# US 12,184,143 B2 · Linear actuator with reactive force path > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,184,143 B2 - Document ID: US12184143B2 - Status: Granted - Kind: B2 - Application number: 17/852,920 - Filed: 2022-06-29 - Published: 2022-10-13 - Granted: 2024-12-31 - Earliest claimed: 2020-07-30 - Assignees: Titan Haptics Inc. - Applicants: Titan Haptics Inc. - Inventors: Timothy Jing Yin Szeto - Web page: https://patentgrep.com/patent/US12184143B2 ## CPC - B06B 1/045: {using vibrating magnet, armature or coil system} - H02K 41/02: Linear motors; Sectional motors - H02K 33/16: with polarised armatures moving in alternate directions by reversal or energisation of a single coil system - H02K 33/02: with armatures moved one way by energisation of a single coil system and returned by mechanical force, e.g. by springs - H02K 2213/03: Machines characterised by numerical values, ranges, mathematical expressions or similar information - B06B: METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, {e.g.} FOR PERFORMING MECHANICAL WORK IN GENERAL (for particular applications, see the relevant subclasses, e.g. B07B1/40, B23Q17/12, B24B31/06; measurement of mechanical vibrations G01H; in direction finding, locating, distance or velocity measuring G01S; {generating seismic energy G01V1/02}; control of mechanical vibrations in general G05D; sound-producing devices, e.g. bells, sirens, whistles G10K, {e.g. methods or devices for transmitting, conducting, or directing sound in general G10K11/00}; generation of electrical oscillations H03B; electromechanical resonators in general H03H; electromechanical transducers {for communication techniques, e.g. microphones, speakers} H04R) - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) ## Abstract A linear actuator comprising a mass movably mounted in a linear displacement path, the mass having a magnetic segment, a drive force generator configured to selectively impart acceleration to the mass in the orientation of the linear displacement path, and a reactive force path generating a return force when the mass is displaced from a rest position. The return force being in the orientation of the linear displacement path and towards the rest position, the amplitude of the return force varying as a function of the position of the mass in the linear displacement path in accordance with a force response curve, the reactive force path including a permanent magnet force element disposed transversally adjacent to the linear displacement path and magnetically coupled with the magnetic segment. ## Claims ### Claim 1 A linear actuator comprising a mass movably mounted in a linear displacement path, the mass having a magnetic segment assembly, the magnetic segment assembly having one or more magnetic segments longitudinally separated from one another along the linear displacement path, a drive force generator configured to selectively impart acceleration to the mass in the orientation of the linear displacement path, and a reactive force path generating a return force when the mass is displaced from a rest position, the return force being in the orientation of the linear displacement path and towards the rest position, the amplitude of the return force varying as a function of the position of the mass in the linear displacement path in accordance with a force response curve, the reactive force path including a permanent magnet force element disposed transversally adjacent to the linear displacement path and magnetically coupled with the magnetic segment assembly, the permanent magnet force element longitudinally adjacent to the magnetic segment assembly when the mass is at the rest position, the permanent magnet force element having a permanent magnetic field oriented parallel to the linear displacement path, the permanent magnetic field of the permanent magnet force element directed in a same direction as a permanent magnetic field of a closer one of the one or more magnetic segments of the magnetic segment assembly, the magnetic segment assembly having a first magnetic segment and a second magnetic segment longitudinally separated from the first magnetic segment by a spacer of ferromagnetic material, the first and second magnetic segments having corresponding permanent magnetic fields oriented parallel to the linear displacement path and directed opposite one another. ### Claim 2 (depends on 1) The linear actuator of claim 1 wherein the drive force generator is an electromagnet disposed transversally adjacent to the linear displacement path. ### Claim 3 (depends on 2) The linear actuator of claim 2 wherein the magnetic segment assembly has a first magnetic segment and a second magnetic segment longitudinally separated from the first magnetic segment by a spacer of ferromagnetic material, the first and second magnetic segments having corresponding permanent magnetic fields oriented parallel to the linear displacement path and directed opposite one another; wherein the electromagnet is transversally aligned with the spacer when the mass is at the rest position. ### Claim 4 A linear actuator comprising a mass movably mounted in a linear displacement path, the mass having a magnetic segment assembly, the magnetic segment assembly having one or more magnetic segments longitudinally separated from one another along the linear displacement path, a drive force generator configured to selectively impart acceleration to the mass in the orientation of the linear displacement path, and a reactive force path generating a return force when the mass is displaced from a rest position, the return force being in the orientation of the linear displacement path and towards the rest position, the amplitude of the return force varying as a function of the position of the mass in the linear displacement path in accordance with a force response curve, the reactive force path including a first permanent magnet force element disposed transversally adjacent to the linear displacement path and magnetically coupled with the magnetic segment assembly, the first permanent magnet force element longitudinally adjacent to the magnetic segment assembly when the mass is at the rest position, the first permanent magnet force element having a permanent magnetic field oriented parallel to the linear displacement path, the permanent magnetic field of the first permanent magnet force element directed in a same direction as a permanent magnetic field of a closer one of the one or more magnetic segments of the magnetic segment assembly and a second permanent magnet force element having a second permanent magnetic field oriented parallel to the linear displacement path, the second permanent magnet force element being longitudinally adjacent to the magnetic segment assembly when the mass is at the rest position, and the permanent magnetic field of the second permanent magnet force element being directed in a same direction as a permanent magnetic field of a closer one of the one or more magnetic segments of the magnetic segment assembly. ### Claim 5 A linear actuator comprising a mass movable mounted in a linear displacement path, the mass having a magnetic segment assembly, the magnetic segment assembly having one or more magnetic segments longitudinally separated from one another along the linear displacement path, a drive force generator configured to selectively impart acceleration the mass in the orientation of the linear displacement path, and a reactive force path generating a return force when the mass is displaced from a rest position, the return force being in the orientation of the linear displacement path and towards the rest position, the amplitude of the return force varying as a function of the position of the mass in the linear displacement path in accordance with a force response curve, the reactive force path including a permanent magnet force element disposed transversally adjacent to the linear displacement path and magnetically coupled with the magnetic segment assembly, the permanent magnet force element longitudinally adjacent to the magnetic segment assembly when the mass is at the rest position, the permanent magnet force element having a permanent magnetic field oriented parallel to the linear displacement path, the permanent magnetic field of the permanent magnet force element directed in a same direction as a permanent magnetic field of a closer one of the one or more magnetic segments of the magnetic segment assembly, the permanent magnet force element being a first permanent magnet force element, further comprising a second permanent magnet force element, each permanent magnet force element having a permanent magnetic field oriented parallel to the linear displacement path, the first permanent magnet force element is longitudinally adjacent to the magnetic segment assembly when the mass is at the rest position, and the permanent magnetic field of the first permanent magnet force element is directed in a same direction as a permanent magnetic field of a closer one of the one or more magnetic segments of the magnetic segment assembly, the second permanent magnet force element is transversally aligned with the magnetic segment assembly when the mass is at the rest position, and the permanent magnetic field of the second permanent magnet force element is directed in an opposite direction as the permanent magnetic field of the magnetic segment assembly. ### Claim 6 (depends on 5) The linear actuator of claim 5 wherein the force response curve has regions of increasing return force associated to opposite ends of the linear displacement path, and a plateau region located between the regions of increasing return force. ### Claim 7 (depends on 5) The linear actuator of claim 5 wherein the drive force generator is an electromagnet disposed transversally adjacent to the linear displacement path, wherein the magnetic segment assembly has a first magnetic segment and a second magnetic segment longitudinally separated from the first magnetic segment by a spacer of ferromagnetic material, the first and second magnetic segments having corresponding permanent magnetic fields oriented parallel to the linear displacement path and directed opposite one another; wherein the drive force generator is an electromagnet disposed transversally adjacent to the linear displacement path; and wherein the electromagnet is transversally aligned with the spacer when the mass is at the rest position.