A linear resonant actuator is a vibration motor that produces an oscillating force across a single axis. Unlike a DC eccentric rotating mass (ERM) motor, a linear resonant actuator relies on an AC voltage to drive a voice coil pressed against a moving mass connected to a spring. When the voice coil is driven at the resonant frequency of the spring, the entire actuator vibrates with a perceptible force. Although the frequency and amplitude of a linear resonant actuator may be adjusted by changing the AC input, the actuator must be driven at its resonant frequency to generate a meaningful amount of force for a large current.
The voice coil remains stationary inside of the device while it produces a vibration and presses against a moving mass. By driving the magnetic mass up and down against the spring, the LRA as a whole will be displaced and produce a vibration. The underlying mechanism resembles a speaker producing sound. In a speaker, air is funneled through a cone and displaced at different frequencies by turning an AC frequency and amplitude into a vibrational frequency and amplitude — internally, a speaker accomplishes this task by moving a magnetic mass with a fast-changing alternating current. Unlike a speaker, which can be driven at arbitrary frequencies, an LRA is useful in haptic applications within a specific frequency range.
Rather than directly transferring the force produced by the voice coil to the skin, the device optimizes for power consumption by taking advantage of the resonant frequency of the spring. If the voice coil pushes the magnetic mass against the spring at the spring’s resonant frequency, the device can produce a vibration of higher amplitude more efficiently. Since the voice coil is driven by an AC current, modeling the desired frequency and amplitude of vibration, the frequency and amplitude may be independently modified. This is different than an ERM motor, which couples the two properties of the resulting vibration.
Although the frequency can be changed, the LRA will typically be operated within a narrow frequency range to optimize its power consumption — if the device is driven at the resonant frequency of the spring, it will consume less power to produce a vibration of equal magnitude. Regardless, this improvement alone presents a unique advantage over ERM motors: a precise waveform of varying intensity over time can be reproduced in an LRA with a fixed frequency, whereas a waveform of varying intensity in an ERM motor will also produce a varying frequency of vibration.
The typical start time for an LRA is approximately 5–10ms, a fraction of the time required to produce a vibration with an ERM motor. This incredible speed results from the immediate movement of the magnetic mass as current is applied to the voice coil inside of the device. In an ERM motor, the vibration can only be produced after the motor reaches its operating speed — even when overdriving the motor to produce faster acceleration, the motor can require 20–50ms before reaching a desired intensity of vibration. Unfortunately, the stop time of an LRA can be significantly longer than an ERM motor. An LRA can take up to 300ms to stop vibrating due to the continued storage of kinetic energy in the internal spring during operation. Thankfully, an active braking mechanism can also be used for an LRA — by performing an 180-degree phase shift of the AC signal provided to the actuator, the vibration can be stopped very quickly (within approximately 10ms) by producing a force opposite to the oscillation of the spring.
Consumer Technology
The video below shows a teardown of the iPhone 4S, which used a linear resonant actuator attached to the device enclosure to provide vibrotactile feedback.
Many modern cell phones use an LRA instead of other types of vibration motors in order to produce a wider range of vibrotactile effects with less power. The Steam video game controller from Valve also makes use of linear resonant actuators to provide trackpads with haptic feedback.
Prototyping
The DRV2605 Breakout Board from Adafruit
Adafruit Industries sells a breakout board with headers suitable for a breadboard prototype of a device using a linear resonant actuator. The aforementioned breakout board can be easily integrated with an Arduino, Raspberry Pi, Beaglebone, or other electronics prototyping platform. You can also find other variations of the breakout board online, including the compact DRV2605 modules from Fyber Labs.
Custom Implementation
Although it is possible to create your own circuit to drive a linear resonant actuator, there are two nontrivial challenges to producing a viable implementation: 1) intellectual property and 2) performance. As mentioned at the bottom of this post, Immersion and Texas Instruments own several patents protecting their implementations of LRA drivers. As a result, a naïve implementation of tracking the resonant frequency of the actuator will likely require a separate license of the relevant intellectual property. Further, the design of off-the-shelf driver chips have been optimized and rigorously tested for inclusion in consumer electronic devices. A custom driver may not achieve the same performance at a low cost.
We recommend using an off-the-shelf chip to simplify the development process. The DRV2603 and DRV2605 from Texas Instruments can also drive LRA’s in addition to ERM motors, but several other driver IC’s are also available. The MAX11811 from Maxim Integrated provides a haptic driver in combination with a capacitive touch sensing circuit. The SEMTEC SX86 provides a similar functionality but provides a resistive touch circuit. The LC898302 from ON Semiconductor and FAH4840 from Fairchild Semiconductor may also be used to independently drive an LRA.
Manufacturers
The supply chain for linear resonant actuators is not as robust as the availability of ERM motors. Regardless, there are a few sources for the component:
- Precision Micro Drives
- Samsung Electro-Mechanical LRA from AvNet
- Fyber Labs (only small quantities)
Notable Patents
Immersion Corporation
A system that generates a haptic effect generates a drive cycle signal that includes a drive period and a monitoring period. The drive period includes a plurality of drive pulses that are based on the haptic effect. The system applies the drive pulses to a resonant actuator during the drive period and receives a signal from the resonant actuator that corresponds to the position of a mass in the actuator during the monitoring period.
A haptic feedback system that includes a controller, a memory coupled to the controller, an actuator drive circuit coupled to the controller, and an actuator coupled to the actuator drive circuit. The memory stores at least one haptic effect that is executed by the controller in order to create a haptic effect.
Systems and methods for controlling a resonant device are described. One described method for braking an actuator includes generating a first actuator signal configured to drive the actuator, the first actuator signal having a first frequency approximately resonant to the actuator, and transmitting the first actuator signal to the actuator. The method also includes generating a second actuator signal, having a second frequency approximately 180 degrees out of phase to the first frequency, the second actuator signal configured to cause a braking force on the actuator, and transmitting the second actuator signal to the actuator.
A haptic feedback generation system includes a linear resonant actuator and a drive circuit. The drive circuit is adapted to output a unidirectional signal that is applied to the linear resonant actuator. In response, the linear resonant actuator generates haptic vibrations.
Systems and methods for controlling a resonant device are described. One described method for braking an actuator includes generating a first actuator signal configured to drive the actuator, the first actuator signal having a first frequency approximately resonant to the actuator, and transmitting the first actuator signal to the actuator. The method also includes generating a second actuator signal, having a second frequency approximately 180 degrees out of phase to the first frequency, the second actuator signal configured to cause a braking force on the actuator, and transmitting the second actuator signal to the actuator.
Texas Instruments, Inc
A method for driving a Linear Resonant Actuator (LRA) is provided. During a first off interval, the back-emf of the LRA is measured. During a first off interval, a timer is started when the back-emf reaches a predetermined threshold, and after a predetermined delay has lapsed following the back-emf reaching the predetermined threshold during the first off interval, the LRA is driven over a drive interval having a length and drive strength. A second off interval is entered following the drive interval, and during the second off interval, the back-emf of the LRA is measured. During the second off interval, the timer is stopped when the back-emf reaches the predetermined threshold. The value from the timer that corresponds to the duration between the back-emf reaching the predetermined threshold during the first off interval and the back-emf reaching the predetermined threshold during the second off interval determines the length.
Originally published by Somatic Labs
