Abstract: An actuator assembly includes one or more conductive coils each positioned in a movable supporting frame configured to be coupled to a load. A pair of permanent magnets are located on each side of each of the coils to provide opposite polarity magnetic fields to each of the coils. A drive circuit is coupled to the each of coils and configured to supply a drive current to each of the conductive coils. A controller is coupled to each of the coils through the drive circuit and is configured to independently control the drive current supplied to each of the coils to provide movement of the supporting frame to provide a force to the load, based on the opposite polarity fields and the drive current, wherein the movement of the supporting frame is in proportion to an amplitude and polarity of the drive current.

Abstract: A two-axis angular pointing device includes a pivot bearing configured to support a payload. A first actuator is positioned to contact the payload at a first drive point. A second actuator is positioned to contact the payload at a second drive point. The first actuator is configured to generate a first movement of the payload in a direction substantially orthogonal to a plane defined by a center of the pivot bearing, the first drive point, and the second drive point to cause the payload to rotate around a first rotation axis. The second actuator is configured to generate a second movement of the payload at the second drive point in the direction substantially orthogonal to the plane to cause the payload to rotate around a second rotation axis. A method of making a two-axis angular pointing device is also disclosed.

Abstract: A stick-slip stage device includes a carriage assembly configured to support a payload, the carriage assembly comprising at least three piezoelectric stick-slip actuators each having one or more contact points. At least two rails are positioned on opposing sides of the carriage assembly and configured to interact with one or more of the contact points to form a guideway for movement of the carriage assembly. A fixed structure connects the at least two rails and is configured to generate a friction force between the at least two rails and one or more of the contact points of the at least three piezoelectric stick-slip actuators. A method of making a stick-slip stage device is also disclosed.

Abstract: A compact wide-angle optical beam steering device includes a first rotor with a first mirror surface and a second rotor with a second mirror surface. The rotors are arranged to rotate about an axis in response to frictionally coupled vibration motors. Drive circuits are coupled to the vibration motors and a control device is coupled to the drive circuits. The control device is configured to execute programmed instructions comprising generating and providing one or more driving signals to the vibration motors to drive the rotors to an angular position about the axes. A light source is positioned to emit a beam directed to the first mirror surface. The beam is reflected from the first mirror and contacts the second mirror. The second mirror is positioned to reflect the beam to exit the steering device at a pointing direction determined by the angular position of the mirrors.

Abstract: A rotary motor and a method of making the same include a vibrating motor body which has two orthogonal first bending modes and is substantially enclosed within a housing. A shaft is frictionally coupled to the vibrating motor body and is arranged to rotate in at least one direction about a rotation axis in response to the vibrating motor body. The shaft is frictionally coupled the vibrating motor body by a force substantially perpendicular to the rotation axis. One or more bearings support the shaft, are connected to the housing, and define the axis of rotation of the shaft.

Abstract: A compact wide-angle optical beam steering device includes a first rotor with a first mirror surface and a second rotor with a second mirror surface. The rotors are arranged to rotate about an axis in response to frictionally coupled vibration motors. Drive circuits are coupled to the vibration motors and a control device is coupled to the drive circuits. The control device is configured to execute programmed instructions comprising generating and providing one or more driving signals to the vibration motors to drive the rotors to an angular position about the axes. A light source is positioned to emit a beam directed to the first mirror surface. The beam is reflected from the first mirror and contacts the second mirror. The second mirror is positioned to reflect the beam to exit the steering device at a pointing direction determined by the angular position of the mirrors.

Abstract: A haptic actuator apparatus and a method of making the same include an ultrasonically vibrating motor and its housing. The housing includes a guide structure coupled to the ultrasonically vibrating motor and at least one spring. The guide structure defines at least one path of motion of the ultrasonically vibrating motor. The at least one spring delimits the at least one path and generates human-detectable vibrations in response to an impact with the ultrasonically vibrating motor.

Abstract: An actuator system includes an actuator device comprising at least one piezoelectric member, a driving system, and an actuator controller. The driving system drives the at least one piezoelectric member at a driving frequency. The actuator controller monitors at least one parameter of the actuator device and the direct driving system to determine an operational mechanical resonant frequency of the actuator device based on the at least one parameter. The actuator controller adjusts the driving frequency based at least in part on the determined operational mechanical resonant frequency.

Abstract: A haptic actuator system and a method of making the same include an ultrasonically vibrating motor body. A shaft is coupled to the vibrating motor body, the shaft arranged to rotate in at least one direction in response to the vibrating motor body. At least one unbalanced mass is coupled to and is moveable with the shaft to generate human-detectable vibrations in response to a motion of the shaft.

Abstract: A rotary motor and a method of making the same include a vibrating motor body which has two orthogonal first bending modes and is substantially enclosed within a housing. A shaft is frictionally coupled to the vibrating motor body and is arranged to rotate in at least one direction about a rotation axis in response to the vibrating motor body. The shaft is frictionally coupled the vibrating motor body by a force substantially perpendicular to the rotation axis. One or more bearings support the shaft, are connected to the housing, and define the axis of rotation of the shaft.

Abstract: A method, computer readable medium, and apparatus for controlling a moveable element includes generating and providing with a control device one or more driving signals to one or more positioning actuators to move the moveable element towards a target position based on a target travel distance and a calibration value. The control device determines when a post-movement position of the moveable element is outside of a tolerance range of the target position. The control device recalibrates the calibration value when the post-movement position is determined to be outside of the tolerance range. The control device repeats the generating, the determining, and the recalibrating as open loop steps until the post-movement position is within the tolerance range or until a limit, if any, on attempts is reached.

Abstract: A method, computer readable medium, and system for controlling velocity of at least partially resonant actuator system includes obtaining at an actuator controller computing system a selected operating velocity within an operational velocity range for at least one of one or more at least partially resonant actuator devices. A width of one or more pulses of a driving signal for the at least one of one or more at least partially resonant actuator devices is adjusted with the actuator controller computing system based on the selected operating velocity. The driving signal with the adjusted width of the one or more pulses is provided with the actuator controller computing system to obtain the selected operating velocity at the at least one of the one or more at least partially resonant actuator devices.

Abstract: A method, computer readable medium, and a system for reducing power consumption of an at least partially resonant actuator system includes adjusting a driving system with an actuator controller computing device configured to provide a driving signal including a delay interval during a transition in the driving signal. The driving system provides the driving signal with the delay interval to an at least one partially resonant actuator device.

Abstract: A method, computer readable medium, and system for controlling velocity of an at least partially resonant actuator system in accordance with embodiments of the present invention includes determining with an actuator controller computing device a sequence of full bridge and half bridge outputs to control an output velocity of an at least partially resonant actuator device. The actuator controller computing device controls a driver system to output a driving signal based on the determined sequence of full bridge and half bridge outputs. The driver system provides the driving signal to the at least one at least partially resonant actuator device.

Abstract: A lens actuator module includes a lens assembly with an optical centerline and a clear aperture, a bearing guide integrated adjacent to the clear aperture with the centerline of motion substantially parallel to the optical centerline, a linear actuator with a preloaded frictional contact point that moves the lens along the centerline. The preload force is perpendicular to the optical centerline, constant and generated in-line with the contact point such that the preload force produces substantially zero additional friction in the bearing guide irrespective of the location along the optical centerline.

Abstract: A linear motor system includes an element with a threaded passage, a threaded shaft, and a driving system. The threaded shaft has an axis of rotation which extends through and is at least partially engaged with at least a portion of the threaded passage. The driving system comprises at least two members operatively connected to the element. Each of the two members comprises two or more piezoelectric layers and electrodes which are coupled to opposing surfaces of each of the piezoelectric layers. The members are configured to expand and contract in a direction along the axis of rotation. The driving system is configured to subject the element to vibrations causing the threaded shaft to simultaneously rotate and translate in the direction along the axis of rotation through the element and apply an axial force in the direction along the axis of rotation.

Abstract: A drive system and methods thereof include at least one actuator assembly that detachably engages a moveable system and at least one control system. The control system voltage biases the actuator assembly in at least one direction at a rate which causes the at least one actuator assembly to slip with respect to the detachably engaged moveable system. The control system also voltage biases the actuator assembly in at least one other direction at a rate which causes the at least one actuator assembly to stick and move with respect to the detachably engaged moveable system.

Abstract: A method, computer readable medium, and a system for reducing power consumption of an at least partially resonant actuator system includes adjusting a driving system with an actuator controller computing device configured to provide a driving signal including a delay interval during a transition in the driving signal. The driving system provides the driving signal with the delay interval to an at least one partially resonant actuator device.

Abstract: A method, computer readable medium, and system for controlling velocity of at least partially resonant actuator system includes obtaining at an actuator controller computing system a selected operating velocity within an operational velocity range for at least one of one or more at least partially resonant actuator devices. A width of one or more pulses of a driving signal for the at least one of one or more at least partially resonant actuator devices is adjusted with the actuator controller computing system based on the selected operating velocity. The driving signal with the adjusted width of the one or more pulses is provided with the actuator controller computing system to obtain the selected operating velocity at the at least one of the one or more at least partially resonant actuator devices.

Abstract: A driving system in accordance with embodiments of the present invention includes a structure and a vibration system. The structure has at least one point to frictional couple to and drive a movable element in one of at least two directions. The structure also has at least two bending modes which each have a different resonant frequency. The vibration system applies two or more vibration signals which are at a vibration frequency to each of the bending modes of the structure. The vibration frequency is substantially the same as one of the resonant frequencies. At the vibration frequency one of the bending modes of the structure is vibrating substantially at resonance and the other of the bending modes of the structure is vibrating at partial resonance. The vibration system adjusts a phase shift between the two or more applied vibration signals to control which one of the at least two directions the moveable element is moved.