(12) United States Patent
`Elenga et al.
`
`(10) Patent No.:
`(45) Date of Patent:
`
`US 9,369,081 B2
`Jun. 14, 2016
`
`USOO9369081B2
`
`LINEAR VIBRATION MODULES AND
`LINEAR-RESONANT VIBRATION MODULES
`
`(56)
`
`(54)
`
`(71)
`
`(72)
`
`(73)
`
`(*)
`
`(21)
`(22)
`(65)
`
`(63)
`
`(60)
`
`(51)
`
`(52)
`
`(58)
`
`Applicant: Rignant Systems, Inc., Seattle, WA
`(US)
`Inventors: Robin Elenga, Seattle, WA (US); Brian
`Marc Pepin, Oakland, CA (US); Glen
`Tompkins, Woodinville, WA (US)
`
`Notice:
`
`Assignee: Resonant Systems, Inc., Seattle, WA
`(US)
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 0 days.
`Appl. No.: 14/469,210
`Filed:
`Aug. 26, 2014
`Prior Publication Data
`
`US 2014/O361714 A1
`
`Dec. 11, 2014
`
`Related U.S. Application Data
`Continuation of application No. 13/345,607, filed on
`Jan. 6, 2012, now Pat. No. 8,860,337, which is a
`continuation-in-part of application No. 12/782,697,
`filed on May 18, 2010, now Pat. No. 8,093,767.
`Provisional application No. 61/179,109, filed on May
`18, 2009.
`
`Int. C.
`HO2K33/00
`H02P 25/02
`HO2K33/6
`U.S. C.
`CPC .............. H02P 25/027 (2013.01); H02K33/16
`(2013.01)
`
`(2006.01)
`(2016.01)
`(2006.01)
`
`Field of Classification Search
`CPC ............. H02P 25/027; F 15B 2211/327; F15B
`221 1/85; F15B 221 1/6346
`See application file for complete search history.
`
`References Cited
`
`U.S. PATENT DOCUMENTS
`1,120,414 A 12/1914 Schoolfield et al.
`3,728,654 A
`4, 1973 Tada
`4,549,535 A 10/1985 Wing
`4,692.999 A
`9, 1987 Frandsen
`5,017,819 A
`5, 1991 Patt et al.
`5, 187,398 A
`2f1993 Stuartet al.
`5,231,336 A
`7/1993 van Namen
`5,231,337 A
`7, 1993
`N
`5,424,592 A
`6, 1995 E.
`5,896,076 A
`4, 1999 van Namen
`5,955,799 A
`9/1999 Amaya et al.
`5,973,422 A 10/1999 Clamme
`(Continued)
`
`FOREIGN PATENT DOCUMENTS
`
`EP
`
`1376 833 A1
`
`1, 2004
`
`Primary Examiner — Karen Masih
`(74) Attorney, Agent, or Firm — Olympic Patent Works
`PLLC
`
`(57)
`
`ABSTRACT
`
`The current application is directed to various types of linear
`vibrational modules, including linear-resonant vibration
`modules, that can be incorporated in a wide variety of appli
`ances, devices, and systems to provide vibrational forces. The
`vibrational forces are produced by linear oscillation of a
`weight or member, in turn produced by rapidly alternating the
`polarity of one or more driving electromagnets. Feedback
`control is used to maintain the vibrational frequency of linear
`resonant vibration module at or near the resonant frequency
`for the linear-resonant vibration module. Both linear vibra
`tion modules and linear-resonant vibration modules can be
`designed to produce vibrational amplitudeffrequency combi
`nations throughout a large region of amplitudeffrequency
`Space.
`
`18 Claims, 20 Drawing Sheets
`
`64
`
`?
`
`use
`
`-
`introls
`
`m 809
`608 - - 80
`
`616
`
`\- CPU
`
`F------
`:
`memory
`-------
`V
`power supply = -n
`804
`624
`-622
`
`62
`
`se--
`Hiswitch
`
`820
`
`/ 800
`
`-83)
`
`Exhibit 1023 - Page 1 of 31
`
`

`

`US 9,369,081 B2
`Page 2
`
`(56)
`
`References Cited
`
`U.S. PATENT DOCUMENTS
`
`1 1/2001 Zabar
`6,323,568 B1
`12/2001 Zhang
`6,326,706 B1
`7,449,803 B2 11/2008 Sahyoun
`7,474,018 B2
`1/2009 Shimizu et al.
`7,768,160 B1
`8/2010 Sahyoun
`7,768, 168 B2
`8, 2010 ASchoffet al.
`7,771,348 B2
`8, 2010 Madsen et al.
`7,859,144 B1
`12/2010 Sahyoun
`
`3, 2004 Crowder et al.
`2004/0055598 A1
`2005/0231045 A1 10, 2005 Oba et al.
`2005/0275508 A1 12/2005 Orr et al.
`2006, O138875 A1
`6/2006 Kim et al.
`2006/0208600 A1
`9/2006 Sahyoun
`2011/O144426 A1
`6, 2011 Blenk et al.
`2011/0248817 A1 10, 2011 Houston et al.
`2012fO212895 A1
`8, 2012 Cohen et al.
`2014/0343804 A1* 11/2014 Brooks ................... EO2F9,221
`7O1, 50
`
`* cited by examiner
`
`Exhibit 1023 - Page 2 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 1 of 20
`
`US 9,369,081 B2
`
`yuajed‘S70
`
`
`9107‘FT“une
`07JO[JOOUS
`
`7H180°69¢6SA
`
`s
`
`&
`
`pa
`
`S
`
`106
`
`s
`
`104
`
`106
`
`S
`
`102
`
`FIG. 1A
`--Prior Art--
`
`104
`
`i
`
`FIG. 1B
`~Prior Art--
`
`Exhibit 1023 - Page 3 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 2 of 20
`
`US 9,369,081 B2
`
`
`
`204
`
`222
`
`220
`
`FIG. 2A
`--Prior Art
`
`FIG. 2B
`--Prior Art
`
`Exhibit 1023 - Page 4 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 3 of 20
`
`US 9,369,081 B2
`
`
`
`
`53.
`
`s
`
`£2oa>
`
`a5&Be
`
`U.S.
`Patent Jun.14,
`2016Sheet3of20
`US9,369,081B2
`
`i
`
`s
`
`frequency
`
`80 Hz
`
`FIG. 3
`--Prior Art--
`
`Exhibit 1023 - Page 5 of 31
`
`

`

`U.S. Patent
`U.S. Patent
`
`Jun. 14, 2016
`Jun. 14, 2016
`
`Sheet 4 of 20
`Sheet 4 of 20
`
`US 9,369,081 B2
`US 9,369,081 B2
`
`
`
`400
`420 - 402
`410
`
`416
`
`416
`
`
`
`414
`
`Exhibit 1023 - Page 6 of 31
`
`Exhibit 1023 - Page 6 of 31
`
`

`

`U.S. Patent
`U.S. Patent
`
`Jun. 14, 2016
`Jun. 14, 2016
`
`Sheet 5 of 20
`Sheet 5 of 20
`
`US 9,369,081 B2
`US 9,369,081 B2
`
`
`
`
`
`416
`
`Exhibit 1023 - Page 7 of 31
`
`Exhibit 1023 - Page 7 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 6 of 20
`
`US 9,369,081 B2
`
`
`
`
`yuajed‘S70
`
`
`9107‘FT“une
`07JO9JOOS
`
`7H180°69¢6SA
`
`
`
`
`
`
`O
`
`906
`
`509
`
`FIG. 5A
`
`FIG. 5B
`
`Exhibit 1023 - Page 8 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 7 of 20
`
`US 9,369,081 B2
`
`606
`
`/ 600
`
`64
`
`?
`
`user Controls
`
`608
`
`609
`610
`
`616
`
`618
`
`CPU
`
`--------
`|
`| memory
`----- -
`
`630
`
`604
`
`602
`
`622
`
`620
`
`C
`O
`
`l
`
`\-632
`
`:
`
`power supply
`
`612
`
`:
`
`:
`|
`|
`
`I
`
`Exhibit 1023 - Page 9 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 8 of 20
`
`US 9,369,081 B2
`
`control program
`
`mode is default
`strength a defaut
`702
`lvio = default
`lvii = default --
`freq = default
`d = default
`inc - true
`
`wait for event
`
`-
`
`704
`
`frequency timer
`expired
`p
`
`d = -d;
`output d;
`reset frequency
`timer
`
`monitor
`timer expiration
`
`monitor
`
`708
`
`
`
`
`
`control input
`
`
`
`power down
`
`power down device
`
`handle other
`eVeS
`
`724.
`
`720
`
`722
`
`FG, 7A
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`Exhibit 1023 - Page 10 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 9 of 20
`
`US 9,369,081 B2
`
`connect sensor input
`to integer and store
`in W1.
`
`
`
`
`
`
`
`=za default
`
`N
`
`handle non
`default mode
`
`
`
`
`
`740
`
`
`
`
`
`freq = freq + 1
`reset frequency
`
`freq = frea -1;
`inc = f;
`reset frequency
`
`Y
`
`/ 748
`
`freq r freq - 1;
`reset frequency
`tinner
`
`- 752
`freq = freq+ 1
`incs. T;
`reset frequency
`timer
`
`
`
`
`
`
`
`N
`
`N
`
`
`
`reset rinonitor timer
`
`O FIG. 7B
`
`Exhibit 1023 - Page 11 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 10 of 20
`
`US 9,369,081 B2
`
`Control
`
`mode =
`currently selected -- 760
`mode;
`strength a currently
`selected strength
`
`Compute output p to
`power Supply;
`Output p to power
`suppy
`
`762
`
`-
`
`
`
`
`
`Compute aid reset
`imonitor timer
`interval
`
`764
`
`-
`
`FG, 7C
`
`Exhibit 1023 - Page 12 of 31
`
`

`

`
`
`yuajed‘S70
`
`
`9107‘FT“une
`07J9TT3998
`7H180°69¢6SA
`
`Exhibit 1023 - Page 13 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 12 of 20
`
`US 9,369,081 B2
`
`
`
`amplitude
`
`O
`
`frequency
`
`e
`V
`
`902
`
`W
`
`FIG. 9
`
`Exhibit 1023 - Page 14 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 13 of 20
`
`US 9,369,081 B2
`
`
`
`mass centering
`emert
`
`eiectromagnet
`
`rowing raSS
`
`
`
`1002
`
`Fagnets repe:
`
`FG, 10
`
`
`
`permanent
`magnets fixed on
`exterior
`
`driving magnet
`
`driving coil
`attaches
`mowing weight
`
`-pole
`repel
`
`magnets
`-pole
`
`{+poie fragnets repe
`Oole
`
`+}
`
`1102
`
`tube
`
`rotatic actic
`
`1202
`
`... moveable
`weight ...
`
`
`
`Fotational
`coil
`
`rotational
`Centering
`magnet
`
`12O6
`
`rotatioral
`coil
`
`
`
`1204
`
`Exhibit 1023 - Page 15 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 14 of 20
`
`US 9,369,081 B2
`
`device body
`
`
`
`exterior of device
`
`Exhibit 1023 - Page 16 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 15 of 20
`
`US 9,369,081 B2
`
`E-Co
`electromagnet
`
`Spring
`1602
`
`bodyfhandle
`
`
`
`
`
`motion of magnet
`exterior of device
`
`FG 16
`
`motion of
`massage arm
`1606
`massage foot
`
`arm extends
`outside of device
`
`
`
`
`
`
`
`
`
`
`
`
`
`Spring
`moveable spring
`camp
`sping claims
`1702
`
`claring
`to West
`
`adjustment
`SCE
`
`FIG. 17
`
`
`
`Exhibit 1023 - Page 17 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 16 of 20
`
`US 9,369,081 B2
`
`yuajed‘S70
`
`
`9107‘FT“une
`07J9OTJ99US
`7H180°69¢6SA
`
`
`
`
`amplitude
`
`
`
`
`frequency
`
`1904
`
`Resonant
`Frequency
`
`FIG. 19
`
`Exhibit 1023 - Page 18 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 17 of 20
`
`US 9,369,081 B2
`
`
`
`
`900Z
`
`Áouanbau]
`
`700Z
`
`Exhibit 1023 - Page 19 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 18 of 20
`
`US 9,369,081 B2
`
`
`
`
`Kouanbºu
`
`Exhibit 1023 - Page 20 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 19 of 20
`
`US 9,369,081 B2
`
`
`
`2204
`
`
`
`
`
`
`
`O
`
`2206
`
`
`
`""" il mi - -
`
`-
`
`-
`
`- - - - - - -
`
`-
`
`-
`
`0.
`
`8
`\
`22O2
`
`time (s)
`FG.22A
`
`-i.
`
`d
`
`0.8
`
`as
`s:
`time (s)
`FIG.22B
`
`
`
`O O
`
`-0.5
`
`time (s)
`
`FIG. 23
`
`Exhibit 1023 - Page 21 of 31
`
`

`

`U.S. Patent
`
`Jun. 14, 2016
`
`Sheet 20 of 20
`
`US 9,369,081 B2
`
`Startil
`
`Ceritering
`age
`
`
`
`2404
`
`Sator Coil
`
`Centering
`Magnet
`
`Direction
`Of
`Wowerient
`
`
`
`241
`
`Diection
`Of
`Movement
`
`241 O
`
`Stator
`
`it
`
`Centering
`Magnet
`
`-
`
`
`
`Direction
`O
`overtent
`
`Massage Foot
`
`FG, 25
`
`Exhibit 1023 - Page 22 of 31
`
`

`

`US 9,369,081 B2
`
`1.
`LINEAR VIBRATION MODULES AND
`LINEAR-RESONANT VIBRATION MODULES
`
`CROSS-REFERENCE TO RELATED
`APPLICATIONS
`
`This application is a continuation of application Ser. No.
`13/345,607, filed Jan. 6, 2012, which is a continuation-in-part
`of U.S. Pat. No. 8,093,767, issued Jan. 10, 2012, which claims
`the benefit of Provisional Patent Application No. 61/179,109,
`filed May 18, 2009.
`
`TECHNICAL FIELD
`
`The current application is related to vibration-generating
`devices and, in particular, to vibration modules that can be
`incorporated into a wide variety of different types of electro
`mechanical devices and systems to produce vibrations of
`selected amplitudes and frequencies over a wide range of
`amplitudeffrequency space.
`
`10
`
`15
`
`BACKGROUND
`
`2
`vibration in this direction. In many applications, in which a
`linear oscillation is desired, designers seek to force the major
`axis-amplitude/minor-axis-amplitude ratio to be as large as
`possible, but, because the vibration is produced by a rota
`tional force, it is generally not possible to achieve linear
`oscillation. In many cases, the path traced by the shaft center
`may be close to circular. The frequency of vibration of the
`unbalanced electric motor is equal to the rotational frequency
`of the electric-motor shaft, and is therefore constrained by the
`rate at which the motor can rotate the shaft. At low rotational
`speeds, little vibration is produced.
`While effective in producing vibrations, there are many
`problems associated with the unbalanced-electric-motor
`vibration-generating units, such as that shown in FIG. 1A,
`commonly used in the various devices, systems, and applica
`tions discussed above. First, unbalancing the shaft of an elec
`tric motor not only produces useful vibrations that can be
`harnessed for various applications, but also produces destruc
`tive, unbalanced forces within the motor that contribute to
`rapid deterioration of motor parts. Enormous care and effort
`is undertaken to precisely balance rotating parts of motors,
`vehicles, and other types of machinery, and the consequences
`of unbalanced rotating parts are well known to anyone famil
`iar with automobiles, machine tools, and other such devices
`and systems. The useful lifetimes of many devices and appli
`ances, particularly hand-held devices and appliances, that
`employ unbalanced electric motors for generating vibrations
`may range from a few tens of hours to a few thousands of
`hours of use, after which the vibrational amplitude produced
`by the devices declines precipitously as the electric motor and
`other parts deteriorate.
`A second problem with unbalanced electric motors is that
`they are relatively inefficient at producing vibrational motion.
`A far greater amount of power is consumed by an unbalanced
`electrical motor to produce a given vibrational force than the
`theoretical minimum power required to produce the given
`vibrational force. As a result, many hand-held devices that
`employ unbalanced electric motors for generating vibrations
`quickly consume batteries during use.
`A third problem with unbalanced electric motors, dis
`cussed above, is that they generally produce elliptical vibra
`tional modes. Although Such modes may be useful in particu
`lar applications, many applications can better use a linear
`oscillation, with greater directional concentration of vibra
`tional forces. Linear oscillation cannot generally be produced
`by unbalanced electric motors.
`A fourth, and perhaps most fundamental, problem associ
`ated with using unbalanced electric motors to generate vibra
`tions is that only a very limited portion of the total vibrational
`force/frequency space is accessible to unbalanced electric
`motors. FIG.3 shows a graph of vibrational force with respect
`to frequency for various types of unbalanced electric motors.
`The graph is shown as a continuous hypothetical curve,
`although, of course, actual data would be discrete. As shown
`in FIG. 3, for relatively low-power electric motors used in
`hand-held appliances, only a fairly narrow range of frequen
`cies centered about 80 Hz (302 in FIG. 3) generate a signifi
`cant vibrational force. Moreover, the vibrational force is rela
`tively modest. The bulk of energy consumed by an
`unbalanced electric motor is used to spin the shaft and unbal
`anced weight and to overcome frictional and inertial forces
`within the motor. Only a relatively small portion of the con
`Sumed energy is translated into desired vibrational forces.
`Because of the above-discussed disadvantages with the
`commonly employed unbalanced-electric-motor vibration
`generation units, designers, manufacturers, and, ultimately,
`users of a wide variety of different vibration-based devices,
`
`25
`
`30
`
`35
`
`Vibration-inducing motors and mechanisms have been
`used for many years in a wide variety of different consumer
`appliances, toys, and other devices and systems. Examples
`include vibration signals generated by pagers, vibration
`driven appliances, such as hair-trimming appliances, electric
`toothbrushes, electric toy football games, and many other
`appliances, devices, and systems. The most common electro
`mechanical system used for generating vibrations is an inten
`tionally unbalanced electric motor.
`FIGS. 1A-B illustrate an unbalanced electric motor typi
`cally used for generating vibrations in a wide variety of dif
`ferent devices. As shown in FIG. 1A, a small, relatively low
`power electric motor 102 rotates a cylindrical shaft 104 onto
`which a weight 106 is asymmetrically or mounted. FIG. 1B
`shows the weight asymmetrically mounted to the shaft, look
`ing down at the weight and shaft in the direction of the axis of
`the shaft. As shown in FIG. 1B, the weight 106 is mounted
`40
`off-center on the electric-motor shaft 104. FIGS. 2A-B illus
`trate the vibrational motion produced by the unbalanced elec
`tric motor shown in FIGS. 1A-B. As shown in FIGS. 2A-B,
`the asymmetrically-mounted weight creates an elliptical
`oscillation of the end of the shaft, normal to the shaft axis,
`when the shaft is rotated at relatively high speed by the
`electric motor. FIG. 2A shows displacement of the weight and
`shaft from the stationary shaft axis as the shaft is rotated,
`looking down on the weight and shaft along the shaft axis, as
`in FIG. 1B. In FIG. 2A, a small mark 202 is provided at the
`periphery of the disk-shaped end the of electric-motor shaft to
`illustrate rotation of the shaft. When the shaft rotates at high
`speed, a point 204 on the edge of the weight traces an ellipsoid
`206 and the center of the shaft 208 traces a narrower and
`smaller ellipsoid 210. Were the shaft balanced, the center of
`55
`the shaft would remain at a position 212 in the center of the
`diagram during rotation, but the presence of the asymmetri
`cally-mounted weight attached to the shaft, as well as other
`geometric and weight-distribution characteristics of the elec
`tric motor, shaft, and unbalanced weight together create
`forces that move the end of the shaft along the elliptical path
`210 when the shaft is rotated at relatively high speed. The
`movement can be characterized, as shown in FIG. 2B, by a
`major axis 220 and minor axis 222 of vibration, with the
`direction of the major axis of vibration equal to the direction
`of the major axis of the ellipsoids, shown in FIG. 2A, and the
`length of the major axis corresponding to the amplitude of
`
`45
`
`50
`
`60
`
`65
`
`Exhibit 1023 - Page 23 of 31
`
`

`

`US 9,369,081 B2
`
`3
`appliances, and systems continue to seek more efficient and
`capable vibration-generating units for incorporation into
`many consumer appliances, devices, and systems.
`
`SUMMARY
`
`The current application is directed to various types of linear
`vibrational modules, including linear-resonant vibration
`modules, that can be incorporated in a wide variety of appli
`ances, devices, and systems to provide vibrational forces. The
`vibrational forces are produced by linear oscillation of a
`weight or member, in turn produced by rapidly alternating the
`polarity of one or more driving electromagnets. Feedback
`control is used to maintain the vibrational frequency of linear
`resonant vibration module at or near the resonant frequency
`for the linear-resonant vibration module. Both linear vibra
`tion modules and linear-resonant vibration modules can be
`designed to produce vibrational amplitudeffrequency combi
`nations throughout a large region of amplitudeffrequency
`Space.
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`BRIEF DESCRIPTION OF THE DRAWINGS
`
`FIGS. 1A-B illustrate an unbalanced electric motor typi
`cally used for generating vibrations in a wide variety of dif
`ferent devices.
`FIGS. 2A-B illustrate the vibrational motion produced by
`the unbalanced electric motor shown in FIGS. 1A-B.
`FIG. 3 shows a graph of vibrational force with respect to
`frequency for various types of unbalanced electric motors.
`FIGS. 4A-G illustrate one particular LRVM, and operation
`of the particular LRVM, that represents one implementation
`of the linear-resonant vibration module to which current
`application is directed.
`FIGS.5A-B illustrate an H-bridge switch that can be used,
`in various embodiments of the current application, to change
`the direction of current applied to the coil that drives linear
`oscillation within a linear-resonance vibration module
`(“LRVM).
`FIG. 6 provides a block diagram of the LRVM, illustrated
`in FIGS. 4A-G, that represents one implementation of the
`linear-resonant vibration module to which current application
`is directed.
`FIGS. 7A-C provide control-flow diagrams that illustrate
`the control program, executed by the CPU, that controls
`operation of an LRVM that represents one implementation of
`the linear-resonant vibration module to which current appli
`cation is directed.
`FIG.8 represents the range of frequencies and vibrational
`forces that can be achieved by different implementations of
`LRVM and LRVM control programs that represent embodi
`ments of the current application.
`FIG. 9 shows a plot of the amplitude/frequency space and
`regions in that space that can be operationally achieved by
`unbalanced electrical motors and by LRVMs that represent
`embodiments of the current application.
`FIGS. 10-17 show a variety of different alternative imple
`mentations of LRVMs that represent different embodiments
`of the current application.
`FIG. 18 illustrates an enhancement of an implementation
`of the linear-resonant vibration module to which current
`application is directed shown in FIG. 16.
`FIG. 19 illustrates plots of amplitude versus frequency for
`a high-Q and a low-Q vibration device.
`FIG. 20 illustrates portions of amplitude/frequency space
`accessible to various types of vibration modules.
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`FIG. 21 illustrates the dependence between frequency and
`amplitude in a low-Q linear vibration module as well as a
`modified dependence that can be obtained by control cir
`cuitry.
`FIGS. 22A-23 illustrate interesting vibrational modes pro
`duced by driving a linear-resonant vibration module simulta
`neously at two different frequencies.
`FIGS. 24A-25 illustrate incorporation of paramagnetic
`flux paths into a linear vibration module.
`
`DETAILED DESCRIPTION
`
`The current application is directed to various linear vibra
`tion modules (“LRMs), including various types of linear
`resonant vibration modules (“LRVMs), that can be used
`withina wide variety of different types of appliances, devices,
`and systems, to generate vibrational forces. The LVMs and
`LRVMs that represent embodiments of the current applica
`tion are linear in the sense that the vibrational forces are
`produced by a linear oscillation of a weight or component
`within the LVM or LRVM, rather than as a by-product of an
`unbalanced rotation, as in the case of currently employed
`unbalanced electric motors. The linear nature of the LRVM
`vibration-inducing motion allows the problems associated
`with unbalanced-electric-motor vibrators, discussed above,
`to be effectively addressed. An oscillating linear motion does
`not produce destructive forces that quickly degrade and wear
`out an unbalanced electric motor. A linearly oscillating
`mechanism is characterized by parameters that can be
`straightforwardly varied in order to produce vibrations of a
`desired amplitude and frequency over a very broad region of
`amplitudeffrequency space. In many implementations of
`LRVMs and LVMs, the vibration amplitude and vibration
`frequency can be independently controlled by a user through
`user-input features, including buttons, sliders, and other types
`ofuser-input features. Combining a linearly oscillating vibra
`tion-inducing mechanism with feedback control, so that the
`frequency of vibration falls close to the resonant frequency of
`the LRVM, results in optimal power consumption with
`respect to the amplitude and frequency of vibration produced
`by the LRVM. Clearly, linear oscillation within a LRVM
`translates into highly direction vibrational forces produced by
`an appliance or device that incorporates the LRVM.
`FIGS. 4A-G illustrate one particular LRVM, and operation
`of the particular LRVM, that represents one implementation
`of the linear-resonant vibration module to which current
`application is directed. FIGS. 4A-G all use the same illustra
`tion conventions, next discussed with reference to FIG. 4A.
`The LRVM includes a cylindrical housing 402 within which
`a Solid, cylindrical mass 404, or weight, can move linearly
`along the inner, hollow, cylindrically shaped chamber 406
`within the cylindrical housing or tube 402. The weight is a
`magnet, in the described an implementation of the linear
`resonant vibration module to which current application is
`directed, with polarity indicated by the "+" sign 410 on the
`right-hand end and the “-” sign 412 on the left-hand end of
`the weight 404. The cylindrical chamber 406 is capped by two
`magnetic disks 414 and 416 with polarities indicated by the
`“+' sign 418 and the “-sign 419. The disk-like magnets 414
`and 418 are magnetically oriented opposite from the mag
`netic orientation of the weight 404, so that when the weight
`moves to either the extreme left or extreme right sides of the
`cylindrical chamber, the weight is repelled by one of the
`disk-like magnets at the left or right ends of the cylindrical
`chamber. In other words, the disk-like magnets act much like
`springs, to facilitate deceleration and reversal of direction of
`motion of the weight and to minimize or prevent mechanical
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`US 9,369,081 B2
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`impact forces of the weight and the end caps that close off the
`cylindrical chamber. Finally, a coil of conductive wire 420
`girdles the cylindrical housing, or tube 402 at approximately
`the mid-point of the cylindrical housing.
`FIGS. 4B-G illustrate operation of the LRVM shown in
`FIG. 4A. When an electric current is applied to the coil 420 in
`a first direction 422, a corresponding magnetic force 424 is
`generated in a direction parallel to the axis of the cylindrical
`chamber, which accelerates the weight 404 in the direction of
`the magnetic force 424. When the weight reaches a point at or
`close to the corresponding disk-like magnet 414, as shown in
`FIG. 4C, a magnetic force due to the repulsion of the disk-like
`magnet 414 and the weight 404, 426, is generated in the
`opposite direction, decelerating the weight and reversing its
`direction. As the weight reverses direction, as shown in FIG.
`4D, current is applied in an opposite direction 430 to the coil
`420, producing a magnetic force 432 in an opposite direction
`from the direction of the magnetic force shown in FIG. 4B,
`which accelerates the weight 404 in a direction opposite to the
`direction in which the weight is accelerated in FIG. 4B. As
`shown in FIG. 4E, the weight then moves rightward until, as
`shown in FIG. 4F, the weight is decelerated, stopped, and then
`accelerated in the opposite direction by repulsion of the disk
`like magnet 416. An electrical current is then applied to the
`coil 420 in the same direction 434 as in FIG. 4B, again
`accelerating the Solid cylindrical mass in the same direction
`as in FIG. 4B. Thus, by a combination of a magnetic field with
`rapidly reversing polarity, generated by alternating the direc
`tion of current applied to the coil, and by the repulsive forces
`between the weight magnet and the disk-like magnets at each
`end of the hollow, cylindrical chamber, the weight linearly
`oscillates back and forth within the cylindrical housing 402,
`imparting a directional force at the ends of the cylindrical
`chamber with each reversal in direction.
`Clearly, the amplitude of the vibration and vibrational
`35
`forces produced are related to the length of the hollow cham
`ber in which the weight oscillates, the current applied to the
`coil, the mass of the weight, the acceleration of the weight
`produced by the coil, and the mass of the entire LRVM. All of
`these parameters are essentially design parameters for the
`40
`LRVM, and thus the LRVM can be designed to produce a
`wide variety of different amplitudes.
`The frequency of the oscillation of the solid, cylindrical
`mass is determined by the frequency at which the direction of
`the current applied to the coil is changed. FIGS. 5A-B illus
`45
`trate an H-bridge switch that can be used, in various embodi
`ments of the current application, to change the direction of
`current applied to the coil that drives linear oscillation within
`an LRVM. FIGS. 5A-B both use the same illustration con
`ventions, described next with respect to FIG. 5A. The
`H-bridge switch receives, as input, a directional signal d502
`and direct-current (DC) power 504. The direction-control
`signal d502 controls four switches 506-509, shown as tran
`sistors in FIG. 5A. When the input control signal d502 is
`high, or “1,” as shown in FIG. 5A, switches 508 and 509 are
`closed and switches 506 and 507 are open, and therefore
`current flows, as indicated by curved arrows, such as curved
`arrow 510, from the power-source input 504 to ground 512 in
`a leftward direction through the coil 514. When the input
`control signal d is low, or “0” as shown in FIG. 5B, the
`direction of the current through the coil is reversed. The
`H-bridge switch, shown in FIGS.5A-B, is but one example of
`various different types of electrical and electromechanical
`switches that can be used to rapidly alternate the direction of
`current within the coil of an LRVM.
`FIG. 6 provides a block diagram of the LRVM, illustrated
`in FIGS. 4A-G, that represents one implementation of the
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`linear-resonant vibration module to which current application
`is directed. The LRVM, in addition to the cylindrical housing,
`coil, and internal components shown in FIG. 4A, includes a
`power Supply, a user interface, generally comprising electro
`mechanical buttons or switches, the H-bridge switch, dis
`cussed above with reference to FIGS. 5A-B, a central pro
`cessing unit (“CPU”), generally a small, low-powered
`microprocessor, and one or more electromechanical sensors.
`All of these components are packaged together as an LRVM
`within a vibration-based appliance, device, or system.
`As shown in FIG. 6, the LRVM 600 is controlled by a
`control program executed by the CPU microprocessor 602.
`The microprocessor may contain Sufficient on-board memory
`to store the control program and other values needed during
`execution of the control program, or, alternatively, may be
`coupled to a low-powered memory chip 604 or flash memory
`for storing the control program. The CPU receives inputs
`from the user controls 606 that together comprise a user
`interface. These controls may include any of various dials,
`pushbuttons, Switches, or other electromechanical-control
`devices. As one example, the user controls may include a dial
`to select a strength of vibration, which corresponds to the
`current applied to the coil, a Switch to select one of various
`different operational modes, and a power button. The user
`controls generate signals input to the CPU 608-610. A power
`Supply 612 provides power, as needed, to user controls 614, to
`the CPU 616 and optional, associated memory, to the
`H-bridge switch 618, and, when needed, to one or more
`sensors 632. The voltage and current supplied by the power
`Supply to the various components may vary, depending on the
`operational characteristics and requirements of the compo
`nents. The H-bridge switch 620 receives a control-signal
`input d 622 from the CPU. The power supply 612 receives a
`control input 624 from the CPU to control the current Sup
`plied to the H-bridge switch 618 for transfer to the coil 626.
`The CPU receives input 630 from one or more electrome
`chanical sensors 632 that generate a signal corresponding to
`the strength of vibration currently being produced by the
`linearly oscillating mass 634. Sensors may include one or
`more of accelerometers, piezoelectric devices, pressure-sens
`ing devices, or other types of sensors that can generate signals
`corresponding to the strength of desired vibrational forces.
`FIGS. 7A-C provide control-flow diagrams that illustrate
`the control program, executed by the CPU, that controls
`operation of an LRVM that represents one implementation of
`the linear-resonant vibration module to which current appli
`cation is directed. FIG. 7A provides a control-flow diagram
`for the high-level control program. The program begins
`execution, in step 702, upon a power-on event invoked by a
`user through a power button or other user control. In step 702,
`various local variables are set to default values, including the
`variables: (1) mode, which indicates the current operational
`mode of the device; (2) strength, a numerical value corre
`sponding to the current user-selected strength of operation,
`corresponding to the electrical current applied to the coil; (3)
`lv10, a previously sensed vibrational strength; (4) liv11, a cur
`rently sensed vibrational strength; (5) freq, the current fre
`quency at which the direction of current is alternated in the
`coil: (6) d, the control output to the H-bridge switch; and (7)
`inc., a Boolean value that indicates that the frequency is
`currently being increased. Next, in step 704, the control pro
`gram waits for a next event. The remaining steps represent a
`continuously executing loop, or event handler, in which each
`event that occurs is appropriately handled by the control
`program. In certain implementations of the control program,
`events may be initiated by interrupt-like mechanisms and
`stacked for execution while, in more primitive implementa
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`US 9,369,081 B2
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`7
`tions, certain events that overlap in time may be ignored or
`dropped. In the implementation illustrated in FIGS. 7A-C,
`two timers are used, one for controlling the change in direc
`tion of the current applied to the coil, at a currently established
`frequency, and the other for controlling a monitoring interval
`at which the control program monitors the vibrational force
`currently produced. Rather than using a formal timer mecha
`nism, certain implementations may simply employ counted
`loops or other simple programming techniques for periodi
`cally carrying out tasks. When an event occurs, the control
`program begins a series of tasks, the first of which is repre
`sented by the conditional step 706, to determine what event
`has occurred and appropriately handle that event. When the
`frequency timer has expired, as determined in