Synchronized array of vibration actuators in an integrated module
First Claim
1. A haptic synchronized vibration device, comprising:
- a mounting platform;
a plurality of vibration actuators connected to the mounting platform, each of the plurality of actuators being configured to output a force onto the mounting platform, in which the force output of each of the plurality of vibration actuators are superimposed onto the mounting platform as a combined force vector, each vibration actuator in the plurality of vibration actuators requiring multiple vibration cycles to go from a rest state to a peak magnitude of vibration; and
a controller operatively coupled to the plurality of vibration actuators, the controller being configured to control the force output of each vibration actuator and to synchronize the plurality of vibration actuators to produce one or more haptic effects, wherein the controller is operative to control each actuator in order for the combined force vector to sum to zero as a net zero force and a combined torque of the plurality of actuators to sum to zero;
wherein the controller is further configured to turn haptic effects on and off in the haptic synchronized vibration device, in which the plurality of vibration actuators are put into a first mode where the plurality of vibration actuators are brought up to a given speed and controlled in a manner that their combined force vectors and the combined torque output no haptic vibration effect onto the mounting platform, and in which the plurality of vibration actuators are put into a second mode where a vibration phase of each actuator of the plurality is modified to output a haptic vibration effect without a transition from the rest state up to the given speed.
1 Assignment
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Accused Products
Abstract
The disclosure relates to integrated modules for Synchronized Array of Vibration Actuators (FIG. 125A). The modules provide physical interface, power and communication interfaces. Each module may include vibration actuators (FIG. 123A) which can be precisely attached and aligned to the module housing, a microcontroller or other microprocessor, and one or more sensors for closed loop control of actuators (FIG. 126G). Interleaved pairs of ERMs having a center of mass in the same plane eliminate parasitic torque. A single module can produce a vibration force that rotates at a specific frequency and magnitude, which on its own could cancel out some types of periodic vibrations (FIG. 125B). Two modules paired together and counter-rotating with respect to each other can produce a directional vibration at a specific frequency and magnitude, which could prove even more useful for canceling out a vibration. Such modules are also employed to produce beating patterns (FIGS. 131-133). Both amplitude and frequency of the beating force are variable.
90 Citations
20 Claims
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1. A haptic synchronized vibration device, comprising:
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a mounting platform; a plurality of vibration actuators connected to the mounting platform, each of the plurality of actuators being configured to output a force onto the mounting platform, in which the force output of each of the plurality of vibration actuators are superimposed onto the mounting platform as a combined force vector, each vibration actuator in the plurality of vibration actuators requiring multiple vibration cycles to go from a rest state to a peak magnitude of vibration; and a controller operatively coupled to the plurality of vibration actuators, the controller being configured to control the force output of each vibration actuator and to synchronize the plurality of vibration actuators to produce one or more haptic effects, wherein the controller is operative to control each actuator in order for the combined force vector to sum to zero as a net zero force and a combined torque of the plurality of actuators to sum to zero; wherein the controller is further configured to turn haptic effects on and off in the haptic synchronized vibration device, in which the plurality of vibration actuators are put into a first mode where the plurality of vibration actuators are brought up to a given speed and controlled in a manner that their combined force vectors and the combined torque output no haptic vibration effect onto the mounting platform, and in which the plurality of vibration actuators are put into a second mode where a vibration phase of each actuator of the plurality is modified to output a haptic vibration effect without a transition from the rest state up to the given speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of implementing haptic vibration effects in a haptic synchronized vibration device, the device including a mounting platform, a plurality of vibration actuators connected to the mounting platform, each of the plurality of actuators being configured to output a force onto the mounting platform, in which the force output of each of the plurality of vibration actuators are superimposed onto the mounting platform as a combined force vector, each vibration actuator in the plurality of vibration actuators requiring multiple vibration cycles to go from a rest state to a peak magnitude of vibration, and a controller operatively coupled to the plurality of vibration actuators, the controller being configured to control the force output of each vibration actuator and to synchronize the plurality of vibration actuators to produce one or more haptic effects, wherein the controller is operative to control each actuator in order for the combined force vector to sum to zero as a net force and a combined torque of the plurality of actuators to sum to zero, the method comprising:
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turning haptic effects on and off in the haptic synchronized vibration device, including; putting the plurality of vibration actuators into a first mode including bringing the plurality of vibration actuators up to a given speed and controlling the plurality of vibration actuators in a manner that their combined force vectors and the combined torque output no haptic vibration effect onto the mounting platform; and putting the plurality of vibration actuators into a second mode including modifying a vibration phase of each actuator of the plurality to output a haptic vibration effect without transitioning from the rest state up to the given speed. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification