Coherent phase switching and modulation of a linear actuator array

A method for controlling a haptic device comprising multiple linear resonant actuators (LRAs), the method comprising:

• controlling the multiple LRAs in out-of-phase configurations to achieve a spinning reserve mode where the sum of vibration outputs of the multiple LRAs is substantially zero;
• while in the spinning reserve mode, changing operational parameters of the multiple LRAs, including a frequency adjustment and an amplitude adjustment;
• applying phase control with selected timing to maintain a combined output waveform of the multiple LRAs at or near zero during a transition from the spinning reserve mode to another mode;
• and
• exiting the spinning reserve mode and entering the other mode by switching from a first relative phase angle to a second relative phase angle between at least one pair of the multiple LRAs, to produce a selected haptic output.

A method for optimizing energy consumption in a haptic device comprising multiple linear resonant actuators (LRAs), the method comprising:

• analyzing energy usage patterns during haptic events by monitoring input power and actuator states;
• utilizing phase control, including phase switching and phase modulation with selected timing, to store energy in mechanical inertia of the multiple LRAs;
• adjusting one or more control inputs to the multiple LRAs to release the stored energy during haptic output;
• and
• switching from a first relative phase angle to a second relative phase angle between at least one pair of the multiple LRAs to achieve a selected transient performance.