(19) United States
`(12) Patent Application Publication (10) Pub. No.: US 2012/0133308A1
`Elenga et al.
`(43) Pub. Date:
`May 31, 2012
`
`US 2012O133308A1
`
`(54) LINEAR VIBRATION MODULES AND
`LINEAR-RESONANT VIBRATION MODULES
`
`(76) Inventors:
`
`Robin Elenga, Seattle, WA (US);
`Brian Marc Pepin, Oakland, CA
`(US); Glen Tompkins, Woodinville,
`WA (US)
`
`(21) Appl. No.:
`(22) Filed:
`
`13/345,607
`Jan. 6, 2012
`Related U.S. Application Data
`(63) Continuation-in-part of application No. 12/782,697.
`filed on May 18, 2010, now Pat. No. 8,093,767.
`
`(60) Provisional application No. 61/179,109, filed on May
`18, 2009.
`
`
`
`Publication Classification
`
`(51) Int. Cl.
`(2006.01)
`HO2K 33/6
`(2006.01)
`H02P3I/00
`(52) U.S. Cl. ......................................... 318/128; 318/129
`(57)
`ABSTRACT
`The current application is directed to various types of linear
`vibrational modules, including linear-resonant vibration
`modules, that can be in SAS, 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.
`
`Exhibit 1033 - Page 1 of 30
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`Patent Application Publication
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`May 31, 2012 Sheet 1 of 20
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`US 2012/0133308A1
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`US 2012/0133308 A1
`
`May 31, 2012
`
`LINEAR VIBRATION MODULES AND
`LINEAR-RESONANT VIBRATION MODULES
`
`CROSS-REFERENCE TO RELATED
`APPLICATIONS
`0001. This application is a continuation-in-part of appli
`cation Ser. No. 12/782,697, filed May 18, 2010, which claims
`the benefit of Provisional Patent Application No. 61/179,109,
`filed May 18, 2009.
`
`TECHNICAL FIELD
`0002 The current application is related to vibration-gen
`erating devices and, in particular, to vibration modules that
`can be incorporated into a wide variety of different types of
`electromechanical devices and systems to produce vibrations
`of selected amplitudes and frequencies over a wide range of
`amplitudeffrequency space.
`
`BACKGROUND
`0003 Vibration-inducing motors and mechanisms have
`been used for many years in a wide variety of different con
`Sumer appliances, toys, and other devices and systems.
`Examples include vibration signals generated by pagers,
`vibration-driven appliances, such as hair-trimming appli
`ances, electric toothbrushes, electric toy football games, and
`many other appliances, devices, and systems. The most com
`mon electromechanical system used for generating vibrations
`is an intentionally unbalanced electric motor.
`0004 FIGS. 1A-B illustrate an unbalanced electric motor
`typically used for generating vibrations in a wide variety of
`different 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,
`looking 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 off-center on the electric-motor shaft 104. FIGS.
`2A-B illustrate the vibrational motion produced by the unbal
`anced electric 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
`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
`
`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.
`0005 While effective in producing vibrations, there are
`many problems associated with the unbalanced-electric-mo
`tor 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.
`0006. 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 pro
`duce the given vibrational force. As a result, many hand-held
`devices that employ unbalanced electric motors for generat
`ing vibrations quickly consume batteries during use.
`0007. A third problem with unbalanced electric motors,
`discussed above, is that they generally produce elliptical
`vibrational modes. Although Such modes may be useful in
`particular applications, many applications can better use a
`linear oscillation, with greater directional concentration of
`vibrational forces. Linear oscillation cannot generally be pro
`duced by unbalanced electric motors.
`0008 A fourth, and perhaps most fundamental, problem
`associated with using unbalanced electric motors to generate
`vibrations 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 hypo
`thetical curve, although, of course, actual data would be dis
`crete. As shown in FIG. 3, for relatively low-power electric
`motors used in hand-held appliances, only a fairly narrow
`range of frequencies centered about 80 Hz (302 in FIG. 3)
`generate a significant vibrational force. Moreover, the vibra
`tional force is relatively modest. The bulk of energy con
`Sumed by an unbalanced electric motor is used to spin the
`shaft and unbalanced weight and to overcome frictional and
`inertial forces within the motor. Only a relatively small por
`tion of the consumed energy is translated into desired vibra
`tional forces.
`
`Exhibit 1033 - Page 22 of 30
`
`

`

`US 2012/0133308 A1
`
`May 31, 2012
`
`0009. Because of the above-discussed disadvantages with
`the commonly employed unbalanced-electric-motor vibra
`tion-generation units, designers, manufacturers, and, ulti
`mately, users of a wide variety of different vibration-based
`devices, appliances, and systems continue to seek more effi
`cient and capable vibration-generating units for incorporation
`into many consumer appliances, devices, and systems.
`
`SUMMARY
`0010. 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 appliances, devices, and systems to provide vibrational
`forces. The vibrational forces are produced by linear oscilla
`tion of a weight or member, in turn produced by rapidly
`alternating the polarity of one or more driving electromag
`nets. 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 vibration modules and linear-resonant vibration
`modules can be designed to produce vibrational amplitude/
`frequency combinations throughout a large region of ampli
`tudeffrequency space.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`0.011
`FIGS. 1A-B illustrate an unbalanced electric motor
`typically used for generating vibrations in a wide variety of
`different devices.
`0012 FIGS. 2A-B illustrate the vibrational motion pro
`duced by the unbalanced electric motor shown in FIGS.
`1A-B.
`0013 FIG. 3 shows a graph of vibrational force with
`respect to frequency for various types of unbalanced electric
`motorS.
`0014 FIGS. 4A-G illustrate one particular LRVM, and
`operation of the particular LRVM, that represents one imple
`mentation of the linear-resonant vibration module to which
`current application is directed.
`0015 FIGS.5A-Billustrate 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).
`0016 FIG. 6 provides a block diagram of the LRVM,
`illustrated in FIGS. 4A-G, that represents one implementa
`tion of the linear-resonant vibration module to which current
`application is directed.
`0017 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 imple
`mentation of the linear-resonant vibration module to which
`current application is directed.
`0018 FIG.8 represents the range offrequencies and vibra
`tional forces that can be achieved by different implementa
`tions of LRVM and LRVM control programs that represent
`embodiments of the current application.
`0019 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.
`0020 FIGS. 10-17 show a variety of different alternative
`implementations of LRVMs that represent different embodi
`ments of the current application.
`
`FIG. 18 illustrates an enhancement of an implemen
`0021
`tation of the linear-resonant vibration module to which cur
`rent application is directed shown in FIG. 16.
`0022 FIG. 19 illustrates plots of amplitude versus fre
`quency for a high-Q and a low-Q vibration device.
`0023 FIG. 20 illustrates portions of amplitude/frequency
`space accessible to various types of vibration modules.
`0024 FIG. 21 illustrates the dependence between fre
`quency and amplitude in a low-Q linear vibration module as
`well as a modified dependence that can be obtained by control
`circuitry.
`(0025 FIGS. 22A-23 illustrate interesting vibrational
`modes produced by driving a linear-resonant vibration mod
`ule simultaneously at two different frequencies.
`0026 FIGS. 24A-25 illustrate incorporation of paramag
`netic flux paths into a linear vibration module.
`
`DETAILED DESCRIPTION
`0027. The current application is directed to various linear
`vibration modules (“LRMs), including various types of lin
`ear-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.
`(0028 FIGS. 4A-G illustrate one particular LRVM, and
`operation of the particular LRVM, that represents one imple
`mentation of the linear-resonant vibration module to which
`current application is directed. FIGS. 4A-G all use the same
`illustration 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
`
`Exhibit 1033 - Page 23 of 30
`
`

`

`US 2012/0133308 A1
`
`May 31, 2012
`
`“+' 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
`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.
`0029 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 gener
`ated 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 elec
`trical 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 direction 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.
`0030 Clearly, the amplitude of the vibration and vibra
`tional forces produced are related to the length of the hollow
`chamber 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
`LRVM, and thus the LRVM can be designed to produce a
`wide variety of different amplitudes.
`0031. The frequency of the oscillation of the solid, cylin
`drical mass is determined by the frequency at which the
`direction of the current applied to the coil is changed. FIGS.
`5A-B illustrate an H-bridge switch that can be used, in various
`embodiments of the current application, to change the direc
`tion of current applied to the coil that drives linear oscillation
`within an LRVM. FIGS 5A-B both use the same illustration
`conventions, 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.
`0032 FIG. 6 provides a block diagram of the LRVM,
`illustrated in FIGS. 4A-G, that represents one implementa
`tion of the linear-resonant vibration module to which current
`application is directed. The LRVM, in addition to the cylin
`drical housing, coil, and internal components shown in FIG.
`4A, includes a power Supply, a user interface, generally com
`prising electromechanical buttons or Switches, the H-bridge
`switch, discussed above with reference to FIGS. 5A-B, a
`central processing unit ("CPU), generally a small, low-pow
`ered microprocessor, and one or more electromechanical sen
`sors. All of these components are packaged together as an
`LRVM within a vibration-based appliance, device, or system.
`0033. 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-con
`trol 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.
`0034 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 imple
`mentation of the linear-resonant vibration module to which
`current application is directed. FIG. 7A provides a control
`flow diagram for the high-level control program. The pro
`gram begins execution, in step 702, upon a power-on event
`invoked by a user through a power button or other user con
`trol. In step 702, various local variables are set to default
`
`Exhibit 1033 - Page 24 of 30
`
`

`

`US 2012/0133308 A1
`
`May 31, 2012
`
`values, including the variables: (1) mode, which indicates the
`current operational mode of the device; (2) strength, a
`numerical value corresponding 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) lvl, a currently sensed vibrational strength; (5)
`freq, the current frequency 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 program 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 mecha
`nisms and stacked for execution while, in more primitive
`implementations, 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 direction 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 mechanism, certain implementations may sim
`ply employ counted loops or other simple programming tech
`niques for periodically carrying out tasks. When an event
`occurs, the control program begins a series of tasks, the first of
`which is represented 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 step
`706, the value of the output signal dis flipped, in step 708, and
`output to the H-bridge switch, with the frequency timer being
`reset to triggera next frequency-related event. The frequency
`timer interval is determined by the current value of the vari
`able freq. Otherwise, when the event is a monitor timer expi
`ration event, as determined in step 710, then a routine
`“monitor is called in step 712. Otherwise, when the event
`corresponds to a change in the user input through the user
`interface, as determined in step 714, the routine “control' is
`called in step 716. Otherwise, when the event is a power-down
`event, as determined in step 718, resulting from deactivation
`of a power button by the user, then the control program
`appropriately powers down the device, in step 720, and the
`control program terminates in step 722. Any other of various
`types of events that may occur are handled by a default event
`handler 724. These events may include various error condi
`tions that arise during operation of the device.
`0035 FIG. 7B provides a control-flow diagram for the
`routine “monitor” called in step 712 of FIG. 7A. In step 730,
`the routine “monitor” converts the sensor input to an integer
`representing the current vibrational force produced by the
`LRVM and stores the integer value in the variable lvll. Next,
`in step 732, the routine “monitor determines whether or not
`the LRVM is currently operating in the default mode. In the
`default mode, the LRVMuses continuous feedback control to
`optimize the vibrational force produced by the LRVM by
`continuously seeking to operate the LRVMata frequency as
`close as possible to the resonant frequency for the LRVM.
`Other, more complex operational modes may be handled by
`various more complex routines, represented by step 734 in
`FIG. 7B. More complex vibrational modes may systemati
`cally and/or periodically alter the frequency or produce vari
`ous complex, multi-component vibrational modes useful in
`certain applications, appliances, devices, and systems. These
`
`more complex modes a