with aspects of the disclosure.
  • FIG. 152 is an example of a wearable haptic device with two mini Gemini Drives.
  • FIG. 153 is an example of a haptic stylus device with a mini Gemini Drive.
  • FIG. 154 is an exploded view and a side view of a mini
  • FIGS. 155A and 155B illustrate various click bursts in accordance with aspects of the disclosure.
  • FIGS. 156A and 156B illustrate various ascending and descending click bursts in accordance with aspects of the disclosure .
  • FIG. 157 illustrates how a person may compare pairs of click bursts across distal actuators in accordance with aspects of the disclosure.
  • FIG. 158 illustrates how a person may compare pairs of click bursts across time in accordance with aspects of the disclosure .
  • FIGS. 159A and 159B illustrate smooth and segmented paths through waypoints in accordance with aspects of the disclosure .
  • FIG. 160 illustrates three haptic gradients in accordance with aspects of the disclosure.
  • FIG. 161 illustrates a vector field for haptic guidance in accordance with aspects of the disclosure.
  • FIG. 162 illustrates a topographic map for haptic guidance in accordance with aspects of the disclosure.
  • an actuator is a device that can generate mechanical motion or force.
  • Actuators can convert a source of energy into mechanical motion or force.
  • the source of energy can be electrical, pneumatic, hydraulic, or another source.
  • Examples of actuators include rotary and linear motors.
  • Examples of electric actuators include DC, AC, and stepper motors.
  • direction includes the orientation of an axis, also referred to as vector direction.
  • a vector aligned with a specific direction can be either in the positive direction along the axis or the negative direction along the axis.
  • the term direction may distinguish between all angles in a circle, such as 0 to 360 degrees.
  • vibration control may distinguish between positive and negative directions along a single axis.
  • the term "controller” is used herein in some situations to reference to game controller, and in other situations to a real-time controller of actuators, such as a microprocessor or an ASIC.
  • the term "General Synchronized Vibration” refers to control of the timing, and in some cases also control of amplitude, of multiple vibration forces, torques, or forces and torques.
  • the sources of these vibration forces and torques can be electromagnetic, electrostatic, magnetic, spring forces, inertial forces such as centripetal forces, piezoelectric, pneumatic, hydraulic, or other force and torque sources.
  • the sources of these vibration forces and torques can include those described in the text "Engineering Haptic Devices: A Beginner's Guide for Engineers” by Thorsten A. Kern, ⁇ 2009 (the entire disclosure of which is hereby expressly incorporated by reference herein) .
  • vibration forces and torques can be generated from separate Vibration Actuators or from actuators that generate multiple force, torques, or forces and torques.
  • General Synchronized Vibration the forces, torques, or forces and torques are vectorially combined so that they generate a combined force, torque, or force and torque onto an object.
  • the vector combination of force and torque vectors is also referred to as superposition.
  • General Synchronized Vibration results in a combined vibration force, a combined vibration torque, or a combined vibration force and vibration torque onto an object.
  • a force applied onto an object can also apply a torque onto that object. Accordingly, the references in this document to force also apply to force and torque unless explicitly described otherwise. [ 0187 ]
  • the usage of the differing term definitions will be governed by the use in the present disclosure.
  • a vibration (or vibratory) actuator can impart repeated forces onto an object. These repeated forces can repeat a similar force profile over time during each repetition. Examples include rotary motors with eccentric masses, and linear actuators which move masses back and forth. These actuators can be DC, AC, stepper, or other types of actuators.
  • a vibration actuator can repeat a similar force profile (waveform) in each cycle, or there can be variations in force profiles between cycles. Variations between cycles can be in amplitude, frequency, phase, and profile shape .
  • the profile (also referred to as a waveform) of a repeated force cycle can be in a sinusoidal shape, triangular wave, a square wave, or other repeated profile as shown in FIG. 1.
  • the frequency of vibration describes how frequently a vibration cycle is repeated.
  • a frequency of vibration, f is defined as the number of vibrations per unit time, and often is given in Hertz whose units are cycles per second.
  • the period of vibration, T is the duration of each cycle in units of time. The mathematical relationship between frequency and period of vibration is given by the following equation:
  • a vibration force, F is in a repeated cycle when
  • One vibration waveform is a sinusoidal waveform, where the vibration force can be given by:
  • F(t) Asin(Qt+(
  • F(t) is force as a function of time.
  • A is the maximum amplitude of force.
  • a vibration actuator may impart repeated forces onto an object. Due to the dynamics of an actuator, a single actuator can impart forces at multiple frequencies at the same time. However, for the purposes of analyzing vibrations and describing vibration devices herein, the primary frequency of an actuator's motion means the frequency having the largest component of kinetic energy in it.
  • the period of vibration can be defined by the time elapsed between the beginning of one vibration cycle and beginning of the next cycle. Thus to identify the period of vibration it is useful to identify the beginning of a cycle.
  • One method for defining the beginning of cycle is to define the beginning of the cycle as the point with maximum amplitude in the profile.
  • FIG. 1 is an amplitude versus time chart 10 showing the vibration profiles of a sine wave 12, a triangle wave 14, an arbitrarily shaped profile 16, and a square wave 18. The period for each of these profiles is designated by T.
  • the sine wave 12, triangle wave 14, and arbitrary profile wave 16 all have a unique point of maximum amplitude during each repeated cycle, and this point of maximum amplitude is used to define the beginning of the cycle.
  • the square wave 18 does not have a unique point of maximum amplitude within a cycle; in such cases a repeated point on the profile can be selected to designate the beginning of the cycle.
  • the point at which the square wave 18 transitions from a low value to a high value is designated at the beginning point of the cycle, and used use to define the period of the repeated profile.
  • any profile that can be represented as repeated cycles can represent a vibration.
  • a frequency of vibration can also be identified when the shape of signal does not consist of exactly repeated profiles. Variations in amplitude of the cycle and small changes in the shape of a cycles profile still allow one to identify a unique point that designates the beginning of the cycle. As long as a repeated point in the profile can be identified, then the beginning of each cycle, a vibration period, and vibration frequency can be determined.
  • the phase of vibration defines the timing of the beginning of a cycle of vibration.
  • a phase difference between two vibration waveforms is defined as the difference between the beginning of a vibration cycle in one waveform and the beginning of a vibration cycle in the other waveform. If there is a nonzero difference in the phase of vibration between two profiles, then the beginning of the cycles do not coincide in time.
  • FIG. 2 is an amplitude versus time chart 20 showing two vibration profiles, 22 and 24, with a phase difference ⁇ between them.
  • the phase difference ⁇ can be given in units of time, such as shown in FIG. 2. Alternatively, the phase of vibration can also be given in radians for sinusoidal vibrations. When the phase difference ⁇ between two waveforms is zero, then the two waveforms are considered to be in-phase, as shown in the amplitude versus time chart 30 of FIG. 3.
  • synchronized vibration is a vibration force formed by the superposition of two or more vibration waveforms where each of the waveforms include peaks that coincide in time with the peaks of the other waveforms on a regularly repeating basis.
  • each of the waveforms would have the same frequency and a specified phase difference between them.
  • Superposition can preferably be the vector sum of forces, torque, or forces and torque.
  • the sources of these vibration waveforms are different vibration actuators.
  • the waveforms have a zero phase difference between them, and thus the vibration waveforms are in-phase and in synchronous vibration.
  • specified phase difference may range between and including 0° and 360°.
  • the specified phase difference is 0° or 180°.
  • the various vibration waveforms can have different amplitudes.
  • FIG. 3 illustrates two vibration waveforms of triangular profile that are synchronized. Both of these waveforms have the same frequency, they have different amplitudes, and the waveforms are in-phase. The maximum amplitude of both waveforms in FIG. 3 occurs at the same time.
  • synchronized vibration profiles will have similar shaped profiles.
  • vibration actuators with different shaped vibration profiles can also be vibrated synchronously by matching frequency of vibration and specifying the phase difference between the waveforms. The matching of phase and frequency of vibration can be done approximately and still result in synchronized vibration.
  • Synchronized vibration can be generated by adding two vibration profiles together, where the amplitude of the second vibration profile is a multiple of the amplitude of the first vibration profile. This multiplying factor can be either positive or negative .
  • FIG. 4 An exemplary linear motion vibration actuator 100 is shown in FIG. 4.
  • the linear motion vibration actuator 100 contains a moving mass 102 and a base 104.
  • the moving mass 102 moves relative to the base 104 in a back and forth linear motion.
  • Force can be applied from the base 104 to the moving mass 102 and in a similar fashion from the moving mass 102 onto the base 104.
  • the force transfer can occur, for instance, via magnetic forces, spring forces, and/or lead screw forces.
  • Examples of linear actuators suitable for use in accordance with the present disclosure are described in U.S. Patent Nos . 5,136,194 and 6,236,125, and in U.S. Patent Application No.
  • the forces in the linear motion vibration actuator 100 may be magnetic forces, such as with a voice coil.
  • the moving mass 102 may contain, for instance, a permanent magnet, electromagnet, ferromagnetic material, or any combination of these.
  • the base 104 may contain, for instance, a permanent magnet, an electromagnet, ferromagnetic material, or any combination of these. Magnetic forces may be generated between base 104 and the moving magnet that generate acceleration and motion of the moving mass 104.
  • a force in the linear motion vibration actuator 100 generated with an electromagnet can be modulated by controlling the current flowing through the electromagnet.
  • FIGS. 5A-B One embodiment of linear motion vibration actuator 100 in accordance with the present disclosure is shown in FIGS. 5A-B as linear motion vibration actuator 110.
  • Actuator 110 preferably contains a moving mass 112 that comprises an electromagnet, as well as a permanent magnet 116 attached to the base 114.
  • the motion of the moving mass 112 is along the x axis as shown in the side view in FIG. 5A.
  • the magnetization polarity of the permanent magnet 116 is along the x axis as shown by the North and South poles on the permanent magnet 116.
  • the electromagnet is preferably configured as a coil wound about the x axis. As shown in the end view of FIG.
  • the shape of the electromagnet is desirably cylindrical and the shape of the permanent magnet 116 is desirably tubular, although the electromagnet and the permanent magnet 116 may have any other configuration.
  • both the electromagnet and the permanent magnet 116 may have ferromagnetic material placed adjacent to them to increase the force output of the actuator 110.
  • the force in the actuator 110 can be modulated by controlling the current in the electromagnet. When the current in the electromagnet flows in one direction, then the magnetic force will push the moving mass 112 towards one side of the actuator. Conversely when the current in the electromagnet flows in the other direction, then the moving mass 112 will be pushed to the other side of the actuator 110. Increasing the amount of current in the electromagnet will increase the amount of force applied onto the moving mass 112.
  • linear motion vibration actuator 120 preferably contains a moving mass 122 that comprises a permanent magnet, as well as an electromagnet magnet 126 attached to base 124.
  • the motion of the moving mass 122 is along the x axis as shown in the side view in FIG. 6A.
  • the magnetization polarity of the permanent magnet is along the x axis as shown by the North and South poles on the permanent magnet.
  • the electromagnet 126 is preferably a coil wound about the x axis.
  • the shape of the electromagnet 124 is tubular and the shape of the permanent magnet is cylindrical.
  • both the electromagnet 124 and the permanent magnet of the moving mass 122 may have ferromagnetic material placed adjacent to them to increase the force output of the actuator 120.
  • the force in the actuator 120 can be modulated by controlling the current in the electromagnet 124. When the current in the electromagnet 124 flows in one direction, then the magnetic force will push the moving mass 122 towards one side of the actuator 120. Conversely when the current in the electromagnet flows in the other direction, then the moving mass 122 will be pushed to the other side of the actuator 120. Increasing the amount of current in the electromagnet will increase the amount of force applied onto the moving mass 122.
  • FIGS. 7A-B Another embodiment of the linear motion vibration actuator 100 in accordance with aspects of the present disclosure is shown in FIGS. 7A-B, which is similar to the embodiment shown in FIGS. 6A-B .
  • actuator 130 includes a moving mass 132 and a base 134.
  • the moving mass 132 preferably comprises a permanent magnet.
  • An electromagnet 136 at least partly surrounds the moving mass 132.
  • the electromagnet 136 is desirably connected to the base 134.
  • the actuator 130 in this embodiment preferably includes one or more springs 138 that are attached to the base 134 and to the moving magnet 132 at either end, as shown in the side view of FIG. 7A.
  • the springs 138 are operable to generate forces in a direction that returns the moving mass 132 to a center position, for instance midway between either end of the electromagnet 136.
  • the springs 138 function to keep the moving mass 132 close to the center position when the actuator power is off, and to provide a restoring force when the moving mass 132 is at one end of travel of the actuator 130.
  • the stiffness of the springs 138 can be selected so that the natural frequency of the actuator 130 increases the amplitude of vibration at desired natural frequencies.
  • This spring effect can be generated from a single spring, from a nonlinear spring, from extension springs, as well as compression springs. A number of such spring configurations which may be employed with the present disclosure are described in the aforementioned U.S. Patent Application No. 11/325,036.
  • FIGS. 8A-B Another embodiment of the linear motion vibration actuator 100 according to aspects of the present disclosure is shown in FIGS. 8A-B .
  • This embodiment is similar to the embodiments shown in FIGS. 6A-B and 7-B in that actuator 140 includes a moving mass 142 including a permanent magnet, a base 144, and an electromagnet 146 coupled to the base 144 and at least partly surrounding the moving mass 142.
  • the electromagnet 146 may be, e.g., rigidly or semi- rigidly coupled such that a vibration force is transmitted from the actuator 140 to the base 144, for instance to enable a user to perceive the vibration force.
  • a pair of permanent magnets 148 is attached to the base and are in operative relation to the moving magnet 142 at either end as shown in the side view of FIG. 8A.
  • the permanent magnets 148 have poles, as shown by the N and S in FIG. 8A, which are configured to repel the moving mass 142 and to generate forces in a direction that returns the moving mass 142 to a center position.
  • the permanent magnets 148 function to keep the moving mass 142 close to a center position when the actuator power is off, and to provide a restoring force when the moving mass 142 is at one end of travel of the actuator 140.
  • the size of the permanent magnets 148 attached to the base 144 can be selected so that the natural frequency of the actuator 140 increases the amplitude of vibration at desired natural frequencies.
  • the actuator 140 may be controlled so that one or more natural frequencies are selected during different modes or times of operation.
  • Use of repulsive magnetic forces as shown in FIG. 8A to generate centering forces on the moving permanent magnet of the moving mass 142 can provide lower friction than use of springs 138 as shown in FIG. 7A, and thus can generate increased actuator efficiency and smoothness.
  • a number of configurations showing use of permanent magnets to center a moving mass, which are suitable for use in the present disclosure, are described in the aforementioned "Vibration Device" patent application.
  • linear motion vibration actuators that may also be utilized with the present disclosure include both springs and magnets, either alone or in combination, that return a moving mass towards the center of range of motion of the actuator.
  • FIG. 9 A further alternative embodiment of the linear motion vibration actuator 100 in accordance with the present disclosure is shown in FIG. 9.
  • This embodiment comprises actuator 150, which is similar to a solenoid in that it has a ferromagnetic moving plunger 152 for moving relative to a base 154.
  • the plunger 152 is pulled into an electromagnetic coil 156 when current flows through the coil 156.
  • the coil 156 is coupled to the base 154.
  • a ferromagnetic end piece 158 can be located within or at the end of the coil 156 to increase the force output of the actuator 150.
  • a spring device 160 may be positioned opposite the end piece 158. The spring device 160 is preferably employed to retract the plunger 152 out of the coil 156. As shown in FIG.
  • both an end of the coil 156 and an end of the spring 160 are desirably fixed to the base 154 of the actuator 150.
  • the coil 156 and the spring 160 may be fixed to a single base at different sections thereon, or may be fixed to separate base elements that are coupled together.
  • the current in the coil 156 can be turned on and off to generate a vibration force.
  • the vibration device 200 preferably includes two linear motion vibration actuators mounted on to it, namely actuator 202 and actuator 204.
  • the actuator 202 includes a moving mass 206 and the actuator 204 includes a moving mass 208.
  • the vibration actuators 202, 204 are attached to the vibration device 200 in a manner that transmits the force from the vibration actuators 202, 204 to the vibration device 200.
  • the vibration device 200 has an enclosure or base (not shown) to which the vibration actuators 202, 204 are connected.
  • the vibration actuators 202, 204 are desirably attached in a relatively rigid fashion to the vibration device enclosure or base. Rigid attachment provides a common base to the vibration device 200, upon which forces from both vibration actuators 202, 204 are applied.
  • the two actuators 202, 204 are mounted at approximately right angles to each other.
  • the force generated by actuator 202 is shown as force vector Fl, and the force vector from actuator 204 is shown as F2.
  • vectors and matrices are designated by bold font and scalars are designated without bolding.
  • the combined force generated by the vibration device 200 is the vector sum of the vibration forces from both of the actuators 202, 204, and is shown in FIG. 10 as vector Fcombined.
  • the combined force, Fcombined, applied by the vibration actuators 202 and 204 onto the vibration device 200 is a superposition of the vibration forces from each actuator, and is a function of time, t.
  • the force vector can Fcombined (t) is given by the vector equation:
  • a x and A 2 are the respective amplitudes of vibration
  • ai and a 2 are the unit vectors corresponding to the respective directions of vibration
  • coi and ⁇ 2 are the respective frequencies of vibration
  • ⁇ ⁇ and ⁇ 2 are the respective phase angles
  • t is time.
  • Other profile vibrations including square waves, triangle waves, and other profiles can also be implemented with each actuator .
  • actuator 202 is aligned with the y axis, and thus the unit vector ai is represented by:
  • the combined force vector, F combined is given by the superposition of forces form the actuators 202 and 204, and thus is given by:
  • ⁇ combined (t) aiAiSin ( coit+ ⁇ ) + a 2 A 2 sin ( ⁇ + ⁇ 2 ) (10)
  • the vibration device With such in-phase and synchronous vibration the vibration is synchronized, then the peak forces from both linear motion vibration actuators will occur at the same instances during each cycle of vibration.
  • the net direction of vibration force is the vector combination of [aiAi + a 2 A 2 ] .
  • the vibration device in synchronized vibration and in-phase vibration, the vibration device generates a vibration force at a specified frequency in a specified direction that results from the vector combination of forces from the direction and magnitude of each of the actuators in the device. It is possible to control the magnitude of vibration in each linear motion vibration actuator, and thereby control the net direction of vibration of F combined .
  • the vibration frequency, ⁇ , phase ⁇ , and waveform of each actuator are substantially identical.
  • ⁇ 2 may be set to be substantially equal to coi and ⁇ 2 may be set to be substantially equal to ⁇ .
  • ⁇ 2 may be set to within 10 % of the value of coi , more preferably to within 5% of the value of coi .
  • ⁇ 2 may be set to within 10 % of the value of coi , more preferably to within 5 % of the value of ⁇ .
  • the frequencies and/or phases may be set exactly equal to one another.
  • the frequencies, phases, and/or waveforms of each actuator may be set so that a user would not be able to notice the difference in frequency, phase or waveform.
  • the vibration device is used in a haptic application to generate force sensations on the user, small variations may occur which may not be detected by the user or which cannot be significantly felt by the user.
  • force sensations in a haptic application or in a vibratory feeder application may vary minutely so that user performance in the haptic application or performance of the vibratory feeder is not significantly changed.
  • Equation 11 It is also possible to apply equation 11 to a vibration profile/waveform of arbitrary shape.
  • waveform p(t) may be used to represent the waveform shape over time t.
  • an arbitrarily shaped synchronized vibration profile may be represented as :
  • TM combined (t) [aiA ! (t) + a 2 A 2 (t)]p(t) (11.2)
  • both actuator 202 and actuator 204 are desirably vibrated at the same amplitude, and the corresponding F combined is at approximately a 45 degree angle between the actuators 202, 204.
  • the actuator 202 is vibrating at peak amplitude as illustrated by the peak position of moving mass 206 at the end of travel limits of actuator 202.
  • actuator 204 is vibrating at a lower peak amplitude, as illustrated by the peak position of moving mass 208 closer to the middle of travel limits of actuator 204.
  • the lower peak force is also illustrated in FIG. 11 by the shorter length vector for F 2 .
  • the direction of the combined force, F combined is the result of vector addition of F x and F 2 , and for vibrations illustrated in FIG.
  • the direction of combined force can be rotated in the clockwise direction as shown in FIG. 12.
  • the vibration case illustrated in FIG. 12 shows the peak amplitude of vibration of actuator 202 reduced relative to that shown in FIG. 10, while the peak amplitude of actuator 204 remains high.
  • the vector addition of F 1 and F 2 results in a clockwise rotation of F combined in FIG. 12 relative to the direction shown in FIG. 10.
  • vibration device 210 includes a first actuator 212 and a second actuator 214, having respective moving masses 216 and 218.
  • FIG. 14 represents a two dimensional embodiment where two linear motion vibration actuators 212, 214 are aligned with an xy plane. In this embodiment, it is not necessary for the actuators 212, 214 to be orthogonal to each other.
  • Al and A2 are respectively the amplitudes of vibration of actuators 212 and 214, while al and a2 are respectively the unit vectors specifying the direction of vibration of actuators 212 and 214.
  • angle ⁇ describes the orientation of actuator 2 relative to the x axis as shown in FIG. 14.
  • a matrix of actuator directions, D L can be created where each of its columns is a unit vector that corresponds to the direction of vibration of a linear motion vibration actuator in a vibration device.
  • the matrix D L is given by:
  • a 1 and A 2 are scalars.
  • the vectors ai and a 2 will be 2x1 vectors and the matrix D L will be 2x2.
  • D L In not invertible because there are more vibration actuators than directions of force being controlled, then a pseudo inverse of matrix D L can be used. For example, if there are 3 vibration actuators in the xy plane, and the control objective is only to control a two dimensional force, the D L matrix is given by:
  • Equation 25 provides the scalar magnitude of A x and A 2 .
  • vibration waveform can be generated directly using the results of Eq. Avec.
  • the waveform can be generated using absolute values of and A 2 but with one waveform completely out of phase with the other waveform.
  • a sine wave is defined to be completely out of phase when it is 180 degrees out of phase.
  • General waveforms are defined to be completely out of phase when the maximum positive amplitude of vibration of one waveform concedes with the maximum negative amplitude of the other waveform.
  • a depiction of two actuators vibrating completely out of phase is shown in FIG. 13. Two actuators vibrating completely out of phase are also considered to be in synchronized vibration.
  • the vector F combined can be given by:
  • Another configuration according to aspects of the present disclosure is a three dimensional configuration, where there are at least 3 linear motion vibration actuators as shown in FIG. 15.
  • actuators 222, 224 and 226 each include a moving mass 228, 230 and 232, respectively.
  • the actuators 222, 224 and 226 are preferably orthogonal to each other and aligned with an xyz coordinate system.
  • the actuators are not necessarily orthogonal to each other; yet the force vectors of the actuators span the three dimensional vector space.
  • an arbitrary direction of three dimensional force can be generated.
  • the combined direction of vibration can be specified by the 3x1 unit vector, a coin i n ed-
  • the three dimensional combined force can be given by the same equations for the 2 dimensional case, as shown below
  • Vibration devices may include an arbitrary number of actuators in arbitrary locations and orientations .
  • FIG. 16 illustrates a vibration device 240 having a pair of actuators 242 and 244.
  • the actuators 242 and 244 include moving masses 246 and 248, respectively.
  • vibration device housing 250 is configured as a hand held game controller for computer or video games.
  • Linear motion vibration actuator 242 is shown as being located in the left handle and linear motion vibration actuator 244 is shown as being located in the right handle.
  • the actuators 242 and 244 need not be orthogonal, and need not be in the same plane .
  • vibration device 260 includes a first linear motion vibration actuator 262 and a second linear motion vibration actuator 264. As shown, the actuators 262, 264 are located on top of each other. An advantage of such a configuration is that the actuators 262, 264 create little torque about the center of the vibration device 260, which may be desirable in some vibration applications.
  • FIG. 18 illustrates a game controller 270 having two linear actuators, 272 and 274 disposed perpendicular to each other.
  • the actuators 272 and 274 are preferably rigidly mounted to case 276 of a game controller.
  • the actuators 272 and 274 could be mounted in a plane of any angle; however, they are preferably mounted in a horizontal plane of the case 276.
  • the actuators 272 and 274 do not have to be located one on top of the other; rather they can be attached to the same rigid body, such as the case 276 of a game controller.
  • actuators may be attached to the case 276, preferably at right angles to each other to create force vectors than span the three dimensional space of the case 276.
  • the actuators do not have to be at right angles to each other.
  • the actuators are positioned relative to one another with different orientations.
  • vibration device 280 includes two linear motion vibration actuators, 282 and 284, which are aligned in their orientation but separated by a distance D.
  • Actuator 282 includes moving mass 286 and actuator 284 includes moving mass 288.
  • the actuators 282, 284 may be vibrated such that the moving mass 286 in actuator 282 is at a negative extreme along the y axis when the moving mass 288 in actuator 284 has a positive extreme along the y axis. In this fashion the two actuators 282, 284 generate a combined torque when vibrated in a synchronous fashion.
  • FIG. 19 A further embodiment of a vibration device according to the present disclosure is shown in FIG. 19.
  • vibration device 280 includes two linear motion vibration actuators, 282 and 284, which are aligned in their orientation but separated by a distance D.
  • Actuator 282 includes moving mass 286
  • actuator 284 includes moving mass 288.
  • the actuators 282, 284 may be vibrated such that the moving mass 286 in actuator 282 is at a negative extreme along
  • FIG. 19 could be operated, in one example, such that the moving masses 286 and 288 move in the same direction when synchronized, and thereby generate a combined force along the y axis. In this fashion the configuration shown in FIG. 19 could be used to generate a combined torque, a combined force, or a combination of force and torque.
  • FIG. 20 An alternative embodiment of a vibration device 290 in accordance with aspects of the present disclosure is shown in FIG. 20.
  • three linear motion vibration actuators 292, 294 and 296, each having a moving mass, are orientated on an xy plane.
  • the combined torque and force are superpositions of the forces and torques generated by each actuator. Since there are three actuators that can be controlled independently, the components of the force along the x axis, the force along the y axis, and the torque about a selected point on the xy plane can all be modulated independently.
  • the vibration actuators may be attached to the vibration device in a rigid, a semi-rigid or a non-rigid fashion. Even when vibration actuators are attached in a non-rigid fashion to a vibration device, the vibration device is operable to transmit the superposition of forces from all vibration actuators. When vibration actuators are attached in a rigid fashion to a vibration device, the combined force applied by the vibration device becomes less dependent on the location where the vibration device transmits force and torques to other bodies. In addition, the more rigid the attachment between the vibration actuators and the vibration device, the more uniform the timing of the force superposition becomes at all points of the vibration device.
  • Vibration devices in accordance with the present disclosure can be built with rotary vibration actuators as well as with linear motion vibration actuators.
  • the cost to manufacture rotary vibration actuators is less than the cost to manufacture linear motion vibration actuators.
  • a rotary vibration actuator may comprise, for example, a DC motor, a rotary solenoid, a rotary stepper motor, a servo motor, or other type of rotary actuator.
  • a DC motor a DC motor
  • a rotary solenoid a rotary stepper motor
  • a servo motor a servo motor
  • One advantage of rotary actuators is their relatively low cost.
  • the servo motor uses a position sensor and/or a velocity sensor for feedback. In some situations the rotary stepper motor may be more desirable because it allows for control of position and velocity without the use of a sensor.
  • FIG. 21 shows a rotary vibration actuator 300 suitable for use with the present disclosure.
  • the actuator 300 includes an eccentric mass 302 coupled to a rotary actuator 304 along a shaft 306. As the rotary actuator 304 is rotated, a centrifugal force is generated in the radial direction aligned with the eccentric mass 302 as shown by the vector CF in FIG. 21.
  • a pair of rotary vibration actuators can be configured to achieve a vibration force that is aligned with a single direction of motion. Accordingly, a pair of such rotary actuators can be used when a vibration force in a specified direction is required.
  • a vibration device can be built, by way of example only, with two rotary vibration actuators that rotate in opposite directions, as shown in FIG. 22.
  • the vibration device 310 includes a pair of rotary vibration actuators 312 and 314, each having an eccentric mass 316 and 318, respectively.
  • Actuator 312 preferably rotates clockwise, and actuator 314 preferably rotates counterclockwise. In the orientation shown the centrifugal force vectors from both actuators are aligned with the y axis and superimpose to create a combined force vector, CVF, in the y direction.
  • rotary vibration actuators it is possible to create synchronized vibration in an analogous fashion to the synchronized vibration described with linear motion vibration actuators.
  • synchronized vibration is defined to occur where two rotary actuators rotate in approximately the same plane at the same angular velocity in opposite directions, and where the relative angle between the actuators is controlled, such that the actuator centrifugal force vectors align repeatedly in the direction of desired vibration force.
  • the direction of vibration force can be controlled with a pair of rotary (or rocking) vibration actuators by controlling the angle at which the centrifugal force vectors become aligned. Therefore, it is possible to control the direction of combined force with rotary actuators in a fashion analogous to how the direction of combined force can be controlled with multiple linear vibration actuators.
  • FIG. 23 shows the embodiment of two rotary vibration actuators as described with respect to FIG. 22, wherein the actuators are controlled in synchronized vibration for a number of positions.
  • the combined force vector, CFV remains in the y axis, and its magnitude changes according to the rotary position of the actuators.
  • the maximum combined force vector occurs when the centrifugal force from both rotary actuators are aligned.
  • FIGS. 24A-C illustrate respective front, side and bottom views of an exemplary pivoting actuator 400, which includes a mass 402 operable to pivot relative to a rotary actuator 404.
  • the mass 402 is connected to the rotary actuator 404 via a shaft 406.
  • the center of mass of the mass 402 can be located anywhere on the body of the mass 402. Thus, the center of mass may be concentric with the axis of rotation, or eccentric to the axis of rotation.
  • the pivoting actuator 400 may be configured to function in a manner similar to the rotary vibration actuators discussed above.
  • the rotary actuator 404 may be affixed to a support 408, which, in turn, may connect to another object (not shown) .
  • a spring device 410 couples the pivoting mass 402 to a support 412, which may be the same or a different support than the support 408.
  • FIG. 25A illustrates the pivoting actuator 400 when the spring device 410 is in a rest state when the pivoting mass 402 is in a central position.
  • the mass 402 may pivot in either a clockwise or counterclockwise manner.
  • FIG. 25B illustrates counterclockwise operation.
  • the spring device 410 is in a compressed state.
  • the spring device 410 is under a compression force that is primarily linear and is applied toward the right hand side of the figure.
  • FIG. 25C illustrates clockwise operation of the mass 402.
  • the spring device 410 is in an uncompressed state in response to a force that is primarily linear and is applied toward the left hand side of the figure.
  • Vibration forces and/or torques can be generated with the pivoting actuator 400 as shown in FIGS. 25A-C.
  • the pivoting actuator 400 can be activated to pivot the pivoting mass 402 first clockwise and then counterclockwise, or vice versa.
  • the spring device 410 generates a vibration force, a torque, or both a vibration force and torque onto the object to which it is affixed via the support 408.
  • the pivoting mass 402 has a center of mass concentric with the axis of rotation
  • the pivoting mass 402 can be used to generate a vibration torque.
  • the pivoting mass 402 has a center of mass eccentric with the axis of rotation
  • the pivoting mass 402 can be used to generate a vibration force.
  • Vibration forces and/or torques can be generated by moving a mass back and forth. It is possible to define the beginning of a vibration waveform as an instance at which a mass reverses its direction of motion.
  • the reversal of direction is a reversal of translation.
  • the reversal of direction is a reversal of rotation.
  • the reversal of motion of a mass in an actuator may include both translation and rotation.
  • An alternative method for generating vibration would be to operate the pivoting actuator 400 in a clockwise (or counterclockwise) direction and then deactivate the pivoting actuator 400 while allowing the spring device 410 to rotate the pivoting mass 402 in the counterclockwise (or clockwise) direction. This approach would allow one to use pivoting actuators and control circuitry that only operates in a single direction.
  • FIG. 26 illustrates a variation of the pivoting actuator 400, namely pivoting actuator 400', which desirably includes the pivoting mass 402 operable to pivot relative to the rotary actuator 404, and which is connected thereto via the shaft 406.
  • the rotary actuator 404 may be affixed to the support 408, which, in turn, may connect to another object (not shown) .
  • a first spring device 410a couples the pivoting mass 402 to a first support 412a
  • a second spring device 410b also couples the pivoting mass 402 to a second support 412b.
  • the supports 412a and 412b may be a single support, separate supports that are physically connected, or physically disconnected supports.
  • One or both of the supports 412a, b may be the same or a different support than the support 408.
  • the pivoting actuator 400 may essentially include a stator and a rotor.
  • the stator may be stationary and desirably contains permanent magnets and/or electromagnets.
  • the rotor is operable to pivot and can contain permanent magnets and/or electromagnets.
  • the polarity of the magnets in the stator and rotor can be configured so that activation of the electromagnets causes an electromagnetic torque to be exerted onto the rotating mass 402.
  • the spring device 410 is configured to operate in a generally linear fashion.
  • the embodiments shown in FIGS. 25A-C have both a mass and a spring, and thus have a resonant frequency. If the actuator is excited at or close to this resonant frequency large amplitude vibrations can build up. However, it can be desirable to operate the vibration device at a range of frequencies. It is possible for a device to have a variable resonant frequency with use of nonlinear spring forces, as discussed in the aforementioned "Vibration Device" patent application. Accordingly, one could use a nonlinear spring in the vibration device to achieve larger amplitude of vibration over a range of frequencies.
  • pivoting actuator 420 has a mass 422 operable to pivot relative to a rotary actuator 424.
  • the mass 422 is connected to the rotary actuator 424 via a shaft 426.
  • the rotary actuator 424 may be affixed to a support 427, which, in turn, may connect to another object (not shown) .
  • a spring device 428 couples the pivoting mass 422 to a support 427', which may be the same or a different support than the support 427.
  • the spring device 428 is desirably placed in-line with the pivoting mass axis.
  • the pivoting mass 422 is rotated a small amount about the center position very little lengthening occurs in the spring device 428. Accordingly, the effective spring constant is low and the resonant frequency is low.
  • Low frequency operation is desirable in some situations, for instance in games that have low frequency effects.
  • games may generate actions or events in the sub-200 Hertz range, such as between 15 and 150 Hertz.
  • the actions or events may be as low as 20-50 Hertz or lower, such as about 10-20 Hertz.
  • Examples of such actions/events include gunshots, automobile related sounds such as a car spinning out of control, and helicopter related sounds such as the whirring of the rotor blades.
  • Eccentric mass actuators may not be suitable to generate a haptic sensation in this frequency range, but pivoting actuators or linear actuators may generate such frequencies.
  • FIG. 27D illustrates a rotating actuator 430 having a rotating mass 432 coupled to rotary actuator 434 via shaft 436.
  • the rotary actuator 434 is desirably coupled to a support 437, which, in turn, may connect to another object (not shown) .
  • a spring device such as a torsion spring 438 is attached between the rotating mass 432 and the rotary actuator 434.
  • one end or tang 439a of the torsion spring 438 is attached to the rotating mass 432, and the other end or tang 439b is attached to the support 437 (or, alternatively, to the rotary actuator 434 itself) .
  • Torsion spring 438 may be employed because such spring devices permit a large degree of rotation of the rotating mass 432 relative to the rotary actuator 434 and the support 437.
  • FIGS. 27E and 27F illustrate a further rotating actuator, namely rotating actuator 440.
  • the rotating actuator 440 includes a rotating mass 442 having a slot 443 therein, a rotary actuator 444, and a shaft 446 coupling the rotating mass 442 to the rotary actuator 444.
  • the rotary actuator 444 is desirably coupled to a support 447, which, in turn, may connect to another object (not shown) .
  • a pin 445 is held within the slot 443.
  • a spring device 448 is coupled at one end or tang 449a to the pin 445.
  • the spring device 448 is coupled at the other end or tang 449b to a support 447'.
  • the support 447' is preferably different from the support 447, or, alternatively, is preferably a different section of the support 447 from where the rotary actuator is coupled .
  • FIG. 27E shows the spring device 448 in a "rest” position.
  • FIG. 27F shows the spring device 448 in a "compressed” position.
  • the rotating mass 442 may be rotating in a clockwise direction. As the rotating mass 442 rotates, the pin 445 moves relative to the slot 443, but the spring device 448 remains in substantially the same orientation relative to the support 447'. In this fashion, the force applied onto the fixed 447' remains in relatively the same direction as the moving mass
  • the gap would create a non-linear force effect on the rotating mass 442, which could aid in increasing the magnitude of vibration.
  • the gap would allow the shaft 446 to more quickly reach higher speeds and for the rotating actuator 440 to more quickly build up rotating inertia.
  • actuators While several types of actuators have been described above that may be used with the present disclosure, other types of actuators may also be employed so long as they can be controlled as described herein. For instance, piezoelectric devices without separate or distinct “moving” and “stationary” masses may be employed either alone or in combination with other actuator types to impart vibratory forces in the manners described herein.
  • FIG. 28 illustrates a synchronized vibration system 450, which may comprise two vibration devices 452 and 454, such as any of those of FIGS. 24A-C, 25A-C, 26 and/or 27A-F. Of course, more that two vibration devices may be provided.
  • the vibration devices 452 and 454 are preferably mounted onto a base plate 456 in a generally orthogonal manner as shown, although orthogonality is not required.
  • the vibration device 452 is preferably a horizontal vibrator that desirably has a spring device 458 which applies primarily horizontal forces onto the base plate 456.
  • the vibration device 454 is preferably a vertical vibrator that desirably has a spring device 460 that applies primarily vertical forces onto the base plate 456.
  • An alternative embodiment of the present disclosure includes two rotary vibration actuators whose planes of vibration are not the same; however, in this case the two planes are not orthogonal to each other.
  • the component of centrifugal force from one actuator that can be projected onto the plane of the other actuator can be used to achieve a component of synchronous vibration.
  • two or more vibration devices may be mounted devices into a game controller, as shown in FIG. 29A.
  • a game controller 470 includes a pair of vibration devices 472 and 474 mounted in both the right and left handles, respectively, of housing 476.
  • the directions of vibration of the vibration devices 472 and 474 are preferably not aligned, and thus it is possible to control the direction of vibration using the synchronized vibration approach discussed herein.
  • FIG. 29B illustrates a game controller 480 having a pair of vibration devices 482 and 484 within a housing 486 where the axes of the rotating shafts in both rotary actuators are aligned, yet the spring forces are not aligned.
  • FIG. 30 illustrates yet another variation similar to the rotary and pivoting vibration devices.
  • a rocking actuator 490 preferably includes a rocking weight 492 rotatable about a shaft 494. Desirably, one end of the rocking weight 492 is operatively coupled via a first spring device 496a to a first support 498a. The same end of the rocking weight 492 is also desirably operatively coupled via a second spring device 496b to a second support 498b.
  • the supports 498a and 498b may be a single support, separate supports that are physically connected, or physically disconnected supports.
  • the rocking actuator 490 may be implemented in a device such as a game controller in any of the configuration described above.
  • a controller for synchronized vibration of a pair of rotary vibration actuators specifies the angular position of each rotating shaft, such that the angle where the centrifugal force vectors are aligned is the desired direction of force vibration and the angular position is incremented such that the rotational velocity matches the desired vibration frequency.
  • Vibration device controller 502 specifies the desired vibration effect and one or more driver circuit (s) 504a, 504b, ... , 504N provide the necessary power to actuators 506a, 506b, ... , 506N. While each actuator 506 is shown as being powered by a separate driver circuit 504, it is possible for multiple actuators 506 to be driven by one driver circuit 504.
  • the controller 502 may be, by way of example only, a microprocessor and the driver circuit (s) 504 may be, for instance, one or more electrical amplifiers.
  • the controller 502 and drive circuit 504 may be integrated into a single microprocessor or single electrical circuit.
  • the control method in this figure is for a configuration with N actuators, where N is an arbitrary number of actuators.
  • FIG. 32 shows a control method for two actuators.
  • the controller 502 specifies the desired vibration amplitude, A, frequency, f, and phase, p, for each actuator 506.
  • the amplitude, frequency, and phase of actuator 506a (Al, fl, pi) may differ from the amplitude, frequency, and phase of actuator 506b (A2, f2, p2) .
  • the profile/waveform of the desired vibration force may be a sine wave, square wave, triangle wave, or other profile, such as is discussed above with regard to FIG. 1.
  • the actual vibration profiles/waveforms of the actuators 506a, b may differ from the desired vibration profiles due the dynamics of the drive circuits 504a, b and actuators 506a, b.
  • FIG. 33 shows a control method where the frequency of vibration, f, is the same for both actuators 506a, b.
  • FIG. 34 shows a control method where the frequency of vibration, f, and the phase of vibration, p, are the same for both actuators 506a, b.
  • the actuators 506a, b are desirably driven synchronously such that the peak amplitude of vibration will occur approximately at the same time for both actuators 506a, b.
  • the amplitude of vibration may differ between the actuators 506a, b.
  • FIG. 35 shows a control embodiment in accordance with the present disclosure where the vibration device controller 502 includes an internal direction and amplitude controller 508, an internal frequency controller 510, and an internal vibration controller 512.
  • the direction and amplitude controller 508 desirably specifies the combined vibration amplitude, Acombined, and the direction of vibration theta.
  • the frequency controller 510 desirably specifies the vibration frequency, f.
  • the vibration controller 512 uses the inputs of theta, Acombined, and f to output vibration commands to the individual actuators 506a, b.
  • the vibration controller 512 is operable to output various waveforms including sine waves, square waves, triangle waves, or other profiles as discussed herein.
  • the output from the vibration device controller 502 shown in FIG. 35 provides the magnitude of vibration as a function of time to each drive circuit 504a, b.
  • the amplitude of vibration for each actuator as a function of time is given by the equation shown below :
  • t time and ⁇ is the vibration frequency in radians per second.
  • the parameter p is the phase of vibration and may be set to zero.
  • the output Ai(t) and A 2 (t) from equation 28 can be applied directly to the vibration actuators to generate a combined vibration direction corresponding to the angle theta.
  • some vibration actuators may have a nonlinear relationship between the command magnitude and the magnitude of vibration.
  • it is possible to generate vibration in the direction theta by using a linearization function that adjusts the magnitude of A x and A 2 to compensate for the nonlinearity of the actuator, as shown in the following equation.
  • the linearization equation described above can be a lookup table or a scaling algorithm or other type of function.
  • FIG. 36A illustrates a system 550 showing the input of various input parameters of amplitude, phase and position (or time) for a pair of linear actuators.
  • a computer 552 receives input of the parameters, which are preferably entered using a computer keyboard (not shown) ; however, the parameters also could be input using a graphical user interface, analog potentiometers, or many other means generally known to those skilled in the art.
  • the appropriate output waveforms for linear actuators 554a and 554b are then computed using the computer 552. Each waveform is preferably independent. While computation may be performed using an analog computer, a digital computer is preferred.
  • each actuator 554a, b is then preferably fed into respective digital-to- analog (“DAC") converters 556a and 556b, which convert the output to the appropriate analog waveform.
  • DAC digital-to- analog
  • the analog waveforms are then fed into the appropriate driver circuits 558a and 558b.
  • PWM pulse width modulated
  • FIG. 36B illustrates the system 550 where the input of various input parameters includes input of pattern number, amplitude, duration and start-time for the vibration device using compound vibrations.
  • the parameters are preferably entered using a computer keyboard.
  • the appropriate output waveforms for each linear actuator are then computed at computer 552.
  • the digital output for each actuator 554a and 554b is then fed into DACs 556a and 556b for conversion to the appropriate analog waveforms.
  • the waveforms are then fed into the driver circuits 558a and 558b.
  • the various parameters produce an extremely broad and rich set of haptic sensations for the end user.
  • Haptic interfaces provide force sensation to a user.
  • Haptic interfaces include computer gaming controllers, robot controllers, surgical tool controllers, as well as other devices where a force sensation is provided to a user.
  • FIG. 37 An embodiment 600 of the present disclosure with a haptic interface application is shown in FIG. 37.
  • a systems controller 602 provides force commands to a haptic interface 604 which generates forces which result in force sensations to user 606.
  • the systems controller 602 may be microprocessor, a central processing unit, an ASIC, a DSP, a game controller, an analog controller, or other type of controller or any combination thereof.
  • the user 606 can input commands to the haptic interface 604 that are transmitted as user commands back to the system controller 602.
  • the user commands can be input through pressing buttons, moving joysticks, squeezing the haptic interface at various level forces, moving the haptic interface, applying force and torque onto the haptic interface and through other means.
  • a graphical display 608 which receives an image command from the system controller 602 and displays a visual image to the user 606.
  • the graphical display 608 may be, for instance, a computer monitor, a television monitor, an LCD display, a plasma display, a combination of light sources, or other type of means for generating a graphical image.
  • a haptic interface application can also be implemented without a graphical display 608.
  • a haptic interface application can include a simulation of a virtual environment or representation of a real environment to the user 606.
  • a systems controller method of control can be based upon this real or virtual environment.
  • Typical simulated environments include games, driving and flight simulations, surgical simulations, and other types of simulations.
  • Typical real world environments include control of robots and remote machines, long distance interactions, and other types of environments. It is often desirable that a haptic interface provide force sensations that correlate with the real or simulated environment in which the haptic interface is being used.
  • FIG. 38 Another embodiment 620 having a haptic interface application is shown in FIG. 38.
  • This embodiment is similar to the one of FIG. 37, and includes a systems controller 622, which provides force commands to a haptic interface 624 that generates forces which result in force sensations being received by user 626.
  • a graphical display 628 is also provided for receiving image commands from the system controller 622 and for displaying a visual image to the user 626.
  • the haptic interface 624 desirably includes a vibration device 630 having vibration actuators (not shown), a vibration controller 632, driver circuits 634 which drive the vibration device actuators, and an input device 636, which can detect user input and which can include buttons, joysticks, and pressure sensors.
  • the components of the haptic interface 624 may be of any of the configurations described herein.
  • the graphical display 628 preferably presents a two dimensional image.
  • the graphical display 628 shows an object of interest at a direction specified by the angle theta. It is may be desirable that the force sensation felt by the user 626 correspond to the image on the graphical display in terms of direction, such as theta, and other attributes.
  • the embodiment shown in FIG. 38 can be utilized so that the force sensations felt by the user 626 are generated by the vibration device controller 632 specifically to correspond to the image on the graphical display 628.
  • the vibration device controller 632 may specify one or more of the amplitude of vibration, Acombined, direction of force, theta, and frequency of vibration, f, as described above.
  • the values of Acombined, theta, and/or f can be selected to correspond to the image on the graphical display 628 and the environment being used by the system controller 622.
  • the complete force effect (including frequency, amplitude, combined direction of force and torque, and duration of force effect) generated by the vibration device may correlate events within a graphical computer simulation. Several examples of such operation follow .
  • a first example involves the simulation of a user firing a gun.
  • the vibration device controller 632 could specify the angle theta to represent the direction of a gun firing, the amplitude of vibration, Acombined, to represent the amplitude of the gun recoil, and the frequency of vibration, f, to represent the frequency of bullets leaving the gun.
  • a second example involves an impact between objects.
  • the vibration device controller 632 may specify the angle theta to represent the direction of impact, and the amplitude of vibration, Acombined, to represent the amplitude of impact.
  • a third example involves driving a vehicle.
  • the vibration device controller 632 could specify the angle theta to represent the direction of vehicle motion, the frequency of vibration, f, to represent the frequency of vehicle vibration as it drives over bumps in the road or the speed of the vehicle, and the amplitude of vibration, Acombined, to represent the amplitude of bumps in the road.
  • a fourth example involves a car or spacecraft spinning out of control.
  • the vibration device controller 632 could specify an angle theta that represents the vehicle's orientation.
  • the angle theta can vary over time. The rate at which the angle theta can be different than the vibration frequency. Typically the frequency at which a vehicle spins would be significantly lower than typical vibration frequencies.
  • Equation 30 illustrates that the frequency of direction change, ⁇ , can be modified independently from the frequency of vibration ⁇ .
  • a user such as user 606 or 626 can sense both the frequency of vibration and the direction of vibration. In this fashion, sensations at both the ⁇ and ⁇ frequencies can felt by the user. It is possible to set the frequency ⁇ much lower than the frequency ⁇ , thereby overcoming a limitation of known devices.
  • ⁇ may vary between 10 Hz and 100 Hz while ⁇ may be on the order of 1 Hz.
  • ⁇ may vary from between about 5% to 20% of ⁇ .
  • ⁇ and ⁇ may be similar or the same, or, alternatively, ⁇ may be larger than ⁇ . All of these examples will depend on the specific effect that is desired.
  • Low frequency operation is desirable in some situations, for instance in games that have low frequency effects.
  • games may generate actions or events in the sub-200 Hertz range, such as between 1 and 150 Hertz.
  • the actions or events may be as low as 2 Hertz or lower, such as about 0.5 - 1 Hertz.
  • Examples of such actions/events include gunshots, automobile related sounds such as corresponding to a car spinning out of control, and helicopter related sounds such as the whirring of the rotor blades.
  • a traditional eccentric mass actuator may not be suitable to generate a haptic sensation in this frequency range; however, two or more vibration actuators operated in synchronized vibration may generate such frequencies.
  • ⁇ is not limited to any particular rate or range of rates.
  • ⁇ may be a relatively low rate to represent a slow spinning action, e.g., of a car spin out at less than 10 miles per hour, or ⁇ may be a relatively high rate to represent a fast spinning action, e.g., of a car spin out at a speed in excess of 40 miles per hour.
  • ⁇ is not limited to any particular frequency of vibration.
  • ⁇ is set within a range of frequencies that can be felt or otherwise detected by a user.
  • Equation 30 may be modified by changing the vibration profile from a sine wave to a square wave, triangle wave, or other profile.
  • the amplitude of vibration, Acombined can be varied over time.
  • the frequencies ⁇ and ⁇ can also be varied over time. In this fashion a wide range of force effects can be created .
  • Vibration actuators can be used to provide haptic sensations either through synchronized vibration or otherwise. Actuators can be vibrated without synchronization when there is no need to convey directional information, and then the actuators can be switched to synchronous vibration when there is a need to convey directional information though the haptic interface.
  • the actuator dynamics may limit the speed at which the direction of combined force can be changed.
  • One of the examples presented above describes implementation of a haptic force sensation that corresponds to the spinning of a car.
  • the actuator dynamics may limit the rate at which such spinning effect can be generated. As will be described in detail below, it is possible to provide a method that can increase the rate at which the direction of force can be changed for a system of vibration actuators that are synchronously vibrated.
  • Equation 25 above defines the required amplitude of vibration of actuators to achieve a combined force direction corresponding to an angle theta.
  • the required amplitude of vibration is defined as Ades, which indicates the desired amplitude of vibration of that actuator. If the actuator is at rest or at a lower level of vibration than Ades, then it may be desirable to initially drive the actuator at a higher level of vibration to more quickly raise the amplitude of vibration to Ades. Conversely if the actuator is already vibrating at an amplitude higher than Ades it may be desirable to initially drive the actuator at a lower level or even brake the actuator to more quickly lower the amplitude of vibration to Ades. These variations in the amplitude at which the actuator is driven are defined as corrections to the commanded vibration magnitude .
  • a des _ k represents the desired actuator amplitude for the k th vibration of the actuator.
  • a cor _ k represents the correction to the command for the k th vibration.
  • a com _ k represents the actual amplitude of the command sent to the actuator for the k th vibration.
  • a cor _ k can be chosen to be proportional to the difference between the current desired amplitude, A des _ k , and the previous commanded amplitude A com _ k _ 1 .
  • An equation which described this approach for calculation A cor _ k is:
  • a cor _ k K* (A des _ k — A com _ k _ ) (31)
  • K is a gain chosen based upon actuator performance. This same equation works for reducing the magnitude of vibration quickly.
  • a des _ k is less than the value of A com _ k _ 1 , it indicates that most likely the level of vibration needs to be reduced and the correction A cor _ k is negative. If the large reduction in vibration amplitude is commanded, then the negative magnitude of A cor _ k may be greater than A des _ k and the actual command sent to the actuator, A Com _ k? will be negative resulting in braking of the moving mass in the actuator.
  • a cor _ k Ki*(A des _ k - A com _ k _i) + K 2 *(A des _ k - Acom k _ 2 ) (32)
  • Ki is a gain that corresponds to the k-1 vibration command
  • K 2 is a gain that corresponds to the k-2 vibration command.
  • a cor _ k K *(A des _ k — A com _ k _ ) + K 2 * (A des _ k — A com _ k _ 2 ) + ... + K m * (A des _ k [ 0328 ]
  • Alternative methods of control for multiple vibrating actuators may include modified synchronization.
  • One method of modified synchronization is for one actuator to vibrate at a frequency that is an integer multiple of the vibration frequency of another actuator.
  • FIG. 3 9 is a plot 6 5 0 presenting two vibration profiles, 6 5 2 and 6 5 4 , showing such a control method.
  • the vibration frequency of profile 6 5 4 is twice the vibration frequency of profile 6 5 2 .
  • One advantage of such a modified synchronization method is that multiple vibration frequencies can occur at the same time while still providing for some superposition or peak amplitudes.
  • the superposition of peak amplitudes allows for control of direction of vibration, in a similar fashion to how the direction for vibration is controlled for synchronized vibration.
  • this modified method of synchronized vibration it is possible to specify the direction of combined force only during a portion of the vibration cycle. Nevertheless, a direction component to the vibration can be controlled in the duration close to the time where the superposition of peaks occurs. Close to the time at which there is superposition of peaks in the vibrations, the combined force vector, F combined , can be approximated by:
  • ai and a 2 are the unit vectors aligned with the directions of actuator 1 and actuator 2 , respectively.
  • a 1 and A 2 are the amplitudes of force of actuator 1 and actuator 2 , respectively, near the duration of the superposition of peaks.
  • F conlbined By modifying the amplitudes A 1 and A 2 it is possible to modify the amplitude and direction of the combined force vector, F conlbined .
  • a similar approach can be used when there are more than two vibration actuators .
  • the combined direction of force of these actuators can be controlled near the time when these repeated peak amplitudes occur. In this case, the combined direction of force can be controlled by modifying the amplitude of vibration of the actuators.
  • An alternative modified synchronization is to drive two vibration actuators at the same frequency but one vibration actuator at a phase where its peak magnitude of force occurs when a second vibration actuator is at zero force, which is at 90 degrees out of phase for a sinusoidal vibration.
  • the combined force direction rotates in a circle or ellipsoid during each vibration period.
  • Additional methods for modified synchronization of vibration may include the superposition of profiles as described in the "Jules Lissajous and His Figures” ( “Lissajous” ) , appearing in chapter 12 of "Trigonometric Delights” by Eli Maor, published in 1998 by Princeton University Press.
  • the entire disclosure of Lissajous is hereby incorporated by reference.
  • Lissajous describes how profiles can be combined through various combinations of frequencies, phases, amplitudes, and profiles to generate a wide range of output figures. These are also known as Bowditch curves.
  • Lissajous also describes how geometric shapes can be created from multiple vibration sources. These combinations of vibrations can be applied to haptic devices and vibration devices in accordance with aspects of the present disclosure.
  • the concepts of superposition described in Lissajous can be applied by vibration actuators to yield a wide range of force sensations.
  • a circuit block diagram for a vibration actuator 700 includes a vibration controller 702, a driver circuit 704, and an actuator 706, as shown in FIG. 40.
  • the vibration controller 702 shown in FIG. 40 can be located on the vibration device itself or could be located remotely, where the vibration signals are transmitted to the driver circuit 704 through wired or wireless communication.
  • the vibration signal can be a binary logic directional signal which signals the moving mass to move either forward or backwards. In this configuration, the vibration signal can be in the form of a square wave to generate the desired vibration effect. Even with such a square wave control signal, the actual motion and vibration force of the vibration actuator will most likely not follow a square wave exactly due to the dynamics of the actuator.
  • the amplitude of the vibration signal can be modulated with a PWM signal, where the duty cycle of the signal is proportional to the amplitude of vibration.
  • An embodiment 710 with such a digital vibration controller 712 for one actuator 716 is shown in FIG. 41.
  • the output of the digital vibration controller 712 includes an amplitude signal in PWM form and a direction signal, for instance in the form of a logic bit, both of which preferably are sent to a driver circuit 714.
  • the driver circuit 714 sends electrical power to the actuator 716.
  • Digital control circuitry can be used to control a complete vibration device in synchronized vibration.
  • the frequency and phase of two or more actuators are the same. Accordingly, a single square wave can be used to control the direction of the vibration actuators that are in synchronized vibration. The amplitude of vibration can be controlled independently for each actuator, with separate PWM signals.
  • FIG. 42 shows an embodiment 720 where a vibration device controller 722 generates one directional signal ("dir"), which may be in the form of a square wave.
  • the dir signal is preferably provided to a pair of drive circuits 724a and 724b.
  • the vibration device controller 722 desirably generates separate amplitude signals, Al and A2, in PWM form to the drive circuits 724a, b for a pair of actuators 726a and 726b.
  • the vibration device controller 722 preferably includes a direction and amplitude controller 728, a frequency controller 730 and a vibration controller 732 as in the embodiment described above with regard to FIG. 35.
  • the direction and amplitude controller 728, the frequency controller 730 and the vibration controller 732 may be configured in hardware, software, firmware or a combination thereof, and may be implemented either as separate components or processes, or may be implemented as a single component or process.
  • the embodiment 720 of FIG. 42 may be used to control in synchronous vibration the vibration devices with two actuators, for instance as described above with regard to FIGS. 10-20.
  • Embodiment 720 can also be used to vibrate two or more actuators completely out of phase, which occurs during synchronized vibration when equation 25 provides results with the sign of Al being different than the sign of A2.
  • the binary direction signal dir can be inverted for one of the actuators.
  • the inversion of the directional signal dir can occur at a driver circuit 724a or 724b, or the vibration controller 732 can output two directional signals, with one being the inverse of the other.
  • the case where two actuators are being driven completely out of phase is shown in FIG. 13.
  • Electric actuators in accordance with the present disclosure can be driven with unipolar or bipolar drivers.
  • a unipolar driver will generate current in an actuator in a single direction.
  • a unipolar driver is well suited for actuators where the moving mass is ferromagnetic and an electromagnetic coil only generates attractive magnetic forces, such as the actuator 150 shown in FIG. 9.
  • a unipolar driver circuit is a Darlington array, such as the ULN2803A DARLINGTON TRANSISTOR ARRAY manufactured by Texas Instruments .
  • a bipolar driver can generate current in two directions.
  • Bipolar drivers are well suited for actuators where the moving mass is magnetic and where reversing the direction of current in an electromagnetic coil can reverse the direction of force on the moving mass. Examples of such actuators are presented in FIGS. 5A- B through 8A-B.
  • One example for a bipolar driver circuit is an H bridge, such as the L298 manufactured by ST Microelectronics.
  • Alternative H bridges are the 3958 and 3959 drivers manufactured by Allegro Microsystems.
  • vibration actuators can be used in a variety of methods to create haptic effects. Vibration actuators can be operated continuously throughout the duration of a specified haptic effect, or can be pulsed on and off during the haptic effect. By pulsing vibration actuators on and off the user feels only a small number of vibrations, then feels a pause, and then the vibration resumes. In this fashion it is possible to generate secondary sensations associated with the frequency of pulsing the actuators on and off. Examples of how such pulse effects can be used are described in U.S. Patent Nos . 6,275,213 and 6,424,333.
  • any of the actuators described herein may be used in accordance with the present disclosure to produce a wide variety of haptic effects. While some actuators such as linear actuators and rocking mass actuators may be particularly suited for low frequency operation, all actuators herein may provide synchronized feedback. Such feedback may be employed in games, virtual reality equipment, real-world equipment such as surgical tools and construction equipment, as well as portable electronic devices such as cellular phones and pagers. By way of example only, cellular phones and pagers may implement different vibration effects to identify different callers or different actions. Synchronized vibration may provide directional feedback, for instance, with the impact or recoil of a gun in a game, or to distinguish between frontal and side impacts in driving games. Synchronized vibration may also provide a continual rotation of a vibration force vector in a game to simulate a car spinning out of control. Synchronized vibration may also be used in endless other applications and situations to provide a rich haptic experience to a user.
  • General Synchronized Vibration differs from non-synchronized vibration in that the frequency and phase of multiple vibration forces are controlled. Embodiments with multiple Vibration Actuators that are not controlled with the General Synchronized Vibration approach will often have inconsistent frequency, amplitude, or relative phase between the actuators. With General Synchronized Vibration the frequency and phase of the Vibration Actuators may vary during the start-up and transitions between various waveforms. However, once the actuators are synchronized, each actuator is controlled to a specific frequency and phase .
  • each actuator is controlled to a fixed frequency and phase for a given duration of time.
  • This duration of time depends on the application, but is typically longer than the period of the highest frequency vibration force that is being synchronized. In haptic applications this duration of time is typically along enough for a person to sense the effect.
  • General Synchronized Vibration where the desired waveform of vibration varies quickly, such as a quickly changing direction used to provide a sensation of spinning.
  • the desired frequency and phase of a vibration actuator may be changing in a duration that is shorter than the period of the vibration of that actuator.
  • a common characteristic of General Synchronized Vibration is that the frequency and relative phase of multiple vibration actuators are explicitly controlled to desired values rather than randomly selected values.
  • a haptics effect library for software developers may have a routine labeled "spin, " which generates a sequence of desired frequency and phase for a plurality of Vibration Actuators. Each time the spin effect is executed, a similar sequence of frequency and phase and generated by the plurality of Vibration Actuators.
  • Embodiments of this disclosure include a Vibration Device comprised of multiple Vibration Actuators mounted onto a mounting platform such as a base plate, sub-frame, housing, or enclosure.
  • a mounting platform such as a base plate, sub-frame, housing, or enclosure.
  • the mounting platform could be the housing of a game controller, or the housing of a Vibration Actuator.
  • the mounting platform transfers force and torque between the Vibration Actuators and thereby allows the vibration forces and torques to be superimposed upon each other.
  • the mounting platform is preferably rigid, but can also be relatively rigid component, or a semi-rigid component.
  • the mounting platform could be made of separate pieces.
  • the mounting platform could include components of an object upon which vibration forces are being applied.
  • the arm or body parts can serve as the mounting platform.
  • This disclosure pertains to any configuration where the forces and torques from multiple Vibration Actuators can be vectorially combined to generate a net vibration force, vibration torque, or vibration force and torque.
  • the mounting platform is typically attached to a number of items such as battery, control circuit board, and the stationary parts of the Vibration Actuators including housing and stator .
  • the combined mass of the mounting platform and items that are attached to it is defined as a "Reference Mass”.
  • the vibration force and torques are transferred from Vibration Actuators to the Reference Mass. If the mounting platform is able to move, the vibration forces may shake the Reference Mass.
  • the Reference Mass is in contact with an "External Object", and forces and torques are transmitted between the Reference Mass and the External Object.
  • a game controller held in a user's hand would transfer forces and torques from the game controller's Reference Mass onto a user's hands, which in this case is an External Object.
  • the mounting platform may be attached to the Earth, which would also be an External Object.
  • a Vibration Device attached to the Earth is sometimes termed a "Shaker” or a "Shaker Device”.
  • a preferred embodiment uses two aligned LRAs, as shown in Fig. 43.
  • LRA 1102a and LRA 1102b are attached to mounting platform 1100 and are aligned in the axis of vibration that they generate.
  • Each LRA has a moving mass, 1108, and a housing 1106 which is attached to the Mounting platform 1100.
  • This configuration of vibration actuators is referred to as an LRA Pair.
  • the vibration forces from each LRA are combined together through the mounting platform 1100.
  • the vibration force generated by LRA 102a is designated as Fl and the vibration force generated by LRA 1102b is designated by F2.
  • one method of generating an asymmetric vibration force is to operate LRA 1102b at twice the frequency of LRA 1102a, with a specified phase difference of either 90 or -90 degrees.
  • the vibration forces in such an embodiment with sinusoidal vibrations can be given by:
  • a feature of this disclosure includes the use of superposition of synchronized vibration waveforms.
  • the Combined Vibration Force for the device is the superposition of the multiple waveforms.
  • An example with two synchronized sine waves described by Eq. 35 is shown in Fig. 44.
  • waveform 2 has twice the frequency of waveform 1.
  • the phase of both waveforms is set such that at a time of zero the peaks of both waveforms have their maximum value in a positive direction, and the forces magnitudes are added together (also referred to as constructive interference or positive interference) .
  • waveform 1 is at its negative peak
  • waveform 2 is at a positive peak
  • the forces magnitudes are subtracted from each other (also referred to as destructive interference or negative interference) .
  • the combined vibration waveform is asymmetric, meaning that the force profile for positive force values is different than the force profile for negative force values.
  • the asymmetric waveform shown in Fig. 44 there is a higher peak positive force and a lower peak negative force.
  • the larger force in the positive direction can generate more of a force sensation than the lower magnitude force in the negative direction, even though the duration of force in the negative direction is longer. In this fashion asymmetric vibrations can be used to generate a haptic cue in a specific direction with a vibration device.
  • a moving mass moves relative to the actuator housing, and a restoring spring transfers force between the moving mass and the actuator housing.
  • the force imparted by an LRA onto a mounting platform is a combination of the force from the restoring spring, and the electromagnetic force between the stator and moving mass.
  • the restoring spring can be, for example: a mechanical spring or a magnetic spring.
  • the magnitude of the spring restoring force increases and becomes the dominant portion of the actuator force. Accordingly, the peak force imparted by a LRA onto the mounting platform typically occurs at or near the peak excursion point of the moving mass.
  • FIG. 43 the moving masses are graphically depicted as towards the right side of the LRAs to indicate actuator forces being applied to the right. Accordingly, when the embodiment shown in Fig. 43 is controlled to follow the waveform described by Eq. 35, then the moving mass of LRA 1102a is at its peak excursion to the right at the same time when the moving mass of LRA 1102b is at its peak excursion to the right resulting in a large combined force to the right, yet when the moving mass of LRA 1102a is at or near its peak excursion to the left then the moving mass of LRA 1102b is at or near its peak excursion to the right (since it is vibrating at twice the frequency) resulting in force cancelation and a low combined force to the left.
  • the timing of the moving masses is an indication of an asymmetric vibration waveform.
  • Fig. 45 the embodiment shown in Fig. 43 is shown at various time steps as it implements the vibration waveform shown in Fig. 44.
  • the top LRA vibrates at twice the frequency and generates lower forces that the bottom LRA
  • the position of the moving masses indicates the forces generated by each LRA
  • the combined force vector is shown between the LRAs.
  • Each time step in Fig. 45 is labeled according to the period, T, of the slower LRA.
  • the alignment of the actuators does not have to be precise. Indeed, in haptic applications having the two actuators are not precisely aligned may not deter from the primary haptic effect that is being generated.
  • FIG. 46 A variation of this embodiment is shown in Fig. 46.
  • the actuators 1102a and 1102b are attached directly to each other to provide an even more compact configuration.
  • the LRAs can share housings, shafts, power supplies, and other components to make the device even more compact.
  • FIG. 47 Another variation of this embodiment is shown in Fig. 47.
  • the actuators 1102a and 1102b are attached in line with each other.
  • the forces of each LRA are collinear, and create no net torque along the axis of the LRAs. This embodiment is useful where pure force output is desired without any torque output .
  • the timing of vibration force within a Vibration Actuator can be correlated with a number of physical properties.
  • a spring applies a restoring force onto a moving mass and the vibration force is largely correlated with the position of the moving mass.
  • the direction of the vibration force largely correlates to the angular position of a rotating eccentric mass.
  • Linkage mechanisms can be used to generate vibrations, such as a slider-crank vibration actuator 1110 shown in Fig. 48, where a rotating motor 1114 moves a mass 1120 back and forth. With such linkages the vibration force can be correlated with the acceleration of a moving mass. Since the vibration force can be correlated with a number of physical properties, General Synchronized Vibration can also be characterized by control of the frequency and phase of the position or acceleration of moving masses within Vibration Actuators.
  • a feature of this disclosure includes combining vibration waveforms from multiple Vibration Actuators to generate a more complex vibration waveform.
  • the asymmetric vibration described by Eq. 35 and shown in Fig. 44 is only one such type of combined vibration waveform.
  • a more general embodiment shown Fig. 49 has a set of N LRAs all aligned with the same axis.
  • a plurality of Vibration Actuators are synchronized in phase and frequency, and in some cases amplitude.
  • a wide range of vibration effects can be generated by controlling the frequencies and phases of all N actuators.
  • the vibration force of an ith actuator in a repeated cycle can be given by:
  • Fiit+Ai+Ti Fi(Ai+t) ,
  • the waveform shapes of F ⁇ can be a wide range of waveforms including sine waves, triangle waves, square waves, or other waveforms.
  • the frequency of the actuator with the lowest frequency is defined as the fundamental frequency, coi, and the remaining actuators vibrate at integer multiples of the fundamental frequency.
  • the period of the fundamental frequency is given by ⁇ and the remaining vibration periods are given by such that:
  • the combined waveform has a repeated waveform with a period of the fundamental frequency.
  • the fundamental frequency is also referred to as the first harmonic .
  • One method of implementing General Synchronized Vibration is to use sinusoidal vibrations in each actuator of an aligned set, and use Fourier Waveform Synthesis to select the phase, frequency, and amplitude of each actuator to approximate a desired vibration waveform.
  • F AllgnedSetFourler the combined force of an Aligned Set, F AllgnedSetFourler , is given by:
  • a wide range of additional waveforms can be synthesized from a set (a plurality) of vibration waveforms.
  • Fourier synthesis is a method whereby an arbitrary waveform can be approximated from a combination of sine waves, including both symmetric and asymmetric waveforms. It is advantageous to use actuators vibrating at frequencies that are integer multiples of the frequency of vibration of other actuators.
  • the lowest frequency in the set is referred to as the fundamental frequency or the first harmonic, the second harmonic is twice the fundamental frequency, the third harmonic is three times the fundamental frequency, and so on.
  • An advantage of using harmonics is that all the waveforms in the set repeat at the period of the fundamental frequency, thereby providing a repeating waveform profile of the combined waveform.
  • each vibration actuator generates a force with a repeated waveform that has a zero DC component and the combined force is described by Eq. 37. Accordingly, the combined vibration force does not have a DC component.
  • Fourier synthesis is widely used in create a wide range of waveforms.
  • One example waveform is a Sawtooth waveform, which creates a sudden change of force in one direction. In this manner, the Sawtooth waveform can be used to generate directional haptic cues.
  • the Sawtooth waveform can be generated with the first harmonic at relative amplitude 1, the second harmonic is at relative amplitude of 1/2, and the third linear sine wave with a relative amplitude of 1/3.
  • arbitrary waveforms can be approximated including both symmetric and asymmetric waveforms.
  • both constructive and destructive interference can occur for both the positive and negative forces amplitudes.
  • An operating advantage of an LRA is to use resonance to generate high magnitude vibration forces from a relatively low power input, and an LRA can be designed and manufactured to have a specific resonant frequency by optimizing its spring stiffness and moving mass.
  • the first LRA 1102a could have a specified resonant frequency of coi
  • the second LRA 1102b could have a specified resonant frequency of 2 coi
  • the third LRA could have a specified resonant frequency of 3 coi
  • so on through the nth LRA 1102n the first LRA 1102a could have a specified resonant frequency of coi
  • the second LRA 1102b could have a specified resonant frequency of 2 coi
  • the third LRA could have a specified resonant frequency of 3 coi
  • LRAs are generally designed to operate at their resonant frequency, one can operate LRAs at other frequencies with lower amplitude force output per input command signal. Since lower amplitude force output is typically required at higher harmonics, once could build a Vibration Device with LRAs that all have the same resonant frequency, but operate them at different frequencies. For example for a vibration device with a set of 2 LRAs, both LRAs could have a specified resonant frequency of (3/2) ⁇ 1 , where the first LRA is driven at coi , and the second LRA is driven at 2coi . In this configuration both LRAs are amplifying the input signal, but less than if they were driven at the resonant frequency of the LRAs, which is (3/2) ⁇ 1 for this example.
  • Asymmetric Vibration waveforms are useful for generating directional haptic cues, and can be synthesized using Fourier synthesis. For instance, an example of a method for selecting frequency, phase, and amplitude of sinusoidal vibrations to generate a high level of asymmetry is discussed below. Vibration parameters are specified for a set of 2, 3, and 4 actuators. In addition a process is presented for identifying parameters for waveforms with a high level of vibration asymmetry for any number of actuators . It should be noted that high levels of asymmetry may be achieved even if the values specified by this example are only approximately implemented. For instance, in the case of superposition of two sine waves, if there is a 30% error in the amplitude of vibration then 90% of desired asymmetry effect will still be realized.
  • the pulse-train is just one example of an asymmetric waveform, but it is a useful example.
  • the pulse- train to have a zero DC component, the area above the axis.
  • W is the pulse width
  • V valley amplitude
  • T is period of repeated pulse
  • P peak amplitude
  • the amount of asymmetry in a pulse-train can be defined by the percentage increase of P over V.
  • W is too small, the waveform would not be well- approximated with a small number of sine waves. Accordingly, an analytical question is, "What is the optimal value of W for a waveform composed of N sine waves?"
  • the Fourier coefficients can be calculated by multiplying both sides of the above equation by sin (2 n n t) or cos (2 n n t) and then canceling out terms. The coefficients are:
  • FIG. 52 is a flow diagram illustrating a process for maximizing asymmetry.
  • the process includes selecting a number of sine waves, and then guessing (estimating) values for W. Fourier coefficients are then calculated, and the time domain of the wave, f(t), is generated according to the equation set forth above. The amount of asymmetry in f(t) is then calculated. The process may be repeated with different values for W, and the value for W is selected that gives the most asymmetry.
  • Fourier coefficients can be represented by a n and b n as: A? ⁇ ⁇ --, ⁇ ;s :: 3 ⁇ 4!H n ⁇ 3 ⁇ 4 : 2 ;r* i ⁇ >
  • NACT The variable "NACT" in Table I is used to define the number of sine waves since it can also represent the number of actuators . For two sine waves, an asymmetry of 100% can be achieved, which indicates there is twice the magnitude in the positive direction
  • Fig. 56 shows two triangular waveforms that are synchronized together.
  • Profile 1112a has twice the amplitude of profile 1112b, while profile 1112b vibrates at twice the frequency of profile 1112a.
  • the peaks of profile 1112a and 1112b occur simultaneously, at times with positive interference and at times with negative interference.
  • the combined waveform of profile 1112a and 1112b will generate an asymmetric waveform in a similar fashion that the combined waveform in Fig. 44.
  • some LRA vibration actuators can be operated at an amplitude high enough to push the moving mass into the travel stops, thereby creating an impact force during each oscillation.
  • the impact with the travel stops will generate a vibration waveform that is not sinusoidal.
  • Multiple such actuators can be synchronized together to generate positive and negative interference as instances of impacts of masses with travel stops.
  • This configuration can generate sharp peaks of vibration force, where direction of vibration is controllable. These sharp peaks of vibrations could be used to generate haptic sensations corresponding to impacts such as simulating the recoil of a gun.
  • a wide range of vibration effects can be generated with non-sinusoidal vibrations. Examples are presented herein that use sine wave vibration waveforms, with the understanding that similar approaches could be generated with other waveforms .
  • One waveform that can be simulated is referred to as a "missing fundamental" waveform, which takes advantage of a phenomenon of human perception.
  • a "missing fundamental” waveform takes advantage of a phenomenon of human perception.
  • humans may perceive that a sound contains pitch of a certain frequency even though that frequency is not present in the sound if the sound contains higher frequencies that are integer multiples of the low frequency.
  • low frequency vibrations may be difficult to generate due to size and power constraints, while it may be easier to generate higher frequency vibrations.
  • a vibration waveform can be generated that does not contain a desired low frequency, but does include higher frequencies at integer multiples of the desired low frequency.
  • the perception of a missing fundamental in vibration can be enhanced by including audio or visual effects at the desired low frequency.
  • the embodiment shown in Fig. 57 can generate asymmetric torques about the mounting platform.
  • a pair of LRAs 1116a and 1116b are mounted towards the top of the mounting platform 1100.
  • a second pair of LRAs 1118a and 1118b are mounted towards the bottom of mounting platform 1100.
  • the torque vibration is also asymmetric and can apply a higher peak torque in the clockwise direction than the counterclockwise direction (or vice versa) .
  • the amplitude of the asymmetric torque vibration may be controlled by proportionally controlling the peak force in each LRA.
  • LRAs generate vibration forces along an axis and thus are described as "Linear Force Actuators.”
  • Other Linear Force Actuators include slider-crank vibrators, rack and pinion vibrators, linear actuators that do not use resonance, pistons, and solenoids.
  • Rocking actuators and pivoting actuators (such as described in U.S. Patent Application No. 11/476,436) generate forces that are approximately along an axis and for many applications can be considered Linear Force Actuators. Indeed, any embodiment described herein as employing LRAs can also be implemented with Linear Force Actuators or other actuators that generate forces that are approximately along an axis.
  • a controller for General Synchronized Vibration of a pair of Linear Force Actuators is shown in Fig. 58, which could control embodiments such as that shown in Fig. 43.
  • a vibration device controller generates commands of frequency, f, commanded amplitudes, Ac, and commanded phase pc .
  • a driver circuit generates the voltage and current that drives the actuators.
  • the driver circuit may output a waveform of a sine wave, square wave, triangle wave, or other waveform.
  • the actuator may generate a force waveform that is similar to the waveform output of the driver circuit.
  • the actuator may generate a force waveform that differs from the waveform output of the driver circuit.
  • the driver circuit may output a square wave but the actuator may generate a force that is mostly a sine wave due to the physics of the actuator.
  • Both LRA and ERM Vibration Actuators take some time to ramp up to speed to generate their maximum force output.
  • Embodiments described herein include controllers that may or may not synchronize the actuators during the ramp up period.
  • a Vibration Device may be commanded to transition from one vibration effect to another vibration effect. During this transition time interval, the controller may or may not synchronize the actuators.
  • a vibration device controller can be a microprocessor or other programmable device. For each actuator in the vibration device, the vibration device controller can modify the frequency of vibration, the phase of vibration, the amplitude of vibration, or any combination of these parameters. The ability to change these parameters allows for a single vibration device to generate a wide range of waveforms.
  • the phase and amplitude of the force output of a Vibration Actuator depends on both the control signal and the physical characteristics of the actuator. For example there is often a phase lag between the control signal and the force output of the actuator. To distinguish between the waveform of the actuator outputs and the waveform of the control signal, the subscript "c" notation is used to designate the control waveform.
  • the commanded amplitudes, Ac, and the commanded phase pc are not necessarily a direct correlation to the actual amplitude and phase of the actuator force.
  • the command voltage, V of a vibration device controller of an LRA actuator driven with a sinusoidal voltage signal at a frequency ⁇ , with a command phase of 4>c, and a voltage peak magnitude A c , given by:
  • the phase lag is the difference between ⁇ and ⁇ ⁇ .
  • the frequency response is reflected in the ratio between A c and A.
  • Both the phase lag and the frequency response are functions of the actuator physics that can vary with vibration frequency, and which is often represented by an actuator specific Bode plot.
  • the phase lag inherent in each vibration actuator This can be done by adding an equal but opposite phase offset to the controller waverform so that the actuator phase lag does not impact synchronization.
  • One method to implement this offset is to use a look up table, Bode plot, or algorithm for each actuator that determines the appropriate phase offset for a given vibration frequency.
  • the Fourier synthesis approach and the approach of matching positive and negative peaks of vibration described herein are implemented in reference to the actual phase of the actuator force output rather than the phase of the waveform from the actuator drive circuits.
  • the phase lag due to the actuator physics is generally not included in the equations relating to synchronization.
  • the command signal includes the necessary phase lag and magnitude adjustment as needed based upon the actuator physics.
  • the magnitude control can be implemented with a voltage, current, PWM signal of voltage or current, or other type of command used to drive said actuator.
  • the Fourier synthesis approach and the approach of matching positive and negative peaks of vibration describe specific target frequency and phase of vibration for actuators within the vibration device; however, even if these target frequency and phase are not exactly met, the overall vibration effect often is close enough to the desired waveform to achieve a desired effect.
  • a sensor or sensors can be used to detect the phase of an actuator, the amplitude of vibration of an actuator, or the amplitude and phase.
  • a sensor could be an optical sensor, Hall-effect sensor or other type of sensor that detects when a moving mass passes the midpoint or other point of vibration.
  • a sensor 1128 is integrated into to a Linear Force Actuator 1124 and detects when the moving mass 1126 reaches passes a midpoint position.
  • a sensor integrated into an actuator can provide continuous, continual or periodic measurement of actuator performance and be used to update calibration parameters while the device is in use and does not require a specified calibration period.
  • actuators 1124a and 1124b are attached to the Mounting Platform 1100 of the vibration device 1134 as shown in Fig. 60.
  • This sensor 1136 could be an accelerometer or other sensor that measures the combined motion or combined force of the mounting platform.
  • the sensor measurements can be used to self-calibrate the vibration devices.
  • a test pattern can operate each actuator separately to identify the actuator phase lag, force amplitude characteristics, and resonant frequency. These characteristics can be used to update a lookup table, Bode plot, or algorithm used to generate the voltage commands to the actuators.
  • the combined force of multiple actuators can also be measured to confirm that the desired force effects are being achieved. Accordingly, the vibration device controller can use the sensor measurements to update the commanded amplitude, phase, and frequency as shown in Fig. 61.
  • Embodiments of the disclosure also include configurations with multiple sets of aligned vibration actuators.
  • One such configuration is shown in Fig. 62 that includes two sets of actuators.
  • Set 1 consists of two LRAs 1138a and 1138b that are both aligned with the x axis of the vibration device 1134.
  • Set 2 consists of two LRAs 1140a and 1140b that are both aligned with the y axis of the vibration device.
  • Set 1 generates force F S1B1 from LRA 1138a, and generates force F S1B2 from LRA 1138b.
  • Set 2 generates force F S2BI from LRA 1140a, and generates force F S2B2 from LRA 1140b.
  • the combined vibration force is the vector sum of all the vibration actuators.
  • a ⁇ . and a 2 are unit vectors aligned with the forces from set 1 and set 2 respectively.
  • the waveforms of both sets are controlled to have similar shapes but with different magnitudes. Magnitude coefficients are designated by the variable A, where the scalar A x multiplies the waveform of set 1 and the scalar A 2 multiplies the waveform of set 2.
  • the combined force vector, F combined with this control approach with sinusoidal waveforms is given by:
  • Each set of aligned actuators can generate an arbitrary waveform, PAHgnedset ⁇
  • Embodiments of synchronized vibrations created from arbitrary shaped profiles are described above. Many such embodiments show a single actuator generating each waveform. However, it is also possible to have a set of aligned actuators create these waveforms. Therefore, such embodiments can be expanded to include configurations where a set of aligned actuators take the place of a single actuator. In these configurations, the arbitrary waveform profiles would take the form of the arbitrary waveform, p A ii g nedset ? as discussed herein.
  • embodiments of asymmetric vibration include 3D configurations and non-orthogonal configurations.
  • An example of two non-orthogonal LRA Pairs is shown in Fig. 63.
  • These LRAs can generate waveforms in desired directions throughout the xy plane.
  • the actuators in each aligned set can be LRAs, rocker actuators, and other sets of actuators that generate approximately linear forces.
  • An equation describing the combined force vector for M aligned sets with all sets having similar shaped waveforms but potentially different magnitudes is given by:
  • a basic ERM includes a motor 1204, a shaft 1208, and an eccentric mass 1206.
  • the motor 1204 could be a DC brushed motor, a DC brushless motor, an AC induction motor, stepper motor, or any other device that turns electrical energy into rotary motion.
  • the shaft 1208 is a power transmission element that transmits the rotary motion of the motor into rotary motion of the eccentric mass.
  • alternate power transmission methods could be any means of transmitting the rotary motion of the motor 1204 into rotary motion of the eccentric mass 1206, such as a belt, gear train, chain, or rotary joint.
  • the eccentric mass 1206 could be any body that spins on an axis that is not coincident with its center of mass.
  • the power transmission element may include geometry such that the axis of rotation of the eccentric mass 1206 is not necessarily coincident or parallel to the rotation axis of the motor 1204, and the eccentric mass 1206 does not necessarily rotate at the same angular velocity as the motor 1204.
  • FIG. 65 shows one embodiment for a vibration device 1200 that uses an arbitrary number M ERMs; the first two being ERM 1210a, 1210b and the last being 1210m. All ERMs are attached to a mounting platform 1202 and the combined vibration force of the device is the vector sum from all ERMs.
  • F Ey A 1 sin(ccit + ⁇ ) + A 2 sin(Q 2 t + ⁇ 2 ) + ... + A M sin(Q M t + ⁇ ⁇ )
  • Fig. 66 shows one embodiment for a vibration device 1200 that uses four ERMs 1212a, 1212b, 1214a, and 1214b. All four ERMs are attached to a mounting platform 1202 and the combined vibration force of the device is the vector sum from all four ERMs.
  • the force and torque imparted by an ERM onto a mounting platform are due to a combination of the centrifugal force from the rotating eccentric mass, the torque between the stator and rotor of the motor and other inertial forces such as gyroscopic effects.
  • the centrifugal force increases and typically becomes the dominant portion of the vibration force. Accordingly, once an ERM has sped up, the vibration force imparted by an ERM onto the mounting platform is close to the centrifugal force imparted by the rotating eccentric mass.
  • the ERMs are configured in counter- rotating pairs, where each ERM in a pair has the same eccentric mass and operates at the same angular speed but the ERMs rotate in opposite directions from each other.
  • Fig. 66 shows such an embodiment with a first counter-rotating pair consisting of ERM 1212a and ERM 1212b. The combined vibration force of just this first pair is given by:
  • ERM 1212a Ai sin(ccit + ⁇ + Oi) + Ai sin(-C0it - ⁇ + 1 ) [ 0416 ]
  • the phase difference between ERM 1212a and ERM 1212b is represented by two variables, ⁇ and a lr where ⁇ represents a temporal phase and is half of the difference in overall phase and Oi represents a geometric angle and is half of the average of the overall phase difference.
  • A is equal to raro 2 , where m is the mass, r is the radius of eccentricity, and ⁇ is the velocity of angular rotation in radians per second.
  • this combined vibration force vector of the first ERM pair can be represented by the equation below. In this configuration, the force from a single counter-rotating pair generates a sinusoidal vibration force aligned with an axis of force direction defined by the angle Oi .
  • the embodiment in Fig. 66 has a second counter-rotating pair formed by ERM 1214a and ERM 1214b, with both ERMs having the same eccentric mass as each other and operating at the same angular speed as each other but in opposite directions.
  • This second counter-rotating pair generates a combined vibration force of :
  • F E2x A 2 cos(Q 2 t + ⁇ 2 + o 2 ) + A 2 cos(-Q 2 t - ⁇ 2 + o 2 )
  • F E2y A 2 sin(Q 2 t + ⁇ 2 + o 2 ) + A 2 sin(-Q 2 t - ⁇ 2 + o 2 )
  • asymmetric vibration uses the relative magnitudes and phases for superposition of two sinusoidal waves.
  • the amplitude of the fundamental frequency is twice that of the second harmonic.
  • a configuration for high asymmetry is shown in Table II below.
  • the Geometric Angle, o can be selected arbitrarily based upon the desired direction of vibration.
  • the eccentricity of the second ERM pair is represented relative to the eccentricity of the first ERM pair.
  • the speed of rotation of the second ERM pair is twice the speed of rotation of the first ERM pair. It should be noted that high levels of asymmetry may be achieved even if the values specified in Table II are only approximately implemented. For example, in the case of superposition of two sine waves, if there is a 3 0 % error in the amplitude of vibration, then 9 0 % of desired asymmetry effect may still be realized.
  • Steps of General Synchronized Vibration are shown in Fig. 6 7 for the case of a configuration shown in Table II.
  • the combined force vector is in the negative direction along the axis of vibration, yet the negative magnitude is not at a peak value since contribution only occurs from ERM 1214a and ERM 1214b, while the forces from ERM 1212a and ERM 1212b cancel each other out.
  • asymmetric vibration is generated with a larger peak force occurring along the positive direction aligned with the axis of vibration.
  • the temporal phase of ERMs 1214a and 1214b can also be set to n, in which case asymmetric vibration will occur with a larger peak force along the negative direction aligned with the axis of vibration.
  • Embodiments are possible with a plurality of ERM pairs, as shown in Fig. 68 which has N ERM pairs; the first two pairs being 1216a and 1216b, and the last pair 1216n.
  • the first ERM pair 1216a is rotated at a fundamental frequency
  • the second ERM pair 1216b is rotated at twice the fundamental frequency
  • so on through all N pairs with the Nth pair 1216n rotating at N times the fundamental frequency.
  • Fourier synthesis it is possible to approximate a wide range of waveforms.
  • each ERM within a pair can have the same eccentricity, and each pair can be controlled so that one ERM in the pair rotates in the opposite direction of the other ERM with the same rotational speed.
  • Asymmetric vibrations can be generated that have a higher peak force in a direction relative to the peak force in the opposite direction.
  • High amounts of asymmetry can be generated using the process discussed above with regard to FIG. 52 (and Table I), which specifies magnitudes and phases for each harmonic sine wave.
  • the magnitude of vibration of an ERM is the product of the eccentricity, mr, and the angular velocity, ⁇ , squared, thus the magnitude of vibration of an ERM is equal to mrQ 2 . Accordingly, the eccentricity of the ith ERM as a function of the relative sine wave amplitude is given by:
  • the phases may be represented relative to the starting time of a specific waveform of pulse-trains being approximated. In some implementations it is more convenient to set the phase of the first harmonic to zero and represent the phases of the other harmonics relative to the first harmonic.
  • An equation that converts the phase of the nth harmonic, ⁇ ⁇ , to a phase of the nth harmonic relative to the first harmonic, is given by:
  • the phases may be defined relative a series of sine waves, while the ERM vibration equation Eq. 42 is specified in terms of a cosine wave.
  • a cosine wave is a sinusoidal wave, but the phase is shifted by 90 degrees from a sine wave.
  • Table I shows parameters for embodiments that superimpose 2, 3, and 4 sine waves. These parameters can be converted to relevant parameters for embodiments with 2, 3, and 4 ERM pairs, using Eq. 45 and Eq. 46 along with the 90-degree shift for the cosine representation.
  • Table III shown below, shows these parameters for ERM pairs which generate high levels of asymmetry. The method described in FIG. 52 can be used to specify parameters for any number of ERM pairs.
  • ERMs 1222a, 1222b, 1224a and 1224b are stacked vertically inside a tube 1220, which serves as the mounting platform 1202.
  • This embodiment could be used as a user input device which is grasped by the hand, similar to how the PlayStation® Move motion controller is grasped.
  • Configurations with stacked ERMs are convenient for a wide range of hand held devices and to apply vibration forces to a wide range of body parts.
  • Fig. 70 Steps of General Synchronized Vibration are shown in Fig. 70 for the case of a configuration shown in Fig. 69.
  • the parts shown in Fig. 69 are the same parts as shown in Fig. 70, but part numbers are not called out in Fig. 70.
  • Each frame of Fig. 70 shows the eccentric masses of the ERMs and a line extending from each mass indicates the centrifugal force vector that the mass generates.
  • the combined force vector of all ERMs is shown by the thicker line under the ERMs.
  • the top two ERMs 1222a and 1224b are rotating clockwise from the top view perspective, and the bottom two ERMs 1222a and 1224b are rotating counter-clockwise.
  • the top 1224b and bottom 1224a ERMs have lower eccentric masses and are rotating at twice the frequency of the middle two ERMs 1222a and 1222b.
  • ⁇ 1 2 ⁇ / ⁇ 1.
  • the combined force vector is in the negative direction along the axis of vibration, yet the negative magnitude is not at a peak value since contribution only occurs from ERM 1224a and ERM 1224b, while the forces from ERM 1222a and ERM 1222b cancel each other out.
  • the combined force vector is also in the negative direction along the axis of vibration, yet the negative magnitude is not at a peak value since there is negative interference between the first ERM pair (ERM 1222a and 1222b) and the second ERM pair (ERM 1224a and 1224b) .
  • the forces of the first ERM pair are in the opposite direction of the forces from the second ERM pair, and the orientation of the eccentric masses of the first ERM pair is 180 degrees opposite the orientation of the eccentric masses of the second ERM pair.
  • the magnitude of the combined vibration force is shown by the line beneath the eccentric masses at each point in time.
  • FIG. 71 Another vibration device is shown in Fig. 71, in which the device contains two ERMs 1230a and 1230b attached to a mounting platform 1202 that are rotating in the same direction.
  • this configuration is referred to as a Co-Rotating Pair, or "CORERM Pair”.
  • the center between the ERM eccentric masses is referred to as the center of the COREMR Pair .
  • the CORERM Pair When the angle between the two ERMs is kept at a fixed value of angle, c, the CORERM Pair generates a combined centrifugal force that is equivalent to a single ERM.
  • the magnitude of centrifugal force of the CORERM Pair is a function of the angle c.
  • a single vibration device could operate similar to ERMs as either counter-rotating pairs or co-rating pairs.
  • One advantage is that the magnitude of vibration can be increased by using a CORERM pair.
  • Another advantage is that legacy vibration effects can be generated that simulate a single ERM rotating.
  • a haptic interface could be operated at one time to generate asymmetric vibration forces and at another time to simulate a single ERM. If users are accustomed to haptic signals from a single ERM, the CORERM pair allows for such familiar effects to be generated.
  • a large number of co-rotating ERMs could by synchronized together in with no phase offset such that their force magnitudes combine to create a vibration effect similar to a single large ERM. If all the co-rotating ERMs are CORERM pairs with co-located centers, then the center for the combined force would be the same as for a single large ERM.
  • CORERM pairs allow for Fourier syntheses of a wider range waveforms .
  • One such embodiment is to replace each ERM in Fig. 66 with a CORERM pair, which is shown in Fig. 72.
  • ERM 1212a, 1212b, 1214a, and 1214b in Fig. 66 correspond to CORERM 1232a, 1232b, 1234a, and 1234b in Fig. 72.
  • Such an embodiment would be similar to the original configuration of Fig. 66, but where the magnitude of centrifugal force from each ERM could be adjusted independently of the speed of rotation (by adjusting the angle c within CORERM pairs) .
  • Control of amplitude of vibration force can be especially useful in asymmetric vibrations used for haptic applications.
  • a vibration device can be grasped by one hand, two hands, held with other body parts, attached to any body part, or placed in contact with any body part.
  • at least two sides of a haptic vibration device are in contact with a user, and each side contacts the user at somewhat different locations on their body. These different locations could be the different sides of a grip of a tube vibration device, such as shown in Fig. 69.
  • Human perception often requires that a threshold be exceeded before a sensory event is perceived.
  • the magnitude of an asymmetric waveform is adjusted so that on one side of a Vibration Device low vibration forces are generated that are below a threshold of perception and on the opposite side higher peak forces are generated that are above a threshold of perception.
  • a vibration force may be perceived on mostly one location that is in contact with the vibration device, even though the vibration device is in contact with a number of locations on the body.
  • the location on the body at which vibration is perceived may also vary. This approach uses vibration to generate effects that are vary significantly according to the direction of vibration, and thus are useful for indicating directional cues.
  • FIG. 73 An embodiment with 2 ERMs in a tube is shown in Fig. 73.
  • the ERMs 1222a and 1222b are mounted close to the center of the tube 1220 and thereby reduce the torque vibration that is due to the distance between the ERMs.
  • One way of controlling this configuration is to operate the ERMs in a counter-rotating mode and generate force in a specified direction, with only a small torque vibration so as to minimize distraction from the force effect.
  • the ERMs 1222a and 1222b are mounted close to the ends of the tube 1220 and thereby increase the torque vibration that is due to the distance between the ERMs.
  • One way of controlling this configuration is to operate the ERMs in a counter-rotating mode and generate force in a specified direction, while simultaneously generating a large torque vibration effect.
  • the embodiment in Fig. 69 can also be operated with CORERM pairs.
  • ERMs 1224a and 1224b can form one pair, and ERMs 1222a and 1222b can form another pair.
  • both of these CORERM pairs are rotating in the same direction and have a 180 degree phase difference, there will be no net force or net torque on the vibration device.
  • this embodiment will create a gyroscopic effect with minimal force or torque vibrations.
  • This implementation could be used to generate the sensation of moving a sword or a heavy mass in a video game or other type of simulation.
  • the forces between an ERM and a mounting platform include both centrifugal forces and the motor torque generated between the motor stator and rotor.
  • the centrifugal forces are typically large and dominate the effect from the motor torque.
  • some embodiments can bring effects from the motor torque to the forefront.
  • the torque about the axes of rotation can be felt more prominently.
  • the torque about the axis of rotation is felt during the acceleration and deceleration of the rotating masses. Higher torques can often be generated by periodically reversing the applied voltage to the motor, since the electromagnetic force (back EMF) in the motor can add to the reverse voltage being applied.
  • Fig. 74 shows an eccentric mass 1206 configured for use as a reaction wheel.
  • a rim 1242 is attached to the eccentric mass 1206, and creates a surface for a brake 1244 to contact.
  • the reaction-wheel configuration is another example of the wide range of effects that General Synchronized Vibration can generate.
  • a single vibration device can have ERMs that are operated in counter-rotating modes, co-rotating modes, and as reaction-wheels.
  • an ERM Pair uses interleaved masses, an example of which is shown in Fig. 75.
  • the shapes of the eccentric masses are implemented so that the masses can be interleaved within one another yet still rotate independently.
  • both ERMs can share the same axis of rotation.
  • a mass distribution can be implemented such that the eccentric forces share the same plane (which can be indicated by the height in the side view in Fig. 75) .
  • Each ERM in the pair has a rotating mass that includes both an eccentric component, and a symmetric component such as the motor's rotor.
  • the center of mass of the eccentric mass refers to the center of mass of only the eccentric component of the rotating mass.
  • ERM1 1250a contains a motor 1252a and an eccentric mass 1254a which is shaped with a semi-circle cross section
  • ERM2 1250b contains a motor 1252b and an eccentric mass 1254b which is shaped with an arc cross-section.
  • Other shapes of eccentric masses are possible that allow for independent rotation of two masses.
  • the ERM pair can generate centrifugal forces without generating a torque due to the distance between the ERMs.
  • Interleaved ERM pairs are useful for generating pure force vibrations without torque vibrations.
  • Interleaved ERM pairs can be operated as a co-rotating pair, and thereby vary the amplitude of vibration independently from the frequency of vibration.
  • a co-rotating interleaved pair can switch between a 180 degree angle between the ERMs and a 0 degree angle to rapidly turn the vibration effect on or off. Since there are no torque effects, the complete vibration sensation will be turned off when the ERMs have a relative phase angle of 180 degrees.
  • such a configuration can generate a gyroscopic effect without generating torque vibrations.
  • An interleaved ERM pair can also be operated as a counter- rotating pair, and thereby generate a vibration force along an axis. By controlling the phase of the interleaved ERMs, the direction of the vibration force can be controlled.
  • Figs. 76A-B Embodiments with 3 ERMs are shown in Figs. 76A-B.
  • a mounting platform 1202 shaped as a tube holds a center ERM, 1312, an ERM 1314a is located above the Center ERM, and an ERM 1314b is located below the center ERM. All 3 ERMs are aligned such that their axis of rotation is collinear.
  • the dimension A is the distance along the axis of rotation between the projection of the center of the rotating eccentric mass of ERM 1312 onto the axis of rotation and the projection of the center of the rotating eccentric mass of 1314a onto the axis of rotation.
  • ERM 1314b is located such that it is at a distance B along the axis of rotation between the projection of the center of its eccentric mass onto the axis of rotation and that of the projection of the center of the rotating eccentric mass of ERM 1312 onto the axis of rotation. Furthermore, the ERMs 1314a and 1314b can be synchronized to operate at the same frequency and same phase, which will generate a combined force centered along the axis of rotation.
  • 76A uses standard shaped eccentric masses.
  • the embodiment in Fig. 76A can be operated in a co-rotation mode, where all 3 ERMs rotate in the same direction and with the same frequency.
  • ERMs 1314a and 1314b can be operated with the same phase, and this phase can be adjusted relative to the phase of the center ERM, 1312, which will modulated the amplitude of the vibration force.
  • the eccentricity of ERM 1314a plus the eccentricity of ERM 1314b is equal to the eccentricity of ERM 1312, then complete cancellation of the vibration forces can occur when all 3 ERMs are rotating. This complete cancellation allows for rapid on and off control of vibration forces.
  • the embodiment in Fig. 76A can also be operated in a counter-rotation mode, where the direction of rotation and phase of ERMs 1314a and 1314b are the same, yet the center ERM, 1312, is operated in the opposite direction. In the counter-rotating mode, vibration forces along an axis can be generated, and the direction of the vibration can be controlled by modulation the relative phase of the ERMs.
  • each ERM in Fig. New_76A can be operated at a different frequency. ERMs with smaller eccentric masses often can be operated at higher top frequencies, and thereby the embodiment in Fig. 76A can create even a wider range of vibration effects.
  • FIG. 76B Another embodiment with 3 ERMs is shown in Fig. 76B.
  • a mounting platform 1202 shaped as a tube holds a center ERM, 1312, an ERM 1314a is located above the center ERM, and an ERM 1314b is located below the center ERM. All 3 ERMs are aligned such that their axis of rotation is collinear.
  • the dimension A is the distance along the axis of rotation between the center of the rotating eccentric mass of ERM 1312 and the center of the rotating eccentric mass of 1314a.
  • ERM 1314b is located at the same distance A along the axis of rotation between its center of the rotating eccentric mass and that of the center of the rotating eccentric mass of ERM 1312.
  • FIG. 77 An additional embodiment with 3 ERMs is shown in Fig. 77.
  • a mounting platform 1202 holds a center ERM, 1312, an ERM 1314a is located to one side of the center ERM, and an ERM 1314b is located to the other side the Center ERM. All 3 ERMs are aligned such that their axes of rotation are parallel.
  • the embodiment in Fig. 77 can create similar vibration effects as the embodiments in Figs. 76A-B; the frequency off all 3 ERMs can be the same, the phase of ERMs 1314a and 1314b can be the same, and the relative phase with the center ERM 1312 will determine the magnitude of the vibration force.
  • the eccentricity of the rotating mass of ERMs 1314a and 1314b can be selected to be half that of the center ERM 1312.
  • Complete cancellation of vibration torques can occur in the co-rotating mode when the center ERM 1312, is located in the center between ERMs 1314a and 1314b.
  • the embodiment in Fig. 77 can also be operated in a counter-rotating mode, where the ERMs 1314a and 1314b rotate in the same direction with the same phase, and the center ERM 1312 rotates in the opposite direction.
  • This counter-rotating mode provides a vibration force along an axis, and the direction of the vibration force can be controlled by the phases of the ERMs.
  • the embodiment in Fig. 77 can also be operated in a counter-rotating mode, where the ERMs 1314a and 1314b rotate in the same direction with the same phase, and the Center ERM 1312 rotates in the opposite direction.
  • This counter-rotating mode provides a vibration force along an axis, and the direction of the vibration force can be controlled by the phases of the ERMs.
  • ERM ERM with a sensor 1260 is shown in Fig. 78.
  • the sensor 1262 can be a continuous position sensor that measures the position of the eccentric mass at frequent intervals. Continuous sensors could be encoders, potentiometers, a Hall Effect sensor that detects a series of gear teeth or other feature of a rotating object, or other types of position sensors.
  • the velocity of the eccentric mass could be calculated from the time interval between subsequent rotations, through taking the derivative of position measurements, or directly through use of a tachometer.
  • Another method to sense frequency and phase is to use a discrete sensor that detects when the motor shaft spins by a set position relative to the motor housing, or a number of set positions relative to the motor housing.
  • Such discrete sensors can use reflective optical sensors that reflect off a rotating object coupled to the motor shaft, line-of-sight optical sensors that detect when a rotating object coupled to the motor shaft interrupts the line of site, hall effect sensors that detect a discrete component that is coupled to the rotating shaft, or other method of discrete detection of the shaft position.
  • Fig. 79 shows an ERM with a reflective optical sensor 1264 which detects light reflecting off an eccentric mass 1206.
  • a light source 1268 such as an LED, is shining onto the pathway of the eccentric mass 1206.
  • the light sensor 1266 will detect when the eccentric mass 1206 comes into the range of the sensor 1266 and begins to reflect light, and when the eccentric mass 1206 leaves the range of the sensor 1266 and stops to reflect light.
  • the velocity of the ERM 1264 can be determined between the intervals of each rotation, such as the time when the eccentric mass 1206 begins to reflect light.
  • the velocity of the ERM 1264 can be calculated by the duration of time that the eccentric mass 206 reflects light.
  • the phase of the eccentric mass 1206 can be determined by the timing of a specific event such as the rising or falling edge of the light sensor 1266 which corresponds to the time when the eccentric mass 1206 begins and stops reflecting light.
  • Fig. 80 shows an ERM with a line-of-sight optical sensor 1270.
  • the light sensor 1266 detects when the eccentric mass 1206 interrupts the light path.
  • a light source 1268 such as an LED, is shining onto the pathway of the eccentric mass 1206.
  • the sensor 1266 detects the interruption.
  • Fig. 81 shows an ERM with a Hall Effect sensor 1272.
  • the Hall Effect sensor 1274 is triggered when the eccentric mass 1206 rotates by.
  • Discrete measurements could be made at a single position of motor rotation or at multiple positions. Discrete measurements can be augmented with a second sensor that also measures the direction of rotation. A direction sensor could be a second optical sensor mounted close to the first optical sensor. The direction of rotation can be determined by which optical sensor is triggered first.
  • a wide range of methods can be used for real-time control the position and speed of an ERM.
  • One method is Proportional- Integral-Control .
  • Another method includes time optimal control as described by "Optimal Control Theory: An Introduction", by Donald E. Kirk, Dover Publications 2004.
  • One real-time control approach is presented below for controlling a set of synchronized ERMs . The approach is written for use with a discrete sensor, but can also be applied with a continuous sensor. When a continuous sensor is used, the dynamic performance of the system can be improved by more accurately updating the commands to the motor continuously.
  • start motors turning by providing an open-loop command, V open _ looPil , to each ERM corresponding to the desired frequency, Q deSil .
  • the open-loop command can be determined by the motor's torque-speed curve and correspond to the voltage that will generate a terminal velocity as the desired value.
  • An optional startup operation is to turn on the motors at a high or maximum voltage to reduce the startup time. Since sensors exist to detect speed of rotation, the voltage can be reduced to a desired level when the ERMs reach an appropriate speed. In this fashion the sensors used for synchronization can also be used to reduce the startup time of the overall vibration device. As each ERM passes its discrete sensor:
  • Qmeas,i 2II dlr ⁇ ⁇ ⁇ t ⁇ ⁇ s ensor_offse , i 9 S ensor_offset, i is based upon the mounting location of the discrete sensor, and is often equal to zero. diri is the actual direction of the ERM rotation. Typically the ERM will be rotating in the direction of the initial open-loop command. However, it is also possible to use a second sensor input to measure the direction of rotation, or use the time history of the motor command to calculate the direction.
  • a control law may be implemented to reduce the position error of each ERM.
  • control approaches in the field of control including:
  • PID Proportional, Integral, Derivative
  • the use of the open-loop command can reduce the need for a large integral control gain, and improve dynamic performance .
  • c State-space control approach.
  • the physical state of each ERM is a function of both its position and velocity. Each time an ERM passes its discrete sensor, the speed of revolution can be calculated from the time interval since the last sensor measurement .
  • the state-space approach uses both the position and velocity to determine an appropriate control signal. For the durations where no sensor measurements are made, a state observer can be used to estimate the motor's position and speed, where the model of the state observer is based upon the physical properties of the motor and rotating mass .
  • bang-bang control which operates the motor at maximum forward command and maximum reverse commands for specified durations of time. For example, if an ERM is operating at the correct speed but position has a phase lag, then the motor should be accelerated for a duration of time and then decelerated back to the original speed for a second duration of time.
  • a physical model of the motor dynamics can be used to determine the appropriate durations of acceleration and deceleration.
  • bidirectional or unidirectional motor driver could be used.
  • An advantage of using bidirectional motor drivers is that high levels of deceleration can be applied to an ERM by applying a reverse voltage, even if the motor never changes direction of rotation. This approach can reduce the time it takes to synchronize the ERMs.
  • Another advantage of using bidirectional motor drivers is that ERMs could be operated in both counter-rotating and co-rotating modes.
  • Some embodiments of Synchronized Vibration Devices can be controlled such that the combined force and torque sum to zero.
  • the force and torques from individual Vibration Actuators balance each other out to generate a net zero force and torque.
  • An advantage of such an embodiment is that Vibration Actuators can be brought up to speed and put into a mode when no vibration effects are generated. When vibration effects are desired, they can be quickly implemented by modifying the phase of the vibration, without the lag for bringing the actuators up to speed.
  • This embodiment is referred to as "Spinning Reserve", and is analogous to the same term used for kinetic energy in an electric utility power plant that is held in reserve to quickly provide power when needed. The spinning reserve approach allows vibration to be quickly turned on and off.
  • Spinning Reserve embodiments can include ERM actuators that are spinning in such a manner that the combined forces and torque sum to zero.
  • Spinning Reserve embodiments can also include with LRA actuators and other resonant actuators that are vibrating in such a manner that the combined forces and torque sum to zero.
  • the spinning reserve approach has the advantage of fast on and off response times, but also can require increased power consumption since the vibration actuators are operated even when no overall vibration effects are generated.
  • the vibration actuators can be spun up to speed at the first indication that a need for vibration force is imminent.
  • Such indications could be a keystroke, computer mouse motion, user touching a touch-screen, movement detection via a sensor of a game controller, beginning of a game portion where vibration effects are used, or any other event that would indicate that a desired vibration effect would be imminent.
  • power can be conserved by spinning down and stopping the actuators once the need for vibration is no longer imminent.
  • Indications to spin down the actuators could include passage of a set amount of time where no user input is registered, transition to a new phase of a computer program where vibration effects are no longer needed, or other indication.
  • the actuators can by synchronized so that they operate in a spinning reserve mode and do not generate a combined vibration force. In this fashion, the user will not feel the spin up and spin down of the vibration actuators.
  • a spinning reserve embodiment with 4 ERMs is shown in Fig. 82 .
  • Synchronized Vibration can be applied to the embodiment shown in Fig. 82 , where the combined forces and torque cancel each other out.
  • the eccentricity and rotational inertia of ERMs 1190a, 1190b, 1192a and 1192b are equal to each other.
  • all 4 ERMs rotate in the same direction.
  • the frequency and phase could be as shown in Table V below.
  • the synchronized phases within a set of ERMs can be controlled relative to each other and not just relative to absolute time. Accordingly, the phases shown in Table V and other tables in this document only represent one set of phases in absolute time that achieve the described effect. Other phase combinations can achieve similar effects.
  • Fig. 83 shows the forces of the ERMs from Table V as the ERMs progress through time, wherein each row of images illustrates one time slice ( 8 slices in all) .
  • the parameters for frequency and phase shown in Table V correspond to the force vectors shown in Fig. 83 .
  • other configurations and control methods of vibrations devices can also be simulated.
  • ERMs When ERMs are rotating they generate a gyroscopic effect due to the angular inertia of the motor rotor and rotating mass. When the angular velocity of the ERMs is large this gyroscopic effect can be used to generate a haptic sensation in response to changes in orientation of the vibration device.
  • the implementation of spinning reserve as shown in Table V has a gyroscopic effect since all ERMs are rotating in the same direction and their angular inertia combined.
  • the implementation of spinning reserve as shown in Table VI does not have a gyroscopic effect since half the ERMs are rotating in the opposite direction of the other half, and therefore angular inertias cancel each other out when rotational inertias are equal.
  • the mode of implementation of spinning reserve can be selected according to the desired gyroscopic effect.
  • FIG. 82 Another method of Synchronized Vibration can be applied to the embodiment shown in Fig. 82, where a combined torque is generated and the forces cancel each other out.
  • One such pure torque embodiment generates equal amplitudes torque in the clockwise and counterclockwise directions, and is referred to as a symmetric torque implementation.
  • the frequency and phase that generates a symmetric torque could be as shown in Table X.
  • Another implementation of pure torque can produce an asymmetric torque, where the peak torque in the clockwise direction is larger than the peak torque in the counterclockwise direction, or vice versa.
  • One such asymmetric torque implementation for a 4 ERM configuration could be as shown in Table XI. This is achieved by operating ERMs 1192a and 1192b at twice the frequency of ERMs 1190a and 1190b, and controlling the phase appropriately. For the configuration shown in Fig. 82, when all ERMs have the same eccentricity, the amount of asymmetry in the torque can be increased by placing ERMs 1192a and 1192b at a distance of l/8th from the center relative to the distances of ERMs 1190a and 1190b.
  • a wide range of haptic effects can be generated by switching between the various effects described herein.
  • the change between effects can be achieved quickly.
  • the change in effect only requires a positive or negative phase change of 90 degrees in specific ERMs.
  • Embodiments with 4 ERMs that are not aligned along the same axis also can generate many useful effects.
  • Fig. 84 shows an embodiment of 4 ERMs. When this embodiment is implemented with 4 ERMs with the same eccentricity, a spinning reserve effect can be generated with same frequency and phases shown in Table V.
  • the center of ERM pair 1194a and 1194b has the same center as ERM pair 1196a and 1196b. Indeed, any embodiment with 2 pairs of ERMs that share the same center can be controlled in a spinning reserve mode.
  • the embodiment shown in Fig. 84 can also be controlled to generate a pure force vibration along a specified direction, where the torques cancel each other out.
  • the same frequency and phase as shown in Table VII, Table VIII, and Table IX can be used.
  • a symmetric torque can be generated with this embodiment as well, but with a frequency and phase as defined in Table V, and replacing ERMs 1190a, 1190b, 1192a, and 1192b with ERMs 1194a, 1194b, 1196a, and 1196b, respectively.
  • interleaved ERM pairs may be employed according to aspects of the disclosure.
  • FIG. 85A an inner eccentric mass 1320a is driven by motor 1322a and an outer eccentric mass 1320b is driven by motor 1322b.
  • the outer eccentric mass 1320b is shaped so that the walls get thicker going away from the motor 1322b. This extra thickness compensates for the material required for structural support of the eccentric mass near the motor.
  • the inner eccentric mass 1320a fills the void inside eccentric mass 1320b. The result is that both eccentric masses 1320a and 1320b share the identical center of mass, which eliminates unwanted torque effects.
  • FIG. 86A-C Another embodiment of an interleaved ERM pair is shown in Figs. 86A-C.
  • an inner eccentric mass 1330a is driven by motor 1332a and an outer eccentric mass 1330b is driven by motor 1332b.
  • the end of eccentric mass 1330a that is furthest from the motor 1332a is supported by a bearing 1334b, which is installed into eccentric mass 1330b.
  • the end of eccentric mass 1330b that is furthest from the motor 1332b is supported by a bearing 1334a, which is installed into eccentric mass 1330a.
  • the bearings 1334a and 1334b allow for the spinning eccentric masses 1330a and 1330b to be supported on both ends. This allows the eccentric masses 1330a and 1330b to spin faster without deflection due to cantilever loads, and helps reduce friction in the motors 1330a and 1330b.
  • Haptic applications described herein can be used to augment any device that has a visual display including computer gaming, television including 3D television, a handheld entertainment system, a smartphone, a desktop computer, a tablet computer, a medical device, a surgical instrument, an endoscope, a heads-up display, and a wristwatch.
  • a visual display including computer gaming, television including 3D television, a handheld entertainment system, a smartphone, a desktop computer, a tablet computer, a medical device, a surgical instrument, an endoscope, a heads-up display, and a wristwatch.
  • Vibration Force cues can be generated in specific directions, and these directions can be chosen to correspond to direction that is relevant to an object or event that is being shown on a graphic display.
  • Fig. 88 shows a graphic display with an image that has a direction of interest specific by an angle o.
  • the Vibration Device shown in Fig. 88 can generate haptic cues in the same direction to provide multi-sensory input and enhance the overall user experience.
  • haptic cues of directionality for applications where a person does not have visual cues, such as to guide a blind person or applications where vision is obscured or preoccupied with another task.
  • a person had a handheld device such as a mobile phone that could generate directional haptic cues through vibration, and the mobile phone knew its absolute orientation as it was being held and the orientation the person should be in to move forward to a goal, then the mobile phone could communicate directional haptic cues through vibration (a force, a torque, or a combined force and torque) that corresponded to the direction and magnitude of the change in orientation the person holding the mobile phone needed to make.
  • vibration a force, a torque, or a combined force and torque
  • the Vibration Devices described herein can be used to improve the performance of existing devices that use vibration. For example vibration is used in fruit tree harvesting. By allowing the operator to generate complex waveforms and control the direction of vibration a higher yield of ripe fruit could be harvested, while leaving unripe fruit on the tree. Vibratory feeders are used in factory automation, and typically involve a significant amount of trial an error to achieve the desired motion of the parts. By allowing the operator to generate complex waveforms and control the direction of vibration it can be easier to generate the desired part motion and a wider range of parts could be processed with vibratory feeders. [0485] The Vibration Devices described herein allow for a wide and continuous adjustment in areas such as vibration magnitude, frequency, and direction.
  • a Vibration Device applies forces onto an object, and a sensor measures a feature or features of the object.
  • the sensor information is provided to the Vibration Device Controller, which can then modify the vibration waveform to improve overall system performance.
  • One area of application could be a vibratory parts feeder, where a sensor measures the rate at which parts move along a pathway, and the waveform is modified to improve the part motion.
  • Another area of application could be preparation and mixing of biological and chemical solutions.
  • a sensor could measure the effectiveness of the mixing and the vibration waveforms could be adjusted accordingly.
  • Fig. 90 shows an embodiment where a Vibration Device 1200 rests on a surface 1282. There exists friction between the surface 1282 and the Vibration Device 1200. Accordingly, motion of the Vibration Device 1200 will only occur if a force parallel to the surface 1282 exceeds a friction threshold.
  • an asymmetric waveform is being generated so that the peak positive force exceeds the friction threshold and the peak negative force is less than the friction threshold. Accordingly in each vibration cycle the Vibration Device 1200 can be pushed in the positive x direction when the peak force in the positive x direction exceeds the friction threshold.
  • the Vibration Device 1200 will take steps in the positive x direction.
  • the direction of motion along the x axis can be reversed by changing the synchronization of the Vibration Actuators and generating an asymmetric waveform that has a larger peak force in the negative direction.
  • a location device can be made to move in arbitrary directions on a surface 1282 by using a Vibration Device 1200 where the direction of vibration can be controlled on a plane, such as those shown in Fig. 62 and Fig. 66.
  • a locomotion device can be made to rotate by generating asymmetric torque vibrations, such as the one shown in Fig. 57.
  • Vibration is also used for personal pleasure products such as Jimmyjane's Form 2 Waterproof Rechargeable Vibrator. Vibration is also used for personal massager products such as the HoMedics® Octo-NodeTM Mini Massager. Vibration is also used for beauty products such as Estee Lauder's TurboLash and Lancome's Oscillation mascara applicators. INOVA produces the AHV-IV Series Vibrators for Vibroseis seismic exploration. General Synchronized Vibration can be used to improve the performance of such products by allowing the user to customize the vibration waveforms and direction of peak vibration forces.
  • Vibration Device could vibrate a patient's stomach to aid in digestion, and the patient or a sensor could determine how to adjust the vibration over time .
  • SAVANT Synchronized Array of Vibration Actuators in a Network Topology
  • the SAVANT architecture is generically applicable to any type of low-cost actuator, but for the purposes of the present analysis, systems of linear resonant actuators (LRAs) are discussed. It will first be shown that the analysis for multiple, collinear LRAs can be reduced to the analysis of a single LRA driven by the sum of the component LRA forcing functions. Then, example implementations of the different dimensions of SAVANT will be presented and compared with different single-actuator solutions currently available. Finally a discussion of multi-dimensional control effects and sequences of these effects will be presented. 1. Introduction of SAVANT Architecture
  • the power of SAVANT is three-fold: to synchronize arrays of low-cost, readily available vibration actuators to emulate superlative single actuators; to bring together sets of these emulated high-performance actuators to create almost any desired control effect; and to have an array of vibration actuators that is fault tolerant.
  • SAVANT Any array of rigidly or semi-rigidly coupled actuators whose motions and control schemes have been synchronized with the purpose of having characteristics or producing haptic effects beyond the abilities of any single actuator in the array is a SAVANT. Subsets of the set of actuators in a SAVANT are also called SAVANTs as long as they still meet the definition.
  • SAVANTs may be further decomposed into a set of connected SAVANT nodes such that the number of actuators in a SAVANT node must only be at least one.
  • the advantage of representing a SAVANT as a network of SAVANT nodes is that it enables the specification of geometric relationships between the SAVANT nodes.
  • the specification of a SAVANT's nodes as a particular geometrical configuration is defined to be that SAVANT's specific network topology .
  • the SAVANT node is further defined to be a collection of rigidly or semi-rigidly coupled actuators in close proximity of one another whose resultant vibration effects are designed to appear to emanate from a single spatial point.
  • These groups of actuators are also referred to herein as proximal groups.
  • Groups of actuators that are spatially separated so as to jointly create effects that require non- pointlike origin are referred to herein as distal groups or distal nodes .
  • the network topology of the actuators in a SAVANT determines how they can be used together.
  • the relevant properties of the SAVANT are the collinearities of the component actuators, the spanning set of displacement vectors and the relative proximities of the nodes.
  • a single device may contain a SAVANT having a plurality of synchronized actuators and at any given time these actuators may be functioning in any available capacity.
  • a device could have a total of six synchronized actuators: in response to stimulus A the six actuators could be divided into three subsets of two- actuator SAVANTs to produce the resultant control effect a; in response to stimulus B, the six actuators could instead be divided into two subsets of three-actuator SAVANTs to produce the control effect ⁇ .
  • An LRA-type actuator has three performance characteristics that can be improved by combining multiple actuators together: response time, bandwidth and force output.
  • An array of collinear LRA-type actuators can emulate improvement of any of these separately or at the same time.
  • four collinear LRAs could have synchronized control schemes such that they emulate a single component LRA with a faster response time.
  • they could be controlled synchronously to emulate a single component LRA with an increased frequency response range, or bandwidth.
  • the same four LRAs could be split into two subsets where each subset of two LRAs emulates a single LRA with increased bandwidth and collectively the two subsets work together to emulate faster response times.
  • arrays of actuators also have available two control modes unique to multiple synchronized actuators. These modes are referred to as spatial and temporal.
  • SAVANTs running in spatial mode can create haptic effects that relate to the user via their position and orientation in space. For instance a set of actuators may work together to create a half-wavelength oscillation or the amplitude of a vibrational effect may change based on the position of the device (per se relatively to another object or positions related to the Earth) .
  • SAVANTs can create vibrational effects that interact with the user to create an awareness of time. These can include asymmetric waveforms created through Fourier synthesis of harmonic forcing functions.
  • proximal arrays of collinear actuators have a natural safeguard against individual component failure. Many devices will use haptic effects to protect the wellbeing of their users, often in perilous or extreme environments. It is crucial that the vibration actuators are fault tolerant. One of the ways to achieve this is to build in redundancies for the purposes of reliability. Arrays of actuators that are designed to work together for the purposes of fault tolerant reliability are SAVANTs said to be running in reliability mode.
  • SAVANTs can exhibit these control modalities independently or simultaneously, they may be combined together into a single vector space which is referred to herein as the SAVANT "Control Space.”
  • This space spans the haptic capabilities of sets and/or subsets of actuators. The purpose of introducing this space and its comprising directions is to abstract the capabilities of groups of actuators.
  • the discussion of haptic control schemes can be elevated from "on and off” to sequences of control effects designed to enhance the user experience beyond today's capabilities, while only using low-cost components that are readily available today.
  • SAVANT All possible haptic effects (within reason) can be created with the SAVANT architecture.
  • a SAVANT of sufficient size can be thought of as a vibration synthesizer, designed to create arbitrary vibrational output either using predefined control sequences or in response to external information, e.g., user interface or sensor feedback.
  • the SAVANT architecture applies to any type of actuator—and SAVANTs of one actuator type can even emulate another actuator type.
  • two LRA-type actuators can be synchronized to emulate the output of an ERM-type actuator and vice versa.
  • all control sequences designed e.g. for an LRA-type SAVANT are equally valid for an ERM- type SAVANT where each LRA-type actuator is replaced with two synchronized ERMs designed to emulate an LRA.
  • the examples of specific electronic components are designed for haptic applications of hand-held devices.
  • the SAVANT architecture is not limited to actuators of this dimensional scale. That is to say, SAVANT is intended to be applicable at other dimensional scales with appropriate actuators—for example, an array of MEMS LRA actuators which might use electrostatic forces in place of electromagnetic forces; or arrays of very large LRAs that may be used for seismic exploration.
  • the examples discussed herein are based on a relatively small number of actuators but the architecture is consistent for any number of actuators.
  • the majority of examples in this text are concerned with homogeneous SAVANTs, it is perfectly acceptable and often desirable to have heterogeneous arrays of actuators.
  • Fig. 91 is a diagram illustrating the six dimensions of the SAVANT Control Space: Bandwidth, Magnitude, Performance, Reliability, Spatial and Temporal.
  • Fig. 92A illustrates an example of a SAVANT node having a single LRA, 1102a.
  • Figures 92A-92J illustrate an example LRA that has a coin-like shape and has an axis of vibration normal to the surface of the LRA.
  • the minimum number of actuators that a SAVANT node must have is one.
  • the minimum number of actuators that a SAVANT must have is two.
  • a 2-SAVANT that is to say, a SAVANT having two actuators
  • an LRA is used in this example, other actuators may be used as long as they are simple harmonic systems, or can be combined or controlled to behave as simple harmonic systems.
  • Some alternatives to LRAs include the various actuator types discussed above.
  • Fig. 92B illustrates an example of a SAVANT node having two LRAs, 1102a and 1102b, arranged in a stack, with their axes of vibration vertically aligned.
  • Fig. 92C illustrates an example of a SAVANT node having three LRAs, 1102a, 1102b and 1102c, arranged in a stack, with their axes of vibration vertically aligned.
  • Fig. 92D illustrates an example of a SAVANT node having two LRAs, 1102a and 1102b, in a compact planar arrangement, with their axes of vibration vertically aligned in parallel.
  • Fig. 92E illustrates an example of a SAVANT node having three LRAs, 1102a, 1102b and 1102c, in a compact planar arrangement, with their axes of vibration vertically aligned in parallel.
  • Fig. 92F illustrates an example of a SAVANT node having three LRAs, 1102a, 1102b and 1102c, in a compact arrangement with their axes of vibration spanning three dimensions.
  • Fig. 92G illustrates a side view (left) and a perspective view (right) of an example of a SAVANT node having three LRAs, 1102a, 1102b and 1102c, in a arrangement around three faces of a cube, 2000, with their axes of vibration spanning three dimensions.
  • Fig. 92H illustrates a side view (left) and a perspective view (right) of an example of a SAVANT node having six LRAs, 1102a, 1102b, 1102c, 1102d, 1102e and 1102f, in a arrangement around the six faces of a cube, 2000, with their axes of vibration spanning three dimensions.
  • Fig. 921 illustrates a side view (left) and a perspective view (right) of an example of a SAVANT node having twelve LRAs in a arrangement around the six faces of a cube with their axes of vibration spanning three dimensions.
  • Fig. 92J illustrates a side view (left) and a perspective view (right) of an example of a SAVANT node having four LRAs in a tetrahedral arrangement around the four faces of a tetrahedron, 2004, with their axes of vibration spanning three dimensions in accordance with aspects of the present disclosure.
  • Fig. 93 illustrates the equivalence between an exact representation of the vibration actuators in a SAVANT, 2020, and a triangularly shaped symbol, 2022, symbolizing a SAVANT node.
  • this SAVANT node symbol may represent any of the previous examples of a SAVANT node, as illustrated in the above Figures 92A - 92J, or any types of actuators and arrangements that meet the requirements of a SAVANT node.
  • Figs. 85A, 85B, and 85C illustrate a vibration device having a pair of ERMs . This pair of ERMs can be considered both a SAVANT node and a SAVANT, since it meets the requirements for each.
  • Fig. 94 illustrates a SAVANT node, 2022, inside an example smartphone or PDA, 2024.
  • the SAVANT node, 2022 may be attached to the smartphone case and disposed directly under a floating touch display, 2026, such that the floating touch display is capable of vibrating vertically, when the SAVANT node, 2022, is controlled by a controller in the smartphone, 2024, to produce haptic sensations to a user in accordance with aspects of the present disclosure.
  • the SAVANT node, 2022 can emulate a virtual actuator that can produce the haptic sensation that a person is pressing a physical button when in fact the person is only pressing the floating screen vibrated by the SAVANT node, 2022.
  • Fig. 95 illustrates a SAVANT, 2034, having twelve nodes in a three by four arrangement, 2022, inside an example tablet computer, 2030.
  • the SAVANT, 2034 is attached to the tablet computer case and disposed directly under a floating touch display, 2032, such that the floating touch display is capable of vibrating vertically, when the SAVANT, 2034, is controlled by a controller in the tablet computer, 2030, to produce haptic sensations to a user in accordance with aspects of the present disclosure.
  • the SAVANT, 2034 can emulate a set of virtual actuators that can produce the haptic sensation that a person is pressing a physical button when in fact the person is only pressing the floating screen vibrated by the SAVANT, 2034.
  • each of the twelve SAVANT nodes in this example may be individually or collectively controlled, various methods to produce localized haptic effects for a multi-touch display are possible.
  • Fig. 96 illustrates a perspective view (top) and a front view (bottom) of an example game controller, 2012, having a module, 2012, with a SAVANT inside.
  • the SAVANT is attached inside the module, 2012, to impart vibrations to the game controller to enhance the realism of gameplay through haptic cues and other haptic sensations, including directional vibrations in accordance with the present disclosure.
  • LRA is that of a damped harmonic oscillator with a resonant angular frequency , a mass m and a damping ratio ⁇ .
  • LRAs are labeled by their resonant frequency -? iJ , where — ** J iJ Generically, the LRA can be driven with any arbitrary function of time—usually implemented via the methods of pulse-width modulation, or PWM—but for simplicity let us just consider a simple sinusoidal driving force. This simplification is well-motivated by hardware considerations and as shown below, it is still quite general.
  • the equation of motion for a single LRA will be the solution of the differential equation
  • each LRA would be governed by its own equation (Eq. 103)
  • Actuators like LRAs are attractive because they are relatively low-cost, their design and control characteristics are well-understood and because their manufacturing infrastructure is already well-developed. Current trends disfavor the use of these actuators though because of their relatively long response times and narrow bandwidths compared to more exotic actuators—such as piezo-based solutions. By briefly leveraging the increased maximum driving amplitude afforded by an array of LRAs, one can bring the total response time down to the same order of magnitude as the piezo actuators. In the language of the architecture laid out in this work, the use of multiple actuators to effectively emulate a single, high-performance actuator will be referred to as a SAVANT running in performance mode.
  • the relative heights and positions of the peaks are determined by the resonant frequency, the driving frequency and the damping ratio.
  • the overall scale for the y-axis is determined by the forcing amplitude and the mass.
  • the resonant LRA frequency is assumed to be 150Hz and the phase of the forcing function is assumed to be 0 unless otherwise stated. All amplitudes are normalized to the maximum driving amplitude available. Thus an "amplitude of .2" refers to an amplitude equal to 1/5 the maximum forcing amplitude.
  • the generic harmonic oscillator equation of motion, Eq. 101 along with these experimentally derived parameters constitute the model MODI used extensively throughout this disclosure .
  • Fig. 103 the response of the two-LRA system is presented as a function of time and it is plotted along with the single LRA case.
  • the optimal switching time * ⁇ was determined numerically to be 4i ⁇ ⁇ *' - ⁇ " 13 .
  • the response times are: 1.16 ms, 2.35 ms and 6.02 ms for 10%, 50% and 90% respectively.
  • the response times are significantly faster, especially the time to reach 90% max amplitude, which is almost 70% faster than the single LRA.
  • the 2-LRA 90% time is roughly the same as the 1-LRA 50% time, as expected. also it is noted that with two LRAs, the system has already reached its maximum amplitude in the second half-cycle.
  • Fig. 104 a 3-LRA system is plotted along with the 2-LRA and 1-LRA systems. Again, the optimal switching time ' 5 was determined numerically to be * 5 ' ⁇ -- ⁇ ' .
  • the 3-LRA system responds the fastest with 10%, 50% and 90% max amplitude times of 1.00 ms, 1.91 ms and 2.66 ms .
  • a 90% max amplitude response time of 2.66 ms is squarely in competition with piezoelectric actuators.
  • the 90% max amplitude response time for the 3-LRA system is over 55% faster than the 2-LRA system and over 86% faster than the single LRA.
  • Performance mode leverages multiple actuators to emulate a single actuator with an improved response time. The same emulated increase can also be seen in bandwidth. Amplitude response for a typical LRA drops off exponentially as the driving frequency differs from the resonant frequency. The response amplitudes are additive though; meaning that at any given frequency, the maximum amplitude for an n-LRA system is n times the maximum amplitude of the 1-LRA system.
  • systems of multiple, synchronized actuators controlled in a manner as to emulate a single high- bandwidth actuator as a SAVANT running in bandwidth mode.
  • Fig. 105 we plot the frequency response curves for 1-, 2-, 3- and 4-LRA systems.
  • the frequency response curves in Fig. 105 from bottom to top are: dotted: 1-LRA; dot-dashed: 2-LRA; dashed: 3- LRA; solid: 4-LRA.
  • Each LRA will be vibrating along its own axis, but will each be applying a force to the embedding system. Since the forces they're applying are vectors, we need to take the vector sum to find the resultant force; and therefore the resultant motion of the embedding system. If these two identical, perpendicular LRAs are being driven by identical forcing functions, then the resulting motion of the embedding object will be sinusoidal in the plane spanned by the two axes of orientation. The motion of the embedding object will have an angular separation of 45° from either axis, effectively bisecting the vibrational axes (see Fig. 106) .
  • Fig. 106 shows the resultant motion for orthogonal springs driven with the same amplitude and phase. These four snapshots are taken from the steady state motion of two LRAs . The line represents the vector sum of the LRA displacements.
  • the angle of the resulting motion can be changed by changing the relative amplitudes of the forcing functions. If we characterize the resulting motion as the angle it makes with the horizontal axis, then any arbitrary linear motion can be achieved with forcing amplitudes proportional to ⁇ cos(6), sin(6) ⁇ , where the first is the forcing amplitude of the horizontal actuator and the second is the forcing amplitude for the vertical actuator. For the
  • Fig. 107A shows what the resulting motion would look like.
  • the direction of the linear motion can even be made to vary in time.
  • the forcing amplitudes become proportional to ⁇ cos(6(t)), sin(6(t)) ⁇ ; where now the angle ⁇ is taken to be a function of time.
  • Fig. 106B shows a linear vibrational effect where the orientation of the line moves from horizontal to vertical.
  • the time variation of ⁇ can be a pre-defined function specified for particular user experiences or the value of ⁇ can be continually or continuously updated by external sensors or user interface.
  • An example of the latter would be a device with a linear vibrational effect that is always oriented north or along the radial line between the device and the center of the Earth.
  • Another example would be a device with a linear vibrational effect capable of tracking an external object, such as a lost pet; or a location, such as a store in a mall.
  • Fig. 107A we have an illustration of two orthogonal springs driven with the same amplitude but out-of-phase by 180°.
  • Fig. 107B (we have an illustration of a linear vibrational effect with a time-varying direction.
  • the line represents the vector sum of the LRA displacements.
  • the amplitudes are given by cos(6(t)) and sin(6(t)) where 6(t) is taken to be a positive, slowly oscillating function of time, for example:
  • proximal SAVANTs groups of actuators (also known as SAVANT nodes) that are designed to have or appear to have pointlike origination.
  • distal SAVANTs which are groups of actuators that are separated physically but still physically attached together so as to create effects originating from multiple points or even extended geometries .
  • proximal systems these will be orthogonal orientations; distal systems are often best implemented by orthogonal, triangular and tetrahedral configurations.
  • Orientations along the edges of higher-vertex Platonic solids e.g. a cube, an octahedron, etc. could also produce robust haptic possibilities.
  • a control effect may superimpose multiple Lissajous curves such that, for example, a helical vibration effect may be achieved by having one SAVANT subset generate a circular vibration of frequency ⁇ and a second SAVANT subset generating a linear vibration also of frequency ⁇ that is collinear with the circle's normal vector passing through its center of rotation.
  • These control effects may have parameters which control the geometric transformations, for example: rotation, scaling and reflection.
  • the parameters may be constant or vary during the effect.
  • the parameters may correspond to real-world events, such as having a consumer electronic device containing a SAVANT, such as a remote control, generate a circular vibration that scales in magnitude based on its proximity to a fixed point in space.
  • a parameter may vary with the distance to a real moving target, or a virtual moving target may only exist as a computer-generated object that is rendered haptically, and which may displayed optionally simultaneously in other sensory modalities for example vision or audition.
  • the curve represents the vector sum of the steady- state displacements of five parallel LRAs .
  • the LRAs have resonant frequencies of 25Hz, 50Hz, 75Hz, 100Hz and 125Hz and each is forced independently at its resonant frequency.
  • the first term in the series is , where t is measured in milliseconds and the amplitude of 2 means twice the steady state maximum amplitude of the single 150Hz LRA.
  • a SAVANT of eight 150HZ LRAs could provide the necessary output.
  • the eight LRAs would effectively be a SAVANT running in magnitude and bandwidth modes.
  • the remaining terms in the series approximation would each be created by a SAVANT in the same fashion.
  • Fig. 114 we plot the vibrational effect resulting from the sum of three 2-LRA systems based on our LRA model, MODI.
  • the amplitudes for them are (respectively) : 1, 1 and 0.4, in units of the 2-LRA maximum driving frequency.
  • the resulting motion is a quick jerk back-and-forth followed by a rest.
  • Fig. 115 shows the same 2-LRA systems being driven at 4.5Hz, 9Hz and 13.5Hz. Even at these low driving frequencies, the maximum amplitude response is comparable to a single LRA being driven at resonance.
  • control effect as a set of predetermined sequences of control signals for each actuator in the array, such as the example effects in Sections 11(B) (l)-(6) above. They can be triggered by a user interface with the device or by internal triggers, such as information from on-board sensors.
  • Running a SAVANT in a single mode constitutes a control effect which makes use of a single dimension of the 6-dimensional control space. It is easy to construct control effects which simultaneously make use of multiple dimensions of the control space. We refer to these as multi-dimensional control effects .
  • the resultant waveform is a sequence of an integer number of half-wavelengths .
  • This entire control effect is referred to as an "h-pulse.”
  • An h-pulse is defined such that the system starts from rest, vibrates at the maximum amplitude for some time (with no ramp-up time) and then immediately stops vibrating.
  • Fig. 116 we plot the vibrational output for a 3-LRA system exhibiting an Impulse.
  • the control effect makes use of the optimal response of the performance mode and the optimal braking strategy.
  • the curve represents the summed displacement of three in-phase LRAs .
  • the h-pulse control effect must go from maximum mechanical vibration to no vibration, it can have any duration that is an integer multiple of half-wavelengths .
  • a 150Hz LRA since there are two half-wavelengths per cycle, that means one can create h-pulses with durations nx3.33 ms, where n is any integer. This duration can be changed by using pairs of LRAs running in bandwidth mode and driving the SAVANTs at lower frequencies.
  • the forcing amplitudes are initially 0.2x1; at 2.66 ms they change to 0.2x1/3, at 51.07 ms they are shifted out-of-phase by 180° and at 52.33 ms they are set back to 0.
  • the control sequence is identical except that all forcing amplitudes are scaled by a factor of 0.2.
  • the negative amplitudes can be implemented with positive forcing amplitudes but changes in the forcing phase by 180°.
  • a simple example of a multi-dimensional control effect is performance ® magnitude (see the discussion below for an explanation of the tensor product notation) .
  • the purpose of performance mode is to have a faster response time than a single actuator; the purpose of magnitude mode is to have a stronger mechanical vibration than a single actuator.
  • the optimal response time required 3 LRAs.
  • To achieve the performance ® magnitude control effect (assuming the LRAs are initially at rest) : 1) Drive each LRA with a sinusoidal forcing function at the maximum amplitude. The phase won't affect the results much.
  • control schemes can generically be broken up into two phases: intervals where the SAVANT is outperforming a single component actuator and intervals where the SAVANT is emulating a single component actuator.
  • Fig. 119 shows an example of a vibrational gradient produced with a 3-LRA system.
  • the mechanical vibration of the system is ramped up in discrete steps in response to a user input.
  • the curve represents the summed displacement of three in-phase LRAs.
  • Each LRA is driven identically and the forcing amplitude for each is represented as this piecewise function of time (where t is measured in milliseconds): 2 ⁇ t ⁇ 151,49
  • Fig. 120 illustrates an Elongated h-Pulse created by 150Hz LRAs using our LRA model, MODI, driven at 25Hz.
  • the redundancy of LRAs allows the vibration amplitude to remain comparable to a single one of our LRA models, MODI, driven at its resonance. Note that the force output is not comparable though because the force scales as the square of the oscillation frequency.
  • the MODI LRAs in this group are being driven at ⁇ ! ⁇ of their resonance frequency, their total vibration amplitude is still greater than a single LRA based on our LRA model, MODI, vibrating at resonance.
  • This control scheme is an example of SAVANTs utilizing bandwidth, magnitude and performance modes simultaneously. From the example multi-dimensional control schemes above that, given enough actuators, it is possible to simultaneously control a SAVANT in any subset of the six modes of the SAVANT architecture.
  • a SAVANT may incorporate a wide range of vibration actuators including a linear resonant actuator which has a moving mass that oscillates back and forth along a linear path.
  • Other actuators that are useful in a SAVANT include the actuators where the mass is constrained to rotate about a particular vibration axis, following a circular or semi-circular path.
  • These rotational actuators include Eccentric Rotating Mass actuators, Pivoting Mass actuators, and Rocking Mass Actuators as have been introduced earlier in this disclosure. While a single linear resonant actuator can impart a force on the mounting plate it is attached to, a single rotational actuator can impart a torque onto the mounting plate it is attached to.
  • the torques generated by one or more rotating vibration actuators when added with torques generated by one or more counter-rotating vibrating actuators can sum to a net force upon a mounting plate, for example in cases when the axes of rotation of the rotational actuators are arranged collinearly.
  • Move motion controller could be augmented at little cost to include a SAVANT that provides additional haptic cues and vibrations. These could be in addition to or instead of the ERMs currently in the devices. Though the incremental cost of adding controllers is small, the potential revenue from the expanded possibility of titles could be very high. Moreover, as other companies move towards controller-less motion controlled gaming and computing, haptic feedback provides an advantage for hand-held controllers. At the same time, it is possible though to develop wearable haptic devices, such as wristbands or belts incorporating SAVANTs, which provide spatial and directional feedback. These devices could be in addition to or in lieu of a hand-held controller .
  • wearable applications include a SAVANT incorporated into a vibration device contained within a wristband, an armband or a leg band. Still other examples of wearable applications include a SAVANT incorporated into a vibration device contained within wearable accessories such as a pair of eyeglasses, a pair of headphones or a hearing aid. Still further applications could include incorporating a SAVANT into a vibration device that is used for providing haptic feedback in a handheld stylus drawing or writing or pointing tasks.
  • SAVANTs can be incorporated into personal pleasure devices to increase the range of haptic vibration sensations for a person's body, for usage of such haptic vibration devices either externally or internally in relation to a person's body, or both.
  • a SAVANT may be used for other hand tools and devices that are commonly used in construction; for example screwdrivers, hand-drills; pliers; and wrenches.
  • Another application might be a SAVANT in a device that augments reality for a non-sensory impaired person, or alternatively in a device that substitutes vibratory feedback and sensations for sensory modalities for which a person may have a deficit such as vision or hearing.
  • SAVANTs may be used to telepresence activities, such that a parent who is located in one city is able to hold a SAVANT enabled device, such as a game controller, that produces vibrations that correspond and convey, for example, to the respiration of the parent's child located in another city, or the heartbeat of a parent conveyed to the parent's child to enable a parent-child connection.
  • a vibration device incorporating a SAVANT may be used to help generate calming vibration patterns for a person having Autism Spectrum Disorder.
  • SAVANTs may also be used to generate vibrations in children's toys, for example inside plush toys, such as a teddy bear .
  • the SAVANT architecture is intentionally designed as a scalable network topology such that a first vibration device with a first embedded SAVANT may physically and logically interface with a second vibration device with a second embedded SAVANT such that the vibration controllers of both vibration devices could share sensors, data and control to establish a larger SAVANT device.
  • the SAVANTs embedded inside various devices may be considered as modular vibration units that can be attached together to form larger SAVANTs with different and often more robust capabilities .
  • a harmonic oscillator-type vibration actuator When a harmonic oscillator-type vibration actuator is driven by a constant sinusoidal external force there are two functions that characterize the response of the vibration actuator.
  • the first is the amplitude response, defined as how the amplitude of the resulting motion increases or decreases with time in the presence of an external driving force.
  • the vibration actuator reaches 10%, 50% and 90% of its maximum amplitude in roughly 1.53 ms, 6.05 ms and 19.75 ms respectively. Alternatively one could say that these happen in the first, second and sixth half-wavelength . It is desirable to achieve a faster amplitude response.
  • the second important relationship is how the amplitude responds to the driving force frequency. This relationship is called the bandwidth of the vibration actuator. We shall denote this as the "frequency response". Typically the amplitude responds maximally to the resonant frequency and the response diminishes as the driving force frequency diverges from the resonant frequency. Using the same 150Hz LRA as mentioned above, the maximum amplitude response happens for a sinusoidal driving force with a frequency of 150Hz, while a driving force with frequency 105Hz only produces an amplitude of roughly half the maximum.
  • the forcing functions are shifted out-of-phase by 180° from the original forcing functions, effectively forcing the LRAs with negative amplitudes.
  • the forcing amplitudes were set to 0, as indicated by the third dashed line. Because the mechanical output goes from maximum to effectively zero in a quarter cycle, for the parallel 3-LRA system there is no control sequence that will brake the system faster .
  • Fig. 122 illustrates Optimal Braking of a 3-LRA System.
  • the braking strategy effectively fully damps the mechanical vibration within a quarter-cycle.
  • the curve represents the summed displacement of 3 LRAs driven in-phase .
  • each LRA is driven at 1/3.
  • each driving amplitude is set to 1 and the phases are changed by 180°.
  • At t 52.32ms the forcing functions are turned off. iv. Example Operational Process
  • Step 1) Select a desired output waveform.
  • Step 2 Define a collection of harmonic oscillators to emulate the desired waveform.
  • Step 3 Set up the equation of motion for the collection of harmonic oscillators, with each driven by its own input function. For any set of identical oscillators this reduces to a single equation driven by the sum of the relevant component input functions.
  • Each discontinuous change in the desired output waveform will generically correspond to a discontinuous change in the input functions.
  • harmonic oscillators with resonant frequency, * the times at which these changes in the input
  • Step 4) Solve the equation of motion with a defined set of initial conditions.
  • typical initial conditions for various desired effects are: +m A for immediate maximum amplitude; -m A for immediate minimum amplitude (stopping or braking); +A for steady state A; 0 for no amplitude.
  • the necessary number of oscillators needed in order to immediately reach the emulated maximum amplitude within half a wavelength is defined by the characteristic amplitude response function for the oscillator. For our model LRA, MODI, this number is 3 because in half of a wavelength that particular LRA model has reached about 33% of its maximum amplitude.
  • Step 5 Slowly vary the amplitudes and/or discontinuity times in the input function until the solution matches the desired output waveform to a sufficient degree of accuracy.
  • Computational tools such as Java applets or Mathematics DynamicModules from Wolfram Research can facilitate this process by enabling smooth manipulation of the input function parameters, as shown in Figs. 97-100. (Note that the resonant frequency for this oscillator is
  • the "circle times" symbol used in Section 4, ® is a symbol used to indicate the tensor product of vector spaces. We are using this notation in a similar fashion to how it is used in quantum mechanics. In quantum mechanics the tensor product is used to describe the resulting multi-particle states available to two or more interacting or entangled particles. If one particle is in state a and another is in state b, the two-particle state would be labeled by a ® b. It represents all possible multi-particle states available given the two particles that make up the state. In the case of SAVANT, each SAVANT is like a quantum particle with available states and the tensor product of those SAVANTs defines the vector space of control effects available to the system.
  • An important means to advance SAVANT technology into systems designed for a variety of applications, especially haptic applications, is to encapsulate and hide the complexity of one or more SAVANT nodes by placing technology inside a module that provides three defined interfaces: 1) a physical interface for rigidly attaching or docking the SAVANT integrated module to other SAVANT integrated modules or other objects; 2) a power interface for powering the SAVANT integrated module; and 3) a communication interface to allow external devices and services such as computers, external timing sources or services, other SAVANT integrated modules, and sensors to interface with the SAVANT integrated module.
  • a variety of necessary components are integrated together to achieve the functionality needed by a product designer, while hiding the complexity of the implementation from the product designer.
  • the three interfaces for a given SAVANT integrated module can be defined and published independently of the implementation of the functionality of the module — thus allowing the products and the implementation of the functionality of the modules to coevolve via standardized interfaces.
  • the defined interfaces allow multiple manufacturers to develop their own implementations of given SAVANT integrated modules, thus permitting competition in the marketplace.
  • the technology integrated into a SAVANT integrated module may include: vibration actuators which can be precisely attached and aligned to the module housing; a microcontroller or other microprocessor, DSP, FPGA, etc.; sensors needed for closed loop control of actuators and the associated sensor conditioning electronics; power electronics including H-bridges or their equivalents for allowing control of the vibration actuators.
  • Additional components that may be optionally included and integrated into a SAVANT integrated module to provide even more functionality may include wireless communication such as a ZigBee low-power radio and energy storage such as a rechargeable battery, capacitor or supercapacitor .
  • LEGO building blocks have a well-defined physical interface, namely the precise size of the brick studs and their corresponding holes; the arrangements and precise spacing of the studs and the holes; and the high manufacturing precision such that the manufacturing tolerances are measured in microns.
  • LEGO enthusiast is able to construct his or her LEGO visions without any tools other than his or her hands and achieve a result having exacting precision, and furthermore LEGO bricks from decades ago are still able to physically interface with LEGO bricks of today.
  • the SAVANT architecture encompasses an array of vibration actuators, it is desirable to have a similar physical interface that will provide high precision alignment of the actuators (and their associated moving masses) inside the SAVANT integrated modules as well as a physical interface that will allow precise attachment of SAVANT integrated modules to a housing, other SAVANT integrated modules or various other attachment objectives.
  • the physical interface can enable attachment in multiple orientations and translations.
  • the power interface provides external power for the internal components of the SAVANT integrated module - and in the case of a SAVANT integrated module that is designed to not only transduce electrical power to mechanical vibration, but also transduce mechanical vibration into electrical power it may also supply power externally while acting as a generator or when providing power from energy storage within the SAVANT integrated module that has been charged via harvesting vibrational energy.
  • the power interface definition includes a physical connector as well as power specifications.
  • the communication interface allows the SAVANT integrated module to communicate with an external host computer, the cloud, the internet, various services such as a time reference service, other SAVANT integrated modules, a variety of sensors and human interface devices, etc.
  • the communication interface includes the definition of an interface connector; signal characteristics and specifications, as well as communication protocols and specific calls that may be made.
  • Another key capability of the communication interface is to allow an external timing source or time reference that may be an absolute time or a relative time.
  • One SAVANT integrated module may also act as a timing source or time reference to other SAVANT integrated modules. The precise synchronization of vibrations of a SAVANT integrated module with other modules and other temporal events may be an essential capability.
  • SAVANT integrated modules may be used for critical applications such as alerting mechanisms worn on a person's body or perhaps even implanted inside a person's body, the identification and authentication of external computers, external sensors, timing sources or other SAVANT integrated modules may be essential to avoid malware and malicious access to a SAVANT integrated module.
  • each SAVANT integrated module can have a globally unique identifier such as a serial number for addressability.
  • SAVANT integrated modules can have renewable security so in the event that security on the device has been compromised the security can be renewed, or alternatively or additionally the security may be periodically or even aperiodically renewed. Communication with the SAVANT integrated module may be encrypted and messages may be digitally signed to ensure system security.
  • Contemporary game controllers often incorporate two ERMs, one with a large eccentric rotating mass, the other with a small rotating mass, to generate a large variety of vibration or "rumble" effects that enhance a player's experience.
  • the rumble motors provide vibrations ranging from around 15 Hz to 45 Hz.
  • One example embodiment for achieving these goals is to replace a single ERM with a SAVANT node that includes two interleaved and synchronized ERMs of approximately half-size and not only emulate both the large ERM and the small ERM, but perform many other haptic effects, including haptic cues for direction.
  • a SAVANT node that includes two interleaved and synchronized ERMs of approximately half-size and not only emulate both the large ERM and the small ERM, but perform many other haptic effects, including haptic cues for direction.
  • the half-sized interleaved pair of ERMs be around the same size and weight as a single ERM, and also have similar power consumption when emulating a single ERM.
  • the half-sized interleaved pair of ERMs can be incorporated into a SAVANT integrated module for internal integration into a game controller or external integration via an expansion port.
  • the divide and sync module could also be designed into the game controller itself.
  • One example embodiment is shown in a few views in FIGS. 200a, 200b and 200c.
  • one divide and sync module is in each hand grip, in the locations typically occupied by one large and one small ERM.
  • another divide and sync module is placed in the center of the game controller.
  • Other example embodiments include any and all combinations of the three module locations shown in FIGS. 200a, 200b and 200c, as well as in additional locations as permitted by the design of the game controller.
  • Another SAVANT integrated module for rumble applications is a single, full-sized ERM having either a large or small mass, which is capable of synchronizing with other SAVANT vibration actuators.
  • a single ERM module does not have the capabilities of the above described "Divide and Sync" SAVANT integrated modules, it is less expensive and may be a way for game console manufacturers to at least begin to make SAVANT capable game controllers.
  • These SAVANT integrated modules could emulate PWM speed control, but also have the capability for position control, thus allowing the module to be part of a larger SAVANT.
  • the ERM can be incorporated into a SAVANT integrated module for internal integration into a game controller or external integration via an expansion port.
  • a final example of a SAVANT integrated module for game controllers may be a rotationally symmetric mass designed for high- speed rotational inertia applications.
  • High-speed rotational inertia might only require speed control rather than position control.
  • the rotational inertia might be switched on inside a game controller, for example, when emulating a Star Wars type Light Saber.
  • Another application might be not for games but rather for stabilization of a handheld apparatus such as a handheld camera or game console.
  • ERMs are exceptional at producing high vibration forces out with a relatively small power input.
  • This balanced rotating mass designed for high rotational inertia can be incorporated into a SAVANT integrated module for internal integration into a game controller or external integration via an expansion port.
  • FIG. 123A As shown in FIG. 123A by the arced arrows, when two co- rotating ERMs co-rotate, the forces shown as 1 and 2 combine.
  • the total force output is adjustable. This can be used to create high fidelity haptic effects and cues. For instance, as shown in FIG. 123B, a small phase angle may result in a high force output. And as shown in FIG. 123C, a large phase angle may result in a low force output.
  • FIG. 123F when holding a device, parasitic torque is felt based on the distance W between contact points. Examples of this are shown in FIGS. 124A-B, which illustrate situations with varying distances (D) between the ERMs and distances (W) between the contact points. These two examples show that as the ratio of D/W gets larger, the more pronounced the effects of parasitic torque. And that if the ratio of D/W were small enough, the parasitic torque would be negligible.
  • co-rotating, co-axial ERMs can produce high fidelity vibration effects.
  • Axial separation between the ERMs can diminish the quality of the vibration effects due to parasitic torque.
  • the parasitic torque can be eliminated, resulting in the highest quality effects.
  • interleaved ERMs could be produced in large volume. Key features of the finished product include: interleaved eccentric masses; balanced as an assembly; and integrated position sensors. As will be explained, this process is scalable to very small ERMs that can be used in cellular phones and other portable mobile devices.
  • An initial step includes providing masses that can be forged, cast, machined, stamped or otherwise manufactured in a high volume, loose tolerance process. Suitable mass materials may include those used as a sleeve bearing, e.g., bronze.
  • FIG. 126A illustrates the drilling and reaming of the holes for the masses.
  • FIG. 126C illustrates fitting the shaft through both masses.
  • FIG. 126D illustrates examples of motor casings slid onto the masses.
  • FIGS. 126E and 126F illustrate the rotor assemblies being presses onto the masses.
  • FIG. 126G illustrates that the motor casings are fixed in place, the shaft is spun from the ends, and force sensors are used to determine the balance.
  • automated tooling touches the masses to take off material until the assembly is balanced.
  • end caps are applied to the ends of the assembly.
  • the end caps include brushes to commutate the motor and one or more positions sensors for the motor.
  • a microprocessor may also be included in one or both endcaps .
  • the shaft is split so that each mass is independently rotatable .
  • the ERMs are directly driven and are coaxial to the driving motor.
  • the eccentric masses do not need to be driven this way in order to produce the correct vibration effects.
  • FIGS. 127-129 show an embodiment of interleaved ERMs where they are directly driven and coaxial to the motors.
  • FIGS. 128A-B illustrate examples of the ERMs manufactured as discussed above with regard to FIGS. 126A-I.
  • FIGS. 129A and 129B show an embodiment of interleaved ERMs driven by spur gears, where the axes of rotation of the motors are parallel to the axis of the ERMs.
  • FIGS. 130A and 130B show an embodiment of interleaved ERMs driven by bevel gears, where the axes of the motors are perpendicular to the axis of the ERMs.
  • the transmission could be a cable drive, where the motors are positioned in convenient locations far away from the module.
  • the motors could be more than two interleaved ERMs, with one or more driven through a transmission.
  • the motors can be placed wherever is most convenient and an appropriate transmission device can be selected in order to drive the ERMs with the motors.
  • the self-generated vibrations are periodic, meaning that they occur at one or more specific frequencies. This is especially true for equipment with rotating parts, where vibration is caused by an imbalance in rotating components, and occurs at the frequency of rotation. In some cases the vibrations may be composed of multiple frequencies, but typically there will be a dominant resonance mode where much of the vibration energy exists .
  • One or more dual ERM modules are an ideal solution for canceling out periodic vibrations.
  • 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.
  • 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.
  • Four modules together would provide two adjustable directional vibrations, which could be used to completely cancel out a specific frequency of vibration in some cases (e.g. in rotating machinery) .
  • Six modules together could provide three orthogonal directional vibrations, which could prove even more useful.
  • Modules could be attached in strategic locations on a piece of machinery to cancel out vibrations. The closer to the source of vibration, the easier it is to cancel it, however it may also be sufficient to cancel vibration in a particular location (such as the cab of a large machine where an operator may sit, or at the mounting point of a sensor in order to decouple it from the effects of that vibration) .
  • Modules could contain their own accelerometers or other sensors, to automatically pick out resonant modes for cancellation. This would allow greater accuracy and speed, as well as dynamic adaptability than a sensor-less design, though it is possible to use the modules initially passively to measure the vibration frequencies in terms of their effects on the eccentric masses in the case where cost, complexity, or size is an issue.
  • Modules could communicate with each other to strategically cancel out many vibration frequencies with minimal effort.
  • the modules in the course of their measurements may determine that certain modules are most strategically placed for a particular vibration, using all the sensors together as a network.
  • the effects of the vibration cancellation as it propagates through the system can also be measured by the remote sensors of other modules.
  • the communication of multiple modules could also be used to cancel distributed or complex vibrations which one module would not be able to measure alone . 7. Generating beat patterns effects using a synchronized pair of ERMs
  • FIG. 112 shows an example beat pattern which may easily be achieved with a pair of LRAs as described herein.
  • ERMs can also be used to produce beating patterns, although there are some practical differences when compared to LRAs. Any two ERMs co-rotating at different frequencies in the same device will produce a beating vibrational pattern.
  • the direction of the beating force rotates in the same direction as the ERMs, and the frequency of the beating force is based on the speed difference between the ERMs.
  • the amplitude and shape of the beating force is a function of the speeds of the ERMs and their eccentricities. In general, both the amplitude and frequency of the beating force can be varied.
  • FIGS. 131, 132 and 133 Some example beating patterns for a pair of co-rotating ERMs with equal eccentricities are shown in FIGS. 131, 132 and 133. In all of these examples, the ERMs begin and end in "Spinning Reserve".
  • the beating effect has constant magnitude (amplitude) and constant frequency.
  • the beating effect has constant frequency, but has an increasing magnitude throughout the effect.
  • the beating effect has constant magnitude, but has a variable frequency. Varying the beat frequency and the amplitude (magnitude) is also possible.
  • the beating patterns in FIGS. 131-133 are only a small subset of the possible effects that utilize beating phenomenon with two ERMs. Still more things are possible with more than two ERMs.
  • One notable example is to use one pair of co-rotating ERMs to produce a beating force with respect to another pair of co-rotating ERMs. With this configuration, it is possible to achieve adjust the phase difference between co-rotating ERMs so that the beating force goes completely to zero during the low points of the vibration waveform, for any given beating frequency.
  • an individual ERM When driven in a manner as to produce a constant angular velocity, an individual ERM produces a sinusoidal force in any given direction in its rotational plane with a frequency proportional to its angular velocity.
  • This beat frequency is given by the difference of the angular velocities divided by 2*pi.
  • This beat pattern can be particularly useful in haptic devices because of the disparity between typical ERM driving frequencies and frequencies which humans are typically responsive to. People tend to only be able to discern individual pulses in waveforms with frequencies less than about 5Hz . Since the force output of an ERM is proportional to the square of its rotation frequency, typical ERMs used in handheld devices cannot produce noticeable forces in the haptically relevant range.
  • the resultant beat patterns can have many applications in everyday devices. Such beat patterns by a mini Gemini drive or other proximal SAVANT device may be used to generate clicks.
  • a particularly salient application is that of haptic navigation.
  • Haptic navigation devices could leverage either or both of these modalities for navigation. For instance, as a user approached a desired end point the ERMs could be driven in such a way as to maintain a constant amplitude but vary the beat frequency. Making it such that, for instance, the beat frequency increased as the user approached the desired end point and decreased as they moved away from it.
  • these modalities can be combined in many ways .
  • One example would be to choose two orthogonal spatial directions and to have, e.g., the beat frequency vary as the user moved the device along one direction (e.g., parallel to the ground) and the amplitude vary as they moved along the orthogonal direction (e.g., perpendicular to the ground) .
  • vibration beat patterns may be simultaneously enhanced with relevant visual stimuli, relevant audio stimuli, or both.
  • These types of devices could be used for indoor navigation, object location within a dense collection of objects, or navigation to another person or animal.
  • a haptic feedback pointing device that used beat patterns to let the user know when they were close to an icon or target region. They could also be used to gently and humanely guide animals away from certain areas via vibration collars, particularly if there were certain frequencies that produced sharp responses in the given animal.
  • This type of navigation could also be used as an active feedback mechanism in pedagogical settings, for instance to train people to drive certain vehicles. Beat patterns could also be useful in therapeutic devices such as massage chairs and personal massagers.
  • the axis of vibration can rotate at a slower rate than the vibration frequency and it is quite noticeable.
  • the ERMs can counter-rotate at 25 Hz, and the linear axis of vibration may be rotated for example at 0.5 Hz.
  • the axis of vibration can also oscillate about a given angle in the plane, and thus create a vibrato effect, also making the axis of vibration noticeable.
  • Vibrato is used with stringed instruments such as a cello when a performer is required to play a sustained note. The vibrato adds a brilliance to the auditory perception of the sustained note, otherwise, our sensory and perceptual systems are designed to adapt and filter out such constant stimuli.
  • This haptic vibrato effect modulates the axis of vibration in the plane; thus, this effect can have several parameters: the angle of the axis of vibration in the plane (because of symmetry that angle can range from 0 to 180 degrees) ; the amplitude of the oscillation of the haptic vibrato; the frequency of the oscillation of the haptic vibrato.
  • a SAVANT integrated module may be controlled by an external computer or by attaching a human interface device such as a MIDI controller to produce a variety of effects. Additionally, a SAVANT integrated module may have a variety of functions that may be utilized by selecting the function and including various parameters. Moreover, a SAVANT integrated module may include a library of haptic effects.
  • An interleaved ERM module is capable of controlled modulation of many types of effects. Examples include:
  • Any effect that can be modulated on single module can be used to differentially vary two or more modules. For example:
  • the above may be coupled with sensors that determine position and orientation so that the device can be used for navigation .
  • system identification could be used by the ERMs, especially in a network, to identify or classify the structure, changes in the structure over time, dynamic behaviors of the structure, orientation (in the case where there are no accelerometers or there is too much noise in the system for the accelerometers ) , or to determine other parameters .
  • This portion of the disclosure describes multiple examples and embodiments relating to a novel rotational position sensing system, referred to herein as the “MOHAWK Sensor System, " and additionally its industrial applicability to eccentric rotating mass (ERM) vibration actuators.
  • MOHAWK Sensor System a novel rotational position sensing system
  • ERP eccentric rotating mass
  • the MOHAWK Sensor System includes a measurement target specially designed to affect a magnetic field or an electromagnetic light field, then calibrated during quiescent states, so that the MOHAWK Sensor System is calibrated when needed and when the opportunity presents itself, and furthermore methods are utilized to minimize vibrational output during the calibration phase .
  • the Hall Effect sensor will measure alternating positive and negative magnetic fields, and thus outputs something like a sine or square wave. Since the waves are of known shape, the angle of the rotating section of the sensing device can be calculated easily.
  • the type of sensor modality or the type of field can be mixed, so that the combination provides additional information.
  • the type of sensor modality or the type of field can be mixed, so that the combination provides additional information.
  • an angular position sensor that employs a magnetic field that is generated and then measured as one modality.
  • One of the surfaces that are part of the sensor can be reflective and shaped to vary distance from the sensor with rotation, thus the second modality of a mixed modality sensor can be an optical sensor which bounces an infrared light off one of the surfaces, then measures reflective intensity or timing.
  • MOHAWK Sensor System (See Figure 134) incorporates the following:
  • Means to determine when to calibrate said system e.g., a controller ;
  • Means to receive a rotational position query for said system e.g., a controller
  • Means for the system to respond to said rotational position query e.g., a controller.
  • aspects 1 2 and 3 are part of the so-called 'hardware layer' as they are the main components of the hardware, while 4, 5, 6 and 7 may be implemented by one or more controllers having routines that run on the controller ( s ) , and so are part of the 'software layer.'
  • Field Source Some field generating element examples are a magnetic field generated by a permanent magnet (though it does not need to be permanent), and an optical field, such as light from an infrared emitter (for example, the Kingbright APT2012F3C) .
  • a typical magnetic sensor that is low cost and accurate is a Hall effect sensor, such as the Honeywell SS49E, which outputs a voltage that is linearly proportional to a magnetic field intensity acting on the sensor in one or more particular axes (many sensors such as this type require no external circuitry and so further reduce costs and complexity) .
  • a typical infrared sensor is the Everlight PD15-21B/TR8 (again this outputs a voltage that is proportional to infrared light intensity striking the sensor) .
  • the target may be a continuous or spatially modulated annulus or periphery shape (or a combination) .
  • the target may be composed, at least in part, of soft magnetic material.
  • Example soft magnetic materials include magnet steel, soft iron and permalloys, such as Hitachi Metals permalloys.
  • a Hall effect sensor may be positioned between the permanent magnet and the target, for example, as illustrated in the accompanying figures (e.g., Figure 138) .
  • the distortion of a soft magnetic material within a magnetic field falls off with distance from the edge of the material on the order of the inverse square of the radial distance.
  • the shape of the material can be adjusted to produce a desired output.
  • the shape can be designed to produce a linear relationship to angle.
  • a toothed design can be used to produce pulses for a relative encoder.
  • the absolute reference can be a tooth of differing depth or a missing tooth.
  • the target can be designed to reflect light. This can be done simply, by varying surface roughness, by a similar shape method to the magnetic target just described, by coloring, or by other means.
  • Embedded System There is a need for an embedded software layer in order for the sensor to be useful, since regular calibration is a potentially important behavior of the sensor system, and an estimate of the position and uncertainty of that estimate needs to be maintained.
  • the basic components listed above are each responsible for different functions.
  • the entire software layer is potentially multi-threaded in order to serve multiple sensors and vibration actuator modules.
  • the states of the system can be accessed through the API (application programming interface), which will send the position to functions asking for the current information about position. This serves to protect internal variables from accidental modification.
  • API application programming interface
  • the control commands may be passed down to a motor controller, or the motor controller may be simple motor driver circuitry. This depends on the particular application. Typically an estimator will incorporate some least squares calculation that balances between the current measurement and the current estimate using the uncertainty about the sensor measurement and model (for example, consider a Kalman filter) . This can easily be integrated with a typical control structure such as a Linear Quadratic Gaussian (LQG) controller. Such a controller assumes a linear system model where the controller is required to optimize with a quadratic constraint (such as position error and control energy), assuming uncertainty that is Gaussian (random with mean zero and some variance) . So a typical loop will have a high priority portion and a lower priority portion. During the high priority portion the measurement is taken, estimate and model updated and data stored, then new control command computed and executed. The lower priority portion or separate thread will process any commands and respond to requests for data.
  • LQG Linear Quadratic Gaussian
  • the field can also be modulated to improve the signal-to- noise ratio. What this does is improve robustness when in a noisy, non-ideal environment (most applications are far from ideal and filled with noise) .
  • the strategy here is that the modulation (on- off cycling of the field) provides a lower boundary for the Off' portion of the modulation. Therefore, the sensor can be constantly adjusting the expected range of intensities it should expect to measure .
  • the MOHAWK Sensor System can quite easily be added to one or more actuators in an ERM system to provide position feedback.
  • Figure 135 and 137-144 show a few examples for the physical integration.
  • the required feedback algorithm is actually simplified in the monotonically increasing version, as absolute position is a simple analog measure of the Hall or optical sensor. This will allow a lower cost processor that does not have an encoder module integrated to be used.
  • the rotating masses will have possibly integrated into them the surface designed to vary a parameter measured by the detector, such as surface roughness, and thus specular reflectivity.
  • the sensor is placed to reflect a beam off the surface onto the detector, and there needs to be a means of enclosing the detector and emitter area by some carefully shaped material to prevent ambient light from striking the detector and providing false signals. This can easily be achieved with a piece of plastic, for example, that simultaneously serves to mount both the emitter and detector relative to the reflecting target.
  • the voltage output from the detector is routed to an analog to digital converter built into the processor (or as part of external circuitry) to be measured and converted to a digital value between a minimum and maximum.
  • This value is converted to an angle after a calibration procedure is performed to match angle with the values.
  • This calibration can be once (factory-calibrated) or periodic to continue to account for variations in parameters of the system, and can be completely automated.
  • the calibration may also be performed a periodically, for example, as part of an opportunistic algorithm that seeks to calibrate the system when it is known to be in a quiescent state.
  • Calibration is a key component to the sensor system. Most of the time an ERM actuator, especially ones used in Haptic or gaming type applications, is in a dormant state. During this time the system can calibrate the sensor, as long as that calibration does not interfere with normal functioning or be apparent to the user .
  • Calibration as a process includes rotating the sensor target and the system searching for the absolute position feature. Once that is detected, there are multiple methods of using the feature to determine the angular range of the sensor.
  • One example is for the absolute monotonically changing target.
  • the calibration determines the range of voltages the sensor can generate, and then maps those voltages, from minimum to maximum, to a 0-360 degree range.
  • the absolute feature is searched for, at which point position may be reset to zero or corrected.
  • the timing of the calibration can be determined by many methods.
  • One straightforward approach is a simple timer interrupt on a microcontroller .
  • a more complex approach can involve an intelligent algorithm that estimates uncertainty of the position measurement, then calibrates when the uncertainty is above a particular value. In most cases, calibration is given a lower priority than responding to control requests. There may be cases where it is more important to calibrate rather than respond, such as when the position estimate becomes corrupted or very poor.
  • the emitter and detector portion may need an umbrella type shape to mostly enclose the relevant area of the target from ambient light. Modulation may also help avoid the effects of ambient light sources. If a reflective method is used, care must be taken to use a material that does not easily corrode, or protect the material from corrosion, so that the surface properties change in a minimal way over time. If a printed coloring is used, the ink must not be of a type that fades easily. Optical surfaces must also be protected from dust.
  • the senor may need to be enclosed in a Faraday cage to prevent interference from ambient magnetic fields or fields generated by the nearby motors.
  • FIG. 137 Similar to as previously described, a target is coupled to the ERM system. In this case the target provides an absolute reference and is a pulsed output. 5. Forward and inverse mathematical models of magnetic field for manual or autonomous design
  • Figures 147A-B illustrate an example of an assembled GEMINI module without magnets.
  • figures 147C-D illustrate the assembled GEMINI module with magnets.
  • the goal in this section is to provide rotational position sensing to a motor control algorithm.
  • the design should have a low part count, low processor overhead, and implemented with standard machine processes in the field.
  • a design is presented that uses one Hall sensor, a small, low power magnet, and a specially shaped flywheel (steel, iron) .
  • the term “flywheel” is used interchangeably with the term “target” to mean a rotating object that is able to affect the transmission of a field from a field source to a field detector, such that as the object rotates, variations in one or more aspects of the shape, size and material composition of the rotating object produce measurable changes in the field as detected by the field detector or sensor that can be used to determine the angular position of the object.
  • the Hall sensor needs to be a linear or ratiometric type.
  • This example uses the Optek OHS3151U. There are many low cost Hall sensors, and they range between $1 ⁇ $2 at lOOOpcs.
  • the magnet needs to be not very strong, so that it won't disturb the rotation of the flywheel.
  • a good candidate would be made of ferrite, and have a small disk or bar shape ( ⁇ 0.25" diameter, ⁇ 0.25" thick) . This example uses a small piece of a larger ferrite disk magnet .
  • the flywheel can be made of low cost sheet steel, or iron. Iron may be softer and easier to stamp.
  • the flywheel shape is optimized for a linear voltage output from the sensor. In this example, the diameter ranges from .5" to 0.3" with a log taper (see Fig. 148) .
  • This encoder wheel design can be optimized for range of radial distance and taper. Production tooling specs can be accommodated as well.
  • the motor used was removed from working equipment, in this case a Nintendo game controller.
  • the steel flywheel is hand made from a piece of .032" zinc plated sheet.
  • the Hall sensor is an Optek OHS3151U ratiometric linear type.
  • the speed of the motor is controlled of the motor with chicken PWM output and 2N3904 transistor.
  • the sensor and motor voltage is 5V in this example.
  • Figures 150A-B show a graphs of ADC values over time with the motor spinning at different rates. The contents of an array of samples taken over 1 ⁇ 2 second is shown. Absolute values range from X to Y. This range of output can be improved with magnet and Hall sensor selection. The peak value is at 272, and the trough value is at 200.
  • This portion of the disclosure describes multiple examples and embodiments relating to wearable devices (and also to implantable medical devices or IMDs and holdable devices such as mobile phones) such as wristbands, that can provide haptic guidance to a person for such example tasks as to: help one navigate one's body or body part from a first location to a second location; help a person maintain one's body or body part at a given location or within a defined spatial zone; or help a person navigate one's body or body part along a defined path, while avoiding obstacles; or help a person in motion maintain one's body in a fixed relation to other adjacent people in motion.
  • This technology has broad industrial utility for guiding people using haptic stimuli for use as an assistive device when a person may have a vision deficit (such as blindness) or when a person prefers to use the haptic sensory modality instead or in addition to using a person's sensory modalities of vision and audition. While this disclosure describes embodiments of assistive and augmentative technology for modern humans (Homo sapiens sapiens) , other embodiments of the invention can be built for individuals of species including: dogs (Canine lupus), cattle (Bos primigenius) , horses (Equus ferus caballus) , sheep (Ovis aries) , etc .

Abstract

La présente invention concerne un système de mesure de position angulaire comprenant un émetteur de champ (FIG. 134), un détecteur de champ (FIG. 135) et une cible tournante (FIG. 136) couplée à l'émetteur de champ et au récepteur de champ (FIG. 134). La cible influe sur une transmission d'un champ de sorte que, lorsque la cible tourne, des variations dans un ou plusieurs aspects de forme, de taille et de composition de matériau de la cible tournante (FIG. 148) produisent en conséquence des changements mesurables dans le champ tel que détecté par le détecteur de champ (FIG. 150A-B). L'invention concerne également un système de guidage (FIG. 151) haptique différentiel, comprenant : des actionneurs haptiques qui affichent des stimuli haptiques pour un individu (FIG. 152) ; un moyen d'affichage de rafales desdits stimuli de sorte qu'une ou plusieurs qualités de perception des rafales soient variables (FIG. 151) ; un moyen de détermination sélective d'une position ou d'une orientation spatiale de l'individu et/ou d'un outil en contact avec celui-ci (FIG. 151) ; et un processeur de guidage haptique différentiel programmé pour guider de manière directionnelle l'individu par affichage de rafales multiples de stimuli haptiques qui sont utilisées de sorte à distinguer un mouvement correspondant.
PCT/US2014/050724 2005-06-27 2014-08-12 Guidage haptique différentiel pour navigation personnelle WO2015023670A1 (fr)

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US9928950B2 (en) 2013-09-27 2018-03-27 Apple Inc. Polarized magnetic actuators for haptic response
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CN105841706A (zh) * 2015-06-25 2016-08-10 维沃移动通信有限公司 一种导航的方法和终端
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US10039080B2 (en) 2016-03-04 2018-07-31 Apple Inc. Situationally-aware alerts
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CN109074163B (zh) * 2016-05-04 2021-10-29 伟视达电子工贸有限公司 用于模拟来自虚拟对象的反作用力的系统和方法
CN109074163A (zh) * 2016-05-04 2018-12-21 伟视达电子工贸有限公司 用于模拟来自虚拟对象的反作用力的系统和方法
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CN112666597A (zh) * 2019-10-16 2021-04-16 中国石油天然气集团有限公司 可控震源扫描方法和装置
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WO2022235484A1 (fr) * 2021-05-04 2022-11-10 Sony Interactive Entertainment Inc. Modification commandée par la voix de propriétés physiques et paramétrage
US11847743B2 (en) 2021-05-04 2023-12-19 Sony Interactive Entertainment Inc. Voice driven modification of physical properties and physics parameterization in a closed simulation loop for creating static assets in computer simulations
CN113485472B (zh) * 2021-08-04 2022-02-11 北京航空航天大学 一种基于双通道陷波器的磁悬浮转子同频振动力矩抑制方法
CN113485472A (zh) * 2021-08-04 2021-10-08 北京航空航天大学 一种基于双通道陷波器的磁悬浮转子同频振动力矩抑制方法
WO2023029290A1 (fr) * 2021-09-06 2023-03-09 深圳先进技术研究院 Dispositif de détection cognitive tactile et procédé de détection
US11809631B2 (en) 2021-09-21 2023-11-07 Apple Inc. Reluctance haptic engine for an electronic device
CN114518750A (zh) * 2021-12-15 2022-05-20 电子科技大学 一种基于阿米巴运动机制的路径规划方法
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