公开(公告)号：WO2015006467A1

公开(公告)日：2015-01-15

申请号：PCT/US2014/045984

申请日：2014-07-09

Applicant: COACTIVE DRIVE CORPORATION

Inventor： HOUSTON, John ,  GRAHAM, Gabe ,  SIMPKINS, JR., Charles Alexander ,  MORRIS, Rob

IPC: H02P25/06 ,  H02N2/06 ,  G05D3/12

CPC classification number: B06B1/166 ,  G06F3/016 ,  H02P25/06

Abstract: The disclosure relates to integrated modules for Synchronized Array of Vibration Actuators (FIG. 125A). The modules provide physical interface, power and communication interfaces. Each module may include vibration actuators (FIG. 123A) which can be precisely attached and aligned to the module housing, a microcontroller or other microprocessor, and one or more sensors for closed loop control of actuators (FIG. 126G). Interleaved pairs of ERMs having a center of mass in the same plane eliminate parasitic torque. A single module can produce a vibration force that rotates at a specific frequency and magnitude, which on its own could cancel out some types of periodic vibrations (FIG. 125B). Two modules paired together and counter-rotating with respect to each other can produce a directional vibration at a specific frequency and magnitude, which could prove even more useful for canceling out a vibration. Such modules are also employed to produce beating patterns (FIGS. 131-133). Both amplitude and frequency of the beating force are variable.

Abstract translation: 本公开涉及用于振动致动器同步阵列的集成模块（图125A）。 这些模块提供物理接口，电源和通信接口。 每个模块可以包括振动致动器（图123A），其可精确地附接并对准模块壳体，微控制器或其它微处理器，以及一个或多个用于致动器的闭环控制的传感器（图126G）。 在同一平面内具有质量中心的交错的ERM对消除了寄生转矩。 单个模块可以产生以特定频率和幅度旋转的振动力，其本身可以抵消一些类型的周期性振动（图125B）。 配对在一起并且相对于彼此反向旋转的两个模块可以产生特定频率和幅度的定向振动，这可以被证明甚至更有用于消除振动。 这些模块也用于产生打浆图案（图131-133）。 打浆力的幅度和频率都是可变的。

公开(公告)号：WO2013134388A1

公开(公告)日：2013-09-12

申请号：PCT/US2013/029375

申请日：2013-03-06

Applicant: COACTIVE DRIVE CORPORATION

Inventor： MORRIS, Rob ,  HOUSTON, John ,  DELSON, Nathan ,  GRAHAM, Gabe

IPC: G06F3/01 ,  G06F3/041

CPC classification number: G09B9/28 ,  A63F13/24 ,  A63F13/28 ,  A63F13/285 ,  B06B1/0215 ,  B06B1/04 ,  B06B2201/20 ,  G06F1/1684 ,  G06F3/016 ,  G06F2203/013 ,  G06F2203/014 ,  G09B23/285 ,  H04M19/047

Abstract: The disclosure relates to a Synchronized Array of Vibration Actuators in a Network Topology that provides for synchronized arrays of low-cost, readily available vibration actuators to emulate superlative single actuators and to bring together sets of these emulated high-performance actuators to create a broad range of desired control effects. Such arrays of actuators may operate in both spatial and temporal modes, which can create haptic effects that relate to the user via their position and orientation in space. The spatial mode may create h -pulses or the amplitude of a vibrational effect may change based on the position of the device. And the temporal mode may create vibrational effects that interact with the user to create an awareness of time. Additionally modes include a performance mode, a bandwidth mode, a magnitude mode and a reliability mode. The different control modalities may be combined together into a single vector control space, which spans the haptic capabilities of sets and/or subsets of actuators.

Abstract translation: 本公开涉及网络拓扑中的振动致动器的同步阵列，其提供用于仿真最高级单致动器并将这些仿真高 性能执行器来创建广泛的理想控制效果。 这种致动器阵列可以在空间和时间模式下操作，这可以产生与用户通过它们在空间中的位置和取向相关的触觉效果。 空间模式可能产生h个脉冲，或者振动效应的幅度可能基于装置的位置而改变。 时间模式可以创建振动效果，与用户交互以创建时间意识。 另外模式包括性能模式，带宽模式，幅度模式和可靠性模式。 不同的控制模态可以组合成单个矢量控制空间，其跨越组和/或致动器子集的触觉能力。

公开(公告)号：WO2015023670A1

公开(公告)日：2015-02-19

申请号：PCT/US2014/050724

申请日：2014-08-12

Applicant: COACTIVE DRIVE CORPORATION

Inventor： HOUSTON, John ,  SIMPKINS JR., Charles Alexander ,  MURPHY, Joel A. ,  GRAHAM, Gabe ,  MORRIS, Rob

IPC: G01D5/26 ,  G01D5/12 ,  G01C21/20 ,  B06B1/10 ,  B06B1/12 ,  B06B1/16

CPC classification number: B06B1/10 ,  B06B1/0207 ,  B06B1/045 ,  B06B1/161 ,  G01D5/145

Abstract: An angular position measurement system comprises a field emitter (Fig. 134), a field detector (Fig. 135) and a rotating target (Fig. 136) coupled to the field emitter and the field detector (Fig. 134). The target affects transmission of a field such that as the target rotates, variations in one or more aspects of shape, size and material composition of the rotating target (Fig. 148) produce correspondingly measurable changes in the field as detected by the field detector (Figs. 150A-B). And a differential haptic guidance system (Fig. 151) comprises: haptic actuators that display haptic stimuli to an individual (Fig. 152); means for displaying bursts of the stimuli such that one or more perceptual qualities of the bursts is variable (Fig. 151); means for selectively determining at least one of spatial position or orientation of the individual or a tool in contact thereof (Fig. 151); and a differential haptic guidance processor programmed to directionally guide the individual by displaying multiple bursts of haptic stimuli that are employed to discern a corresponding movement (Fig. 151).

Abstract translation: 角度位置测量系统包括场发射器（图134），场检测器（图135）和耦合到场发射器和场检测器的旋转靶（图136）（图134）。 目标影响场的传播，使得当目标旋转时，旋转目标的形状，尺寸和材料组成的一个或多个方面的变化（图148）在场检测器（如图148）中检测到的场中产生相应的可测量的变化 图150A-B）。 并且差分触觉引导系统（图151）包括：向个体显示触觉刺激的触觉致动器（图152）; 用于显示刺激的脉冲串的装置，使得脉冲串的一个或多个感知质量是可变的（图151）; 用于选择性地确定个体或与其接触的工具的空间位置或取向中的至少一个的装置（图151）; 以及差分触觉指导处理器，其被编程为通过显示用于识别相应运动的触觉刺激的多个突发来定向地引导个体（图151）。

公开(公告)号：EP2823377A1

公开(公告)日：2015-01-14

申请号：EP13757289.7

申请日：2013-03-06

Applicant: Coactive Drive Corporation

Inventor： MORRIS, Rob ,  HOUSTON, John ,  DELSON, Nathan ,  GRAHAM, Gabe

IPC: G06F3/01 ,  G06F3/041

CPC classification number: G09B9/28 ,  A63F13/24 ,  A63F13/28 ,  A63F13/285 ,  B06B1/0215 ,  B06B1/04 ,  B06B2201/20 ,  G06F1/1684 ,  G06F3/016 ,  G06F2203/013 ,  G06F2203/014 ,  G09B23/285 ,  H04M19/047

Abstract: The disclosure relates to a Synchronized Array of Vibration Actuators in a Network Topology that provides for synchronized arrays of low-cost, readily available vibration actuators to emulate superlative single actuators and to bring together sets of these emulated high-performance actuators to create a broad range of desired control effects. Such arrays of actuators may operate in both spatial and temporal modes, which can create haptic effects that relate to the user via their position and orientation in space. The spatial mode may create
h -pulses or the amplitude of a vibrational effect may change based on the position of the device. And the temporal mode may create vibrational effects that interact with the user to create an awareness of time. Additionally modes include a performance mode, a bandwidth mode, a magnitude mode and a reliability mode. The different control modalities may be combined together into a single vector control space, which spans the haptic capabilities of sets and/or subsets of actuators.