Synchronized array of vibration actuators in an integrated module
The disclosure relates to integrated modules for Synchronized Array of Vibration Actuators (FIG. 125 A). The modules provide physical interface, power and communication interfaces. Each module may include vibration actuators (FIG. 123 A) 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. 126 G). 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. 125 B). 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.
1. An integrated vibration module for generating haptic sensations, comprising:
a pair of first and second eccentric rotating masses configured to independently rotate about a common axis, the pair of eccentric rotating masses being interleaved by selecting a geometry and density of the first and second eccentric rotating masses such that a center of mass of each eccentric rotating mass projects onto a same position on the common axis of rotation, the first and second eccentric rotating masses having equivalent eccentricities;
a first motor configured to drive the first eccentric rotating mass;
a second motor configured to drive the second eccentric rotating mass;
means for sensing at least one of an angular velocity and an angular position of each of the first and second eccentric rotating masses;
means for closed loop control of each of the first and second eccentric rotating masses using one or both of the angular velocity and the angular position;
wherein, when the first and second eccentric rotating masses are rotating at the same angular velocity, a relative phase angle between the pair of eccentric rotating masses determines a net vibration output of the pair, so that when the relative phase angle is 0 degrees the net vibration output is at a maximum and when the relative phase angle is 180 degrees the net vibration output is at a minimum.
2. The integrated vibration module of claim 1 , wherein at least one of the first motor and the second motor is configured to directly drive its respective eccentric rotating mass.
3. The integrated vibration module of claim 1 , wherein at least one of the first motor and the second motor is configured to drive its respective eccentric rotating mass through a given transmission.
4. The integrated vibration module of claim 1 , wherein the first eccentric rotating mass and the second eccentric rotating mass have different masses.
5. The integrated vibration module of claim 1 , wherein:
the sensing means is configured to determine an angular velocity of each of the first and second ERMs; and
the closed loop control means is configured to control the velocity of each of the first and second eccentric rotating masses.
6. The integrated vibration module of claim 1 , wherein the first eccentric rotating mass is controlled to rotate at a first frequency, f 1 , and the second eccentric rotating mass is controlled to rotate at a second frequency, f 2 , both eccentric rotating masses rotating in the same direction, thus producing a beat frequency for the module of f 2 −f 1 .
7. The integrated vibration module of claim 1 , wherein the first eccentric rotating mass is controlled to rotate in a first direction at a first frequency, f 1 , and the second eccentric rotating mass is controlled to rotate in the opposite direction, at a second frequency, f 2 , producing a rotating linear vibration for the module based on f 1 and f 2 .
8. The integrated vibration module of claim 1 , wherein:
the sensing means is configured to determine the angular position of each of the first and second eccentric rotating masses; and
the closed loop control means is configured to control the angular position of each of the first and second eccentric rotating masses.
9. The integrated vibration module of claim 1 , further comprising an application programming interface (API) that enables a computer external to the module to issue commands to the module.
10. The integrated vibration module of claim 1 , further comprising:
a physical interface configured for rigidly attaching or docking the module to one or more other integrated vibration modules or other objects;
a power interface configured to power the module; and
a communication interface configured for communication with one or more external devices or services.
11. The integrated vibration module of claim 1 , wherein the integrated vibration module is configured to perform encrypted communication with other devices.
12. The integrated vibration module of claim 1 , wherein the module provides a timing source or timing reference to one or more other integrated vibration modules.
13. The integrated vibration module of claim 1 , wherein the module is configured to synchronize its clock to an external timing source or timing reference.
14. The integrated vibration module of claim 1 , wherein the integrated vibration module is used to provide the haptic sensations for one selected from the group consisting of: a vehicle, a steering mechanism for a vehicle, a seat for a vehicle, and a touch panel.
15. The integrated vibration module of claim 1 , wherein the integrated vibration module is used to produce the haptic sensations for one selected from the group consisting of: a game controller, a motion game controller, a handheld game console, and a remote control.
16. The integrated vibration module of claim 1 , wherein the integrated vibration module is used to produce the haptic sensations in a plush toy.
17. The integrated vibration module of claim 1 , wherein the integrated vibration module is used to produce the haptic sensations for one selected from the group consisting of: a pair of eyeglasses, a wristband, a wristwatch, a belt, an armband, a leg band, a mobile phone, a tablet computer, a device for aiding a vision-impaired person, a device for aiding a hearing-impaired person, a device for augmenting reality with haptic feedback, and a vibration device used for singly or in a pair for conveying a telepresence.
18. The integrated vibration module of claim 1 , wherein the integrated vibration module is used to produce the haptic sensations for a personal pleasure device.
19. The integrated vibration module of claim 9 , wherein the API includes a command to the module to produce the net vibration output with a specified frequency and amplitude.
20. The integrated vibration module of claim 9 , wherein the API includes a command to the module to vibrate at a specified non-zero frequency and to rapidly switch an output amplitude from substantially zero amplitude to a specified non-zero amplitude and back to a substantially zero amplitude, thereby producing an impulse.
21. The integrated vibration module of claim 9 , wherein the API includes a command to the module to identify itself.
22. The integrated vibration module of claim 19 , wherein the specified frequency is non-zero and the net vibration output amplitude is substantially zero.
23. An integrated vibration system for generating haptic sensations, comprising:
a plurality of integrated vibration modules operatively coupled to one another, each module including:
a pair of first and second eccentric rotating masses configured to independently rotate about a common axis, the pair of eccentric rotating masses being interleaved by selecting a geometry and density of the first and second eccentric rotating masses such that a center of mass of each eccentric rotating mass projects onto a same position on the common axis of rotation, the first and second eccentric rotating masses having equivalent eccentricities;
a first motor configured to drive the first eccentric rotating mass;
a second motor configured to drive the second eccentric rotating mass;
means for sensing at least one of an angular velocity and an angular position of each of the first and second eccentric rotating masses;
means for closed loop control of each of the first and second eccentric rotating masses using one or both of the angular velocity and the angular position;
wherein, when the first and second eccentric rotating masses are rotating at the same angular velocity, a relative phase angle between the pair of eccentric rotating masses determines a net vibration output of the pair, so that when the relative phase angle is 0 degrees the net vibration output is at a maximum and when the relative phase angle is 180 degrees the net vibration output is at a minimum.
24. The integrated vibration system of claim 23 , wherein each integrated vibration module includes a communication interface configured for communication with one or more other integrated vibration modules or an external computer or microcontroller.
25. The integrated vibration system of claim 23 , wherein the system comprises a portable handheld device.