Aspects of the technology employ synchronized arrays of low-cost, readily available vibration actuators to emulate and outperform single actuator systems, bringing together sets of actuators to create desired control effects. This approach involves coherent phase switching and modulation of a linear actuator array. A pair of linear resonant actuators (LRAs) may be employed for improved haptic waveform synthesis performance. According to one feature, energy may stored in the mechanical inertia of the LRA via velocity and stiffness of the LRA via displacement and released through modulation of the relative phase of the LRAs. Phase switching and modulation techniques may be used to control more than two LRAs, and in other arrangements than a dual LRA, including, but not limited to architectures that have LRAs arranged in multiple directions in an array spanning, for example, the two dimensions of a plane, or three dimensions of physical space.

A method for operating a magnetic actuator comprises: ascertaining a mathematical model of the actuator which describes a change in a motor constant of the actuator as a function of the electrical drive power supplied; driving the actuator with a first electrical drive power as a function of a predetermined target force; ascertaining the change in the motor constant of the actuator on account of driving the actuator with the first electrical drive power via the mathematical model; ascertaining a correction value for the first electrical drive power as a function of the ascertained change in the motor constant; and driving the actuator with a second electrical drive power as a function of the first electrical drive power and the ascertained correction value.

A method for estimating actuator parameters for an actuator, in-situ and in real-time, may include driving the actuator with a test signal imperceptible to a user of a device comprising the actuator during real-time operation of the device, measuring a voltage and a current associated with the actuator and caused by the test signal, determining one or more parameters of the actuator based on the voltage and the current, determining an actuator type of the actuator based on the one or more parameters, and controlling a playback signal to the actuator based on the actuator type.

A haptic engine includes a haptic actuator having a double-wound driving coil in which the two windings are connected with each other either in series or in parallel. By using the double-wound driving coil in which the two windings are connected with each other in series, an instant back EMF voltage induced in either of the two windings can be determined without having to measure in real time a resistance of the corresponding winding, and without having to sense a driving current through the double-wound driving coil. By using the double-wound driving coil in which the two windings are connected with each other in parallel, an instant back EMF voltage induced in either of the two windings can be determined without having to measure in real time a resistance of the corresponding winding.

A haptic engine includes a haptic actuator having a double-wound driving coil in which the two windings are connected with each other either in series or in parallel. By using the double-wound driving coil in which the two windings are connected with each other in series, an instant back EMF voltage induced in either of the two windings can be determined without having to measure in real time a resistance of the corresponding winding, and without having to sense a driving current through the double-wound driving coil. By using the double-wound driving coil in which the two windings are connected with each other in parallel, an instant back EMF voltage induced in either of the two windings can be determined without having to measure in real time a resistance of the corresponding winding.

A voice coil motor driving device and a method for providing control signals of the same are provided. The voice coil motor driving device includes a control module, a current driving module, and an input module. The current driving module outputs a plurality of digital current signals according to a driving signal, each of the plurality of digital current signals includes a plurality of current unit signals, and each of the plurality of digital current signals is arranged in a first time period, each of the plurality of digital current signals includes a plurality of reverse current unit signals, and the plurality of reverse current unit signals are arranged in a second time period, which is at a beginning of the first time period, or arranged in a third time period, which is at the end of the first time period.

A voice coil motor driving device and a method for providing control signals of the same are provided. The voice coil motor driving device includes a control module, a current driving module, and an input module. The current driving module outputs a plurality of digital current signals according to a driving signal, each of the plurality of digital current signals includes a plurality of current unit signals, and each of the plurality of digital current signals is arranged in a first time period, each of the plurality of digital current signals includes a plurality of reverse current unit signals, and the plurality of reverse current unit signals are arranged in a second time period, which is at a beginning of the first time period, or arranged in a third time period, which is at the end of the first time period.

A system of flexural, actuating, and semiconducting elements of part-types necessary to assemble actuated robotic systems. These parts are joined with a common interface, interlocking with neighboring parts to form a regular lattice structure. Primary considerations for the design of the part interfaces include ease of assembly and the ability to transfer mechanical loads and electronic signals to neighboring parts. The parts are designed to be assembled vertically so structures can he built incrementally one part at a time. They can be easily fabricated at a range of length-scales using a variety of two-dimensional manufacturing processes. These processes include, for example, stamping and laminating, which enable high-throughput production. The simple mechanical interfaces between parts also enable disassembly allowing for reconfigurability and reuse. The interlocking nature of these assemblies allows loads to be distributed through many parallel load-paths.

Techniques for controlling operations of a motor based on position errors are described. In an example, a user device sends an amount of electrical current to the motor to cause the motor to move. The user device also determines the motor is in position for a time interval despite the amount of electrical current. Based at least one the time interval and the amount of electrical current, the user device determines a position difference associated with a target position and a measured position of the motor during the time interval, and reduces the amount of electrical current based at least in part on the time interval.

Techniques for controlling operations of a motor based on position errors are described. In an example, a user device sends an amount of electrical current to the motor to cause the motor to move. The user device also determines the motor is in position for a time interval despite the amount of electrical current. Based at least one the time interval and the amount of electrical current, the user device determines a position difference associated with a target position and a measured position of the motor during the time interval, and reduces the amount of electrical current based at least in part on the time interval.