Optical element control using multiple actuators

A method, comprising:

• moving one or more optical elements from a rest position across a first displacement, wherein a first actuator, comprising a first permanent magnet, drives the one or more optical elements across the first displacement and a second actuator, comprising a second permanent magnet different from the first permanent magnet, assists the first actuator to control movement of the one or more optical elements across a portion, and not all, of the first displacement;
• and
• moving the one or more optical elements from the rest position across a second displacement, different from the first displacement, wherein the first actuator drives the one or more optical elements across the second displacement and the second actuator assists the first actuator to control movement of the one or more optical elements across a portion, and not all, of the second displacement,
• wherein the first actuator and the first permanent magnet are separate and distinct from the second actuator and the second permanent magnet.

An apparatus, comprising:

• at least one processor;
• and
• at least one memory storing computer program code, wherein the computer program code is configured to, with the at least one processor, cause the apparatus to at least:
• control a first actuator to provide a first driving force to drive one or more optical elements, in a first direction, from a rest position across a first displacement, wherein the rate of change of the first driving force that the first actuator is able to provide to the one or more optical elements is lower across a portion of the first displacement than across a further portion of the first displacement, such that the magnitude of the first driving force varies non-linearly with displacement of the one or more optical elements from the rest position in the first direction;
• and
• control a second actuator to assist the first actuator to control movement of the one or more optical elements by providing a second driving force to drive the one or more optical elements, in the first direction, across the portion of the first displacement and not the further portion of the first displacement, such that the magnitude of a combined driving force provided by the first driving force and the second driving force varies linearly with displacement of the one or more optical elements across the portion and the further portion of first displacement.