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. A vibration device assembly comprising:
a mounting platform;
a pair of vibration motors attached to the mounting platform, the pair of vibration motors comprising a first vibration motor having a first eccentric rotating mass (“ERM1”) and an associated first eccentricity (“E1”), and a second vibration motor having a second eccentric rotating mass (“ERM2”) and an associated second eccentricity (“E2”);
a third vibration motor attached to the mounting platform and interposed between the first and second vibration motors, the third vibration motor having a third eccentric rotating mass (“ERM3”) and an associated third eccentricity (“E3”), wherein the first, second and third vibration motors are arranged to have collinear axes of rotation along a common axis of revolution and are attached to the mounting platform so that vibrations from each of the first, second and third vibration motors superimpose on the mounting platform; and
at least one sensor attached to the mounting platform, the at least one sensor being configured to sense angular position information of the first, second and third eccentric rotating masses, the at least one sensor being configured to provide the information regarding angular positions to a controller;
wherein the eccentricity of each respective eccentric rotating mass is defined as the radius (r) from the axis of revolution of the respective eccentric rotating mass to a mass center of that eccentric rotation mass, multiplied by the mass (m) of that eccentric rotating mass, so that E=r×m;
wherein the vibration device assembly is configured for closed loop control of one or both of angular velocity or angular position of each eccentric rotating mass; and
wherein each of the eccentricities are selected, and distances between projections of the mass centers of each of the eccentric rotating masses onto the common axis of revolution are chosen, such that in response to a control signal received from the controller, the first, second and third eccentric rotating masses are controllable to have a same angular velocity, and relative phase angles of each of the first, second and third eccentric rotating masses are controllable so that forces of the first, second and third vibration motors cancel out, including a net sum of vibration forces of the vibration device assembly canceling out and a net sum of torques of the vibration device assembly canceling out.
2. The vibration device assembly of claim 1 , wherein a single mass center, formed by combining the projections of the mass centers of the first and second eccentric rotating masses onto the common axis of revolution, is coincident with the projection of the mass center of the third eccentric rotating mass onto the common axis of revolution.
3. The vibration device assembly of claim 1 , wherein the eccentricity of the first eccentric rotating mass is equal to the eccentricity of the second eccentric rotating mass.
4. A product configured for haptic applications, the product comprising the vibration device assembly of claim 1 and a housing including the mounting platform.
5. The product of claim 4 , wherein the mounting platform of the housing is configured for grasping by at least one hand of a person when using the product.
6. A personal pleasure product comprising the vibration device assembly of claim 1 .
7. The vibration device assembly of claim 1 , wherein the vibration device assembly is configured for use for locomotion in response to one or more control signals received from the controller.
8. The vibration device assembly of claim 1 , further comprising the controller.
9. The vibration device assembly of claim 1 , wherein the mounting platform comprises a tube, and the first, second and third vibration motors are mounted within the tube.
10. A vibration device assembly comprising:
a mounting platform;
a first pair of vibration motors attached to the mounting platform, the first pair of vibration motors comprising a first vibration motor having a first eccentric rotating mass (“ERM1”) and an associated first eccentricity (“E1”), and a second vibration motor having a second eccentric rotating mass (“ERM2”) and an associated second eccentricity (“E2”);
a second pair of vibration motors attached to the mounting platform and interposed between the first and second vibration motors of the first pair, the second pair of vibration motors comprising a third vibration motor having a third eccentric rotating mass (“ERM3”) and an associated third eccentricity (“E3”), and a fourth vibration motor having a fourth eccentric rotating mass (“ERM4”) and an associated fourth eccentricity (“E4”), wherein each of the vibration motors are arranged to have collinear axes of rotation along a common axis of revolution and are attached to the mounting platform so that vibrations from each of the vibration motors superimpose on the mounting platform;
at least one sensor attached to the mounting platform, the at least one sensor being configured to sense angular position information of the first, second, third and fourth eccentric rotating masses, the at least one sensor being configured to provide the information regarding angular positions to a controller;
wherein the eccentricity of each respective eccentric rotating mass is defined as the radius (r) from the axis of revolution of the respective eccentric rotating mass to a mass center of that eccentric rotation mass, multiplied by the mass (m) of that eccentric rotating mass, so that E=r×m;
wherein the vibration device assembly is configured for closed loop control of one or both of angular velocity or angular position of each eccentric rotating mass;
wherein each of the eccentricities is selected, and distances between projections of the mass centers of each of the eccentric rotating masses onto the common axis of revolution are chosen, such that in response to a control signal received from the controller, the first, second, third and fourth eccentric rotating masses are controllable to have a same angular velocity, and relative phase angles of each of the first, second, third and fourth eccentric rotating masses are controllable so that forces of the first, second, third and fourth vibration motors cancel out, including a net sum of vibration forces of the vibration device assembly canceling out, and a net sum of torques of the vibration device assembly canceling out.
11. The vibration device assembly of claim 10 , wherein a first single mass center, formed by combining the projections of the mass centers of the first pair of eccentric rotating masses onto the axis of revolution, is coincident with a second single mass center, formed by combining the projections of the mass centers of the second pair of eccentric rotating masses onto the common axis of revolution.
12. The vibration device assembly of claim 10 , wherein the eccentricity of the first eccentric rotating mass is equal to the eccentricity of the second eccentric rotating mass.
13. The vibration device assembly of claim 10 , wherein the eccentricity of the third eccentric rotating mass is equal to the eccentricity of the fourth eccentric rotating mass.
14. The vibration device assembly of claim 10 , wherein the eccentricities of the four eccentric rotating masses are equal.
15. A product configured for haptic applications, the product comprising the vibration device assembly of claim 10 and a housing including the mounting platform.
16. The product of claim 15 , wherein the mounting platform of the housing is configured for grasping by at least one hand of a person when using the product.
17. A personal pleasure product comprising the vibration device assembly of claim 10 .
18. The vibration device assembly of claim 10 , wherein the vibration device assembly is configured for use for locomotion in response to one or more control signals received from the controller.
19. The vibration device assembly of claim 10 , further comprising the controller.
20. The vibration device assembly of claim 10 , wherein the mounting platform comprises a tube, and the first, second, third and fourth vibration motors are mounted within the tube.