(19) United States
`(12) Patent Application Publication (10) Pub. No.: US 2011/0248817 A1
`Oct. 13, 2011
`(43) Pub. Date:
`Houston et al.
`
`US 20110248817A1
`
`(54)
`
`SYNCHRONIZED VIBRATION DEVICE FOR
`HAPTC FEEDBACK
`
`(75)
`
`Inventors:
`
`(73)
`
`Assignee:
`
`John Houston, New York, NY
`(US); Nathan Delson, San Diego,
`CA (US)
`seats it Corporation, New
`OrK,
`(US)
`
`(21)
`
`(22)
`
`(63)
`
`(60)
`
`Appl. No.:
`Filed:
`
`13/030,663
`Feb. 18, 2011
`
`Related U.S. Application Data
`Continuation of application No. 1 1/476,436, filed on
`Jun. 27, 2006, now Pat. No. 7,919,945.
`Provisional application No. 60/694,468, filed on Jun.
`27, 2005.
`
`Publication Classification
`
`(51) Int. Cl.
`(2006.01)
`G08B 6/00
`(52) U.S. Cl. ......................................................... 340/42
`
`ABSTRACT
`(57)
`The present invention relates to synchronized vibration
`devices that can provide haptic feedback to a user. A wide
`variety of actuator types may be employed to provide Syn
`chronized vibration, including linear actuators, rotary actua
`tors, rotating eccentric mass actuators, and rocking mass
`actuators. A controller may send signals to one or more driver
`circuits for directing operation of the actuators. The controller
`may provide direction and amplitude control, vibration con
`trol, and frequency control to direct the haptic experience.
`Parameters such as frequency, phase, amplitude, duration,
`and direction can be programmed or input as different pat
`terns Suitable for use in gaming, virtual reality and real-world
`situations.
`
`62O
`
`image command
`
`y
`
`visual image
`
`System
`Controer
`
`y 622
`
`force Commands
`
`user Corrands
`
`|
`
`-S theta
`
`X
`
`Graphical Display
`
`ly 628
`
`626 r1 Usef
`force Sensation
`
`Vibration device
`Contoler
`N-632
`Woration Device
`Y-630
`| | Driver Circuits
`634
`input Device
`u-636
`
`--
`
`user input
`
`Haptic interface
`
`N 624
`
`Exhibit 1031 - Page 1 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 1 of 23
`
`US 2011/0248817 A1
`
`F.G. 1
`
`O
`
`amplitude - site wave 2
`&
`
`triangle wave 14
`
`arotrary
`arbitrary wave 6
`
`square wave 18
`^
`
`tire
`
`te
`
`amplitude
`
`phase difference A z 0
`beginning of cycle
`
`FG 2
`
`2O
`
`
`
`
`
`beginning of cycle
`
`Exhibit 1031 - Page 2 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 2 of 23
`
`US 2011/0248817 A1
`
`FG 3
`
`30
`
`s ()
`
`ampiitude
`
`-beginning of cycle
`
`beginning of cycle
`
`
`
`
`
`
`
`Eine
`
`FG. A.
`Linear Motion Vibration Actuator 100
`y
`Movind Mass
`'
`9
`
`Base O4
`
`102
`
`
`
`y
`
`10
`
`F.G. 5A
`Moving
`Electromagnet 112
`Permant Magnet 16
`Attached to Base
`See SS- 114
`X
`>< 3 /
`North Poles.--C
`Side Wew
`
`s 2
`
`FG 5B
`
`Permant Magnet
`-Attached to Base 116
`w
`-Moving Electromagnet 12
`End View
`
`Exhibit 1031 - Page 3 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 3 of 23
`
`US 2011/0248817 A1
`
`F.G. 6A
`
`120
`
`FG. 6B
`
`Efectromagnet 126
`Attached ig Base
`ot e Y *er y 2 4.
`
`X N
`
`Side View
`
`Moving Permanent Magnet 22
`Electromagnet 26
`- Attached to Base
`3 6.
`as é
`&^{Moving Permanent Magnet 122
`EdView
`
`3.
`
`a.
`
`130
`
`FG. 78
`
`F.G. 7A
`Springs 138
`
`Electromagnet 136
`Attached gBase
`s
`
`-
`
`X
`
`Moving Permanent 132
`S. Magnet
`&---.
`---. 34.
`s &
`2 34
`Side View
`
`Electromaget 36
`* Attached to Base
`(O). Permanefit Magnet 32
`
`EWiew
`
`140
`
`FG, 88
`
`y
`
`y
`
`y
`
`FG. 8A
`Permanent Magnets
`Electromagnet 146
`- -,
`Moving Permanent 42
`Attached to Base
`... tae
`- Magnet
`
`t "ess."
`
`*2222
`Sics wiew
`
`Electromagnet 146
`- Attached to Base
`
`C
`
`NAoving Permanent Magnet 142
`Ed Wy
`
`FG. 9
`coil 56
`
`15
`
`
`
`end piece.
`
`1." K
`
`
`
`spring 160
`
`-w- tied to base
`
`plunger 152
`
`Exhibit 1031 - Page 4 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 4 of 23
`
`US 2011/0248817 A1
`
`FG. O.
`
`Vibration Device 200
`
`204
`
`208
`
`2O6
`
`2O2
`
`X
`
`y
`
`FG 11
`
`
`
`Vibration Device 200
`
`206s
`
`202
`
`w
`
`X.
`
`y
`
`FConbined
`
`-
`
`-
`
`-
`
`204
`
`2O8
`
`Exhibit 1031 - Page 5 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 5 of 23
`
`US 2011/0248817 A1
`
`FG 2
`
`FCorbined
`
`FG. 3
`
`FCombined
`
`
`
`206
`s
`
`202
`
`X
`
`
`
`2O6
`
`2O2
`
`X
`
`Vibration Device 200
`
`204
`
`208
`
`Vibration Device 200
`
`204
`
`208
`
`
`
`216
`
`212
`
`
`
`FG. 4
`
`Vibration Device 21
`
`-
`
`roombined
`
`214
`
`theta
`4. acombied
`
`y
`
`y
`
`y
`
`Exhibit 1031 - Page 6 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 6 of 23
`
`US 2011/0248817 A1
`
`Vibration evice 220
`
`226.
`
`F.G. 6
`
`Gane Controtter 24
`
`
`
`Exhibit 1031 - Page 7 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 7 of 23
`
`US 2011/0248817 A1
`
`FG 7
`Vibration Device 260
`
`FG 18
`
`
`
`276
`
`274
`
`Exhibit 1031 - Page 8 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 8 of 23
`
`US 2011/0248817 A1
`
`F.G. 19
`
`Vibration Device 280
`/
`
`
`
`
`
`FG. 20
`Vibration Device 290
`
`/
`
`1N
`Torque combined
`
`296
`
`Exhibit 1031 - Page 9 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 9 of 23
`
`US 2011/0248817 A1
`
`FIG 21
`
`300
`
`Centrifugal Force -
`
`s
`
`Direction of Rotation
`
`FG. 22
`
`30
`
`COrbined Force Wector CFW
`:
`
`
`
`316
`
`Wibration Device
`
`38
`
`Exhibit 1031 - Page 10 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 10 of 23
`
`US 2011/0248817 A1
`
`FIG 23
`
`CFW
`
`1
`
`.
`
`.
`. . .
`
`to
`
`. .
`. .
`
`N-
`
`x
`
`Exhibit 1031 - Page 11 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 11 of 23
`
`US 2011/0248817 A1
`
`FG, 24A
`
`4. O
`
`402
`
`FG. 248
`
`402
`y
`
`404
`f
`
`FG 24C
`
`
`
`406
`
`404
`
`Exhibit 1031 - Page 12 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 12 of 23
`
`US 2011/0248817 A1
`
`FiG. 25A 400
`
`404
`
`402 r
`-:
`
`F
`i-C
`406 r\,
`Y.
`
`-
`--------------- v, -v- 412
`
`Kos
`
`wa
`
`FG. 25B
`
`
`
`Pivoted Counterclockwise Position
`
`412
`
`-
`
`Y-...- 410
`Pivoted Clockwise Position
`
`Exhibit 1031 - Page 13 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 13 of 23
`
`US 2011/0248817 A1
`
`F.G. 27A
`
`426
`
`w
`y - 427
`
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`*
`
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`ill-e-C
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`:
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`--
`
`F.G. 278
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`4. O
`
`422 air
`
`
`
`Exhibit 1031 - Page 14 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 14 of 23
`
`US 2011/0248817 A1
`
`FG 27)
`
`436
`
`FG, 27E
`
`
`
`442
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`447
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`y
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`
`FG. 27
`440
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`446
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`
`444
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`
`
`
`Exhibit 1031 - Page 15 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 15 of 23
`
`US 2011/0248817 A1
`
`---
`
`406 r \,
`
`',
`\ w
`
`N
`A12). -N Y /
`410b
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`pivoting mass 458
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`:
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`rotary actuator
`v
`:
`fixed support
`way--yzy
`
`fixed support
`
`rotary actuator
`
`pivoting mass
`
`452
`
`460
`
`No.
`
`454
`
`Exhibit 1031 - Page 16 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 16 of 23
`
`US 2011/0248817 A1
`
`FG. 29A
`
`476
`
`*
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`Exhibit 1031 - Page 17 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 17 of 23
`
`US 2011/0248817 A1
`
`
`
`FG. 30
`
`Exhibit 1031 - Page 18 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 18 of 23
`
`US 2011/0248817 A1
`
`FG. 3
`
`500
`
`driver circuit 504a
`
`vibration
`device
`Cortfolier
`
`driver circuit 504
`
`actuator 506b
`
`O
`
`driver circuit 504
`
`actuator 506
`
`
`
`
`
`
`
`502
`
`vibration
`device
`controller
`
`vibration
`device
`Controller
`
`502
`
`FG. 32
`
`driver circuit 504a
`
`actuatof 506a
`
`driver circuit 504b.
`
`actuator 506b
`
`FG 33
`
`A f, p1
`
`driver circuit 504a
`
`
`
`
`
`
`
`
`
`driver circuit 504b
`
`actuato 506b
`
`Exhibit 1031 - Page 19 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 19 of 23
`
`US 2011/0248817 A1
`
`FG. 34
`
`driver circuit 504a
`
`actuator 506a
`
`driver circuit 504b
`
`actuator 506b
`
`vibration
`device
`Controller
`
`502
`
`FG. 35
`
`Wibration
`Controke
`
`A.f.ip
`
`
`
`A2,fp
`
`Direction and
`Amplitude
`Controller
`
`Frequency
`Contoler
`
`theta,
`Acornbined
`
`508
`f
`
`510
`
`5O2
`
`52
`
`504a
`
`506a
`
`504
`
`506b
`
`Exhibit 1031 - Page 20 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 20 of 23
`
`US 2011/0248817 A1
`
`
`
`FG. 36A
`
`Exhibit 1031 - Page 21 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 21 of 23
`
`US 2011/0248817 A1
`
`
`
`FG. 36B
`
`Exhibit 1031 - Page 22 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 22 of 23
`
`US 2011/0248817 A1
`
`FG, 37
`
`OO
`
`image command
`
`Graphical display
`
`System
`Contro8er
`
`Y 602
`
`visual image
`y
`
`608
`
`606 1 User
`
`force contands
`
`force sensation
`
`use Cornards
`Haptic interface
`-
`
`user input
`
`y 604
`
`FG 38
`image command
`
`620
`y
`
`visual image
`
`System
`Controker
`
`y
`622
`
`force corrmands
`
`use Commands
`
`- theta
`X |Y
`
`Graphical Display
`
`628
`
`Wibrator Device
`Contole
`
`Usef
`
`1
`l?
`626
`632 force sensation
`Wibration bewice
`630
`river Circuits
`634.
`
`user input
`
`e
`
`input Device
`- 636
`
`Haptic interface
`
`624
`
`FG. 39
`G
`
`650
`
`Superpostion of peaks
`
`amplitude
`
`beginning of cycle a.
`
`-profile 652
`
`
`
`
`
`
`
`beginning of cycles
`
`profile 654
`'
`
`time
`
`Exhibit 1031 - Page 23 of 44
`
`

`

`Patent Application Publication
`
`Oct. 13, 2011 Sheet 23 of 23
`
`US 2011/0248817 A1
`
`FG. 40
`
`700
`
`Vibration
`Controller
`
`Amplitude
`
`Direction
`
`
`
`N
`702
`
`Driver Circuit
`
`F"
`
`.
`
`Actuator
`
`706 1
`
`N 704
`
`F.G. 4
`
`710
`
`Amplitude
`(PWM signal)
`
`Didita
`vitation
`Controller
`
`Oirection
`(logic bit)
`
`Driver Circii
`
`P
`OWe
`
`Actuator
`
`y 712
`
`N 714.
`
`716 r1
`
`
`
`
`
`
`
`
`
`
`
`
`
`rection and
`Amplitude
`Controer
`
`Frequency
`Controker
`
`Acomoined
`
`A (PWR)
`
`Waration
`Controller
`
`730
`
`
`
`Sir device Controller
`
`722
`
`732
`
`Exhibit 1031 - Page 24 of 44
`
`

`

`US 2011/0248817 A1
`
`Oct. 13, 2011
`
`SYNCHRONIZED VIBRATION DEVICE FOR
`HAPTC FEEDBACK
`
`CROSS REFERENCE TO RELATED
`APPLICATIONS
`0001. This application is a continuation of U.S. applica
`tion Ser. No. 1 1/476,436, filed Jun. 27, 2006 and entitled
`SYNCHRONIZED VIBRATION DEVICE FOR HAPTIC
`FEEDBACK, which claims the benefit of the filing date of
`U.S. Provisional Patent Application No. 60/694,468 filed Jun.
`27, 2005 and entitled SYNCHRONIZED VIBRATION
`DEVICE FOR HAPTIC FEEDBACK, the entire disclosures
`of which are hereby expressly incorporated by reference
`herein.
`
`BACKGROUND OF THE INVENTION
`0002 This invention is generally related to vibration
`devices. Applications include devices such as those that pro
`duce haptic sensations to enhance the realism of a video
`game, vibratory parts feeders, and vibration shakers.
`0003) Actuators that provide force feedback and haptic
`sensations are used for a wide range of applications including
`gaming devices, medical simulators, and flight simulators.
`Actuators in haptic devices create force sensations which are
`felt by the user.
`0004 One method for generating a haptic sensation is to
`use vibratory actuators such as those described in U.S. Pat.
`Nos. 6,275,213 and 6,424,333. Vibratory actuators provide a
`low cost method for generating force sensations, and multiple
`vibratory actuators can used to generate a range of sensations.
`In many existing devices vibrations are generated through
`rotary motors with an eccentric mass.
`0005. A limitation of eccentric mass rotary vibrators is
`that under continuous vibration the force of vibration is
`coupled to the magnitude of vibration, and thus it is not
`possible to modify the magnitude of vibration for a given
`vibration frequency. Another limitation of existing vibration
`devices is that the direction of vibration force is set by the
`orientation of the vibration actuators, and cannot be modified
`during operation.
`0006. In existing devices there is minimal or no directional
`information is provided to the user, and the force sensations
`are limited to the frequency of vibration of the actuators. In
`existing vibration devices with multiple vibration actuators,
`there is typically no synchronization of the vibration wave
`forms of the various actuators, and the phase difference
`between the different vibrations is not explicitly specified or
`controlled. This lack of synchronization limits the types of
`force effects that existing vibration devices can generate.
`0007. One application of vibration devices is in haptic
`input devices such as game controllers. Haptic devices use
`force to convey information to the user. In computer games
`and otherapplications it is desirable to conveya wide range of
`information to the user through force including frequency,
`magnitude, and direction of force. Since existing vibration
`devices do not convey all Such information, there is a need to
`provide increased range of force sensations using vibratory
`actuatOrS.
`0008 Existing tactile vibration devices often use small
`motors. These motors exert a low magnitude of force, and
`often require a number of vibration cycles before they build
`up sufficient force magnitude to be felt. Thus, many existing
`vibration devices provide tactile sensations that can only be
`
`felt at high frequency vibrations, where vibration energy can
`be built up over time. However, it may be desirable to also
`generate low frequency sensations to correspond to events
`that occur at a lower frequency than the vibration frequency.
`Thus there is a need to generate low frequency force sensa
`tions will Small actuators.
`
`SUMMARY OF THE INVENTION
`0009. The present invention provides a wide variety of
`vibration devices, haptic interfaces, game controllers and
`vibratory control systems.
`0010. One example of a vibration device of the present
`invention comprises of a plurality of vibration actuators that
`are synchronously vibrated. The actuators may be linear
`motion vibration actuators. In one alternative, the linear
`motion vibration actuators each include a moving magnet and
`a stationary electromagnetic coil. In another alternative, the
`linear motion vibration actuators each include a moving fer
`romagnetic plunger and a stationary electromagnetic coil. In
`a further alternative, the linear motion vibration actuators
`each include a moving electromagnet and a stationary perma
`nent magnet.
`0011. In another example, a vibration device comprising a
`plurality of linear motion vibration actuators is operated by
`vibrating the actuators with similar frequency and phase. The
`amplitude of vibration of the actuators is controlled to achieve
`a desired direction of overall vibration force. For instance, the
`actuators may be vibrated with similar frequency and phase
`Such that the maximum amplitude of vibration force occurs
`simultaneously in the linear motion vibration actuators.
`0012. In a further example, the vibration device comprises
`two linear motion vibration actuators such that the unit vec
`tors are aligned with the direction of force created by the
`actuators to span a two dimensional space. Alternatively, the
`unit vectors need not be aligned with the direction of force
`created by the actuators and need not be parallel to each other.
`0013. In another example, a vibration device is comprised
`of three linear motion vibration actuators in which the unit
`vectors are aligned with the direction of force created by the
`actuators span a three dimensional space. A controller may be
`provided to synchronously vibrate these actuators.
`0014) A vibration device of another example comprises at
`least two linear motion vibration actuators where the unit
`vectors aligned with the direction of force created by the
`actuators span a two dimensional space. Alternatively, the
`unit vectors aligned with the direction of force created by the
`actuators may span a three dimensional space.
`0015. A vibration device comprising a plurality of vibra
`tion actuators may be configured so that the actuators are
`vibrated with similar frequency and phase Such that the maxi
`mum amplitude of vibration force occurs simultaneously in
`the vibration actuators.
`0016. In another example, a vibration device comprises a
`plurality of vibration actuators attached to an enclosure of the
`vibration device and are synchronously vibrated. The actua
`tors may be attached to a rigid component, a relatively rigid
`component, or a semi-rigid component of the vibration
`device.
`0017. A haptic interface of another example comprises a
`plurality of linear motion vibration actuators that are vibrated
`with similar frequency and phase. The amplitude of vibration
`of the actuators is preferably controlled to achieve a desired
`direction of overall vibration force. In one instance, the actua
`
`Exhibit 1031 - Page 25 of 44
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`

`US 2011/0248817 A1
`
`Oct. 13, 2011
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`tors each comprise of a moving magnet and a stationary
`electromagnet which applies forces onto the moving magnet.
`0018. A computer system may be provided according to
`the present invention which includes a graphical display and
`a haptic interface. The haptic interface may comprise a plu
`rality of linear motion vibration actuators which are vibrated
`with similar frequency and phase. The amplitude of vibration
`of these actuators is controlled to achieve a direction of over
`all vibration force which corresponds to the direction of an
`event which is displayed on the computer system's graphical
`display. The haptic interface may comprise a pair of linear
`motion vibration actuators that are located in the handles of a
`handheld controller. The actuators can be vibrated with simi
`lar frequency and phase. The amplitude of vibration of these
`actuators is controlled to achieve a direction of overall vibra
`tion force which corresponds to the direction of an event
`which is displayed on the computer system's graphical dis
`play.
`0019. In another example, a vibration device comprises a
`plurality of rotary vibration actuators that are synchronously
`vibrated. A pair of rotary vibration actuators with eccentric
`weights may be employed. Here, one of the pair of actuators
`can be rotated clockwise and the other can be rotated coun
`terclockwise in the same plane. The shaft angles at which the
`centrifugal force generated by the eccentric weights is pref
`erably aligned for both actuators, and is desirably repeated for
`multiple revolutions. One or both of the actuators may be
`stepper motors. In one case, the centrifugal force generated by
`the eccentric weights is aligned to corresponds to a direction
`of an event within a computer simulation.
`0020. In accordance with an embodiment of the present
`invention, a vibration device is provided, which comprises a
`base member and a plurality of actuators coupled to the base
`member. The plurality of actuators includes a first actuator
`and a second actuator. The first actuator has a first member
`and a second member. The first member is operatively
`coupled to a first portion of the base member. The second
`member is moveable relative to the first member of the first
`actuator. The second actuator also has a first member and a
`second member. The first member is operatively coupled to a
`second portion of the base member. The second member is
`moveable relative to the first member of the second actuator.
`The vibration device also comprises means for synchro
`nously vibrating at least the first and second ones of the
`plurality of actuators.
`0021. In one alternative, at least one of the first and second
`actuators preferably comprises a linear motion vibration
`actuator. In an example, the first member of the linear motion
`vibration actuator desirably includes a permanent magnet, the
`second member of the linear motion vibration actuator desir
`ably includes an electromagnet, and the synchronously
`vibrating means is operable to modulate a magnetic force
`between the electromagnet and the permanent magnet. In
`another alternative, the first member of the linear motion
`vibration actuator desirably includes an electromagnet, the
`second member of the linear motion vibration actuator desir
`ably includes a permanent magnet, and the synchronously
`vibrating means is operable to modulate a magnetic force
`between the electromagnet and the permanent magnet.
`0022. In another alternative, the vibration device further
`comprises a spring device coupled to the second member of
`the linear motion vibration actuator for providing a restoring
`force thereto. In a further alternative, the synchronously
`vibrating means operates the first and second actuators at a
`
`Substantially identical phase and a substantially identical fre
`quency. In yet another alternative, the synchronously vibrat
`ing means controls operation of the first and second actuators
`to vary at least one of an amplitude of a combined vibration
`force of the first and second actuators and a direction of the
`combined vibration force. In a further alternative, the second
`actuator may be oriented non-orthogonally relative to the first
`actuatOr.
`0023. In another alternative, the plurality of actuators fur
`ther includes a third actuator having a first member and a
`second member. Here, the first member of the third actuator is
`coupled to a third portion of the base member, and the second
`memberthereof is moveable relative to the first member of the
`third actuator. The first, second and third actuators are ori
`ented such that the vibration device is operable to generate a
`three dimensional combined vibration force.
`0024. In a further alternative, at least one of the first and
`second actuators comprises a rotary actuator. In one example,
`the rotary actuator includes a pivoting mass. In this case the
`vibration device preferably further comprising a spring
`device coupled to the pivoting mass and to the base member.
`Here, the synchronously vibrating means is operable to con
`trol the vibration device at a resonant frequency of the pivot
`ing mass and the spring device. The spring device may be
`coupled to the pivoting mass Such that a nonlinear spring
`force is generated.
`0025. In another alternative, the vibration device further
`comprises a pair of spring devices. Here, at least one of the
`first and second actuators comprises a rocking actuator hav
`ing a rocking mass pivotally coupled at one end thereof to the
`base member by the pair of spring devices.
`0026. In a further alternative, at least the first and second
`actuators of the plurality of actuators are synchronously
`vibrated for a first duration of time and are vibrated asynchro
`nously for a second duration of time.
`0027. In accordance with another embodiment of the
`present invention, a vibratory control system is provided. The
`vibratory control system comprises a plurality of actuators
`coupled to a base, a plurality of drivers and a controller. The
`plurality of actuators includes first and second actuators. The
`first actuator has a first member and a second member move
`able relative to the first member thereof. The first member of
`the first actuator is operatively coupled to a first portion of the
`base. The second actuator has a first member and a second
`member moveable relative to the first member thereof. The
`first member of the second actuator is operatively coupled to
`a second portion of the base. Each of the plurality of drivers is
`operatively coupled to one of the plurality of actuators. The
`controller is coupled to the plurality of drivers and operable to
`provide amplitude, phase and frequency information to the
`plurality of drivers to synchronously vibrate at least the first
`and second ones of the plurality of actuators.
`0028. In one alternative, at least one of the frequency and
`phase information provided to the first actuator is Substan
`tially identical to the frequency and phase information pro
`vided to the second actuator. In another alternative, the con
`troller includes a direction and amplitude controller operable
`to specify a combined vibration amplitude and a direction of
`vibration, a frequency controller operable to specify a vibra
`tion frequency, and a vibration controller operable to control
`the combined vibration amplitude, the direction of vibration
`and the vibration frequency to synchronously vibrate at least
`the first and second ones of the plurality of actuators.
`
`Exhibit 1031 - Page 26 of 44
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`US 2011/0248817 A1
`
`Oct. 13, 2011
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`0029. In a further alternative, the system further comprises
`a haptic interface operable to provide a force sensation to the
`user. In this case, the haptic interface desirably includes the
`plurality of actuators and the plurality of drivers, and further
`includes an input device for receiving the input from the user.
`Optionally, the system further includes a display device
`operatively connected to the controller for providing a visual
`display to the user.
`0030. In accordance with other aspects of the present
`invention a game controller is provided, which comprises a
`housing, at least one input device disposed in the housing for
`receiving input from a user, and first and second actuators.
`The first actuator is disposed in the housing and has a fixed
`member coupled to the housing and a moveable member
`operatively engaged with the fixed member and moveable
`relative thereto. The second actuator is disposed in the hous
`ing and has a fixed member coupled to the housing and a
`moveable member operatively engaged with the fixed mem
`ber and moveable relative thereto. The first and second actua
`tors are operable to synchronously vibrate Such that a haptic
`sensation is provided to the user.
`0031. In one example, the second actuator is oriented such
`that a vibration force of the second actuator is not parallel to
`a vibration force of the first actuator. In another example, the
`second actuator is positioned over the first actuator to mini
`mize torque during synchronized vibration. In a further
`example, the first and second actuators generate a torque
`during synchronized vibration.
`0032. In one alternative, at least one of the first and second
`actuators is preferably a pivoting actuator or a linear actuator
`operable to generate frequencies below 50 Hertz. In another
`alternative, the first and second actuators preferably each
`comprise a rotary actuator, and an axis of a rotating shaft of
`the first actuator is aligned with an axis of a rotating shaft of
`the second actuator.
`0033. In accordance with further aspects of the present
`invention, a vibration device comprises a base member and
`first and second actuators. The first actuator is operatively
`attached to the base member. The first actuator is operable to
`generate a first vibration force having a first frequency of
`vibration and a first magnitude of vibration associated there
`with. The first actuator is further operable to impart the first
`vibration force to the base member. The second actuator is
`operatively attached to the base member. The second actuator
`is operable to generate a second vibration force having a
`second frequency of vibration and a second magnitude of
`vibration associated therewith. The second actuator is further
`operable to impart the second vibration force to the base
`member. The vibration device also comprises a means for
`controlling the first and second actuators so that the first
`frequency of vibration is substantially identical to the second
`frequency of vibration, and a means for independently modu
`lating the magnitudes of the first and second vibration forces
`to control a direction of a combined vibration force applied
`onto the base member. The combined vibration force is a
`vector sum of the first and second vibration forces. The vibra
`tion device further comprises means for controlling timing of
`vibrations of the first and second actuators so that peaks of the
`magnitudes of the first and second vibration forces occur
`Substantially concurrently.
`0034. In one alternative, each of the actuators comprises a
`first member operatively coupled to the base member and a
`second member movable relative to the corresponding first
`member. In another alternative, the first and second actuators
`
`are controlled to vibrate in-phase. In a further alternative, the
`first frequency of vibration is a primary frequency of the first
`actuator and the second frequency of vibration is a primary
`frequency of the second actuator.
`0035. In another alternative, an electromagnetic force is
`generated between the first and second members in both of the
`first and second actuators. In this case, the first member of
`each actuator desirably includes a permanent magnet and the
`second member of each actuator desirably includes an elec
`tromagnet.
`0036 Inafurther alternative, the first and second actuators
`each further comprise a spring device that generates force
`between the first and second members of the respective actua
`tor. In one example, both the first actuator and the second
`actuator are preferably operated at Substantially a natural
`frequency of the respective actuator. In another example, both
`of the actuators are operated over a range of frequencies of the
`respective actuator. In this case, the range of frequencies
`includes a natural frequency of the respective actuator.
`0037. In another alternative, the direction of the combined
`vibration force corresponds to a direction of an event in a
`computer simulation. In this case, a change in the direction of
`the combined vibration force may correspond to a change in
`the direction of a simulated motion in the computer simula
`tion.
`0038. In a further alternative, the direction of the com
`bined vibration force applied onto the base member is con
`trolled to vary over time.
`0039. In accordance with another embodiment of the
`present invention, a vibration device is provided. The vibra
`tion device comprises a base member, a first actuator opera
`tively attached to the base member and having a member
`moveable relative to the base, and a second actuator opera
`tively attached to the base member and having a member
`moveable relative to the base. The first actuator is operable to
`apply a first force onto the base member and the second
`actuator is operable to apply a second force onto the base
`member. The vibration device further comprises means for
`controlling timing of the first and second actuators such that
`the moveable member of each of the first and second actuators
`repeatedly reverses direction of motion relative to the base
`member at Substantially the same time.
`0040. In one alternative, the vibration device further com
`prises means for independently modulating magnitudes of the
`first and second forces to control a direction of a combined
`force applied onto the base member. The combined force is a
`vector sum of the first and second forces.
`0041. In another alternative, the vibration device further
`comprises means for independently modulating the magni
`tudes of the first and second forces to control a magnitude of
`a combined force applied onto the base member. The com
`bined force is a vector sum of the first and second forces.
`Here, the means for independently modulating is preferably
`further operable to control a direction of the combined force
`applied onto the base member.
`0042. In another alternative, the means for controlling the
`timing of the first and second actuators is further operable to
`repeatedly reverse a direction of translation of the movable
`member of each actuator relative to the base member at Sub
`stantially the same time.
`0043. In another alternative, the means for controlling the
`timing of the first and second actuators is further operable to
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`Exhibit 1031 - Page 27 of 44
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`US 2011/0248817 A1
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`Oct. 13, 2011
`
`repeatedly reverse a direction of rotation of the movable
`member of each actuator relative to the base member at Sub
`stantially the same time.
`0044. In yet another alternative, the means for controlling
`adjusts the timing of the first and second actuators such that
`the movable member of the first actuator reverses direction of
`motion relative to the base member at every occurrence that
`the movable member of the second actuator reverses direction
`of motion relative to the base member. The reversals of the
`direction of motion corresponding to the first and second
`actuators occur at Substantially the same time.
`0045. In a further alternative, for a first duration of vibra
`tion the means for controlling the timing of the first and
`second actuators is operable to cause the movable member of
`the first actuator to reverse direction of motion relative