Patent Description:
Conventionally, as a haptic interface for realizing a virtual reality, a method of obtaining oscillation by rotating an eccentric mass by a rotary motor has been used.

However, the conventional method utilizing the rotary motor generates oscillation by an inertial force of the eccentric mass, and it had a disadvantage such as the reaction is slow from the beginning of rotation of the eccentric mass to a moment when the oscillation is obtained as the haptic sensation, and the reality is impaired.

Therefore, it has been studied to use a voice coil actuator as an actuator for obtaining a more realistic haptic sensation.

In an oscillatory actuator with a mover of a movable magnet type, a plurality of dampers (leaf springs) is used to support the reciprocating mover. Further, in order to increase the oscillation force, a weight may be added to the mover (see, for example, Cited Reference <NUM>).

Then, large oscillation outputs are obtained at natural resonance frequencies derived from the spring components of the weight and the dampers. <CIT> discloses a reciprocating vibration generator making the magnetic circuit of a permanent magnet a closed loop so as to obtain a high vibration force, specifically a vibration linear actuator having a ring-shaped weight, a reciprocating vibrator having a ring-shaped permanent magnet in a center hole of the weight, a first plate spring and a second plate spring supporting this reciprocating vibrator with respect to a recessed case and an end plate to be able to elastically displace in a thickness direction between a first end face and a second end face, a tube-shaped toroidal coil running through a center hole of the ring-shaped permanent magnet and generating a reciprocating vibration magnetic field for driving the ring-shaped permanent magnet to reciprocate in the thickness direction, and a columnar core running through the inside of this toroidal coil. <CIT> discloses a vibration generator making a closed loop of a magnetic circuit of a permanent magnet to obtain a high vibrating force while kept small in size, including a reciprocating vibrator having a ring-shaped permanent magnet in a center hole of a ring-shaped weight, a first and second plate springs supporting this reciprocating vibrator at a recessed case and end plate to be able to elastically displace in a thickness direction spanning a first and a second end faces, a tubular toroidal coil passing through a center hole of the permanent magnet and generating a reciprocating vibrating magnetic field. <CIT> discloses a vibrator provided with a coil, a driving element to be inserted in the coil and a suspension which elastically supports the driving element and the vibrator makes the driving element reciprocate in an axial direction of the coil by supplying alternate currents to the coil to produce vibration. The suspension is constituted of a 1st leaf spring and a 2nd leaf spring, each of which has a ring-shaped inner periphery part, a ring-shaped outer periphery part and an arm part extending from the inner periphery part toward the outer periphery part in a spiral form. <CIT> discloses an electromagnetic actuator having a magnet, a pole piece mounted on the magnet, a yoke, a weight fixed to the yoke together with a spring, a base equipped with an outside terminal and an inside terminal, a coil mounted on the base, and a spring cover for pressing the spring on the base. <CIT> discloses a floating head slider supporting device. <CIT> relates to an electromechanical generator for converting mechanical vibrational energy into electrical energy.

However, assembly and component variations may cause a non-uniform magnetic field inside the oscillatory actuator and may generate the torsional resonance at the dampers, which generates a large oscillation at other than the natural resonance frequency.

An embodiment of the present invention has been made in view of the above problems, and an objective is to provide an oscillatory actuator capable of suppressing large oscillations at other than the natural resonance frequency, further having small changes in the natural resonance frequencies, and providing sufficient oscillation outputs.

An oscillatory actuator according to claim <NUM> is provided in order to solve the problem and other advantageous embodiments are according to the dependent claims.

Other features of the embodiment of the present invention will become more apparent from the following embodiments of the invention and the accompanying drawings.

By providing the elastic member that bridges the adjacent arms of the first leaf spring and the second leaf spring, the torsional resonance of the leaf springs is reduced, and large oscillation at a frequency other than the natural resonance frequencies is not generated. In addition, since the elastic member bridges the arms, changes in the natural resonance frequencies of the first leaf spring and second leaf spring are small, and it is possible to obtain sufficient oscillation outputs.

Other advantages of the embodiment of the present invention will become more apparent from the following embodiments of the invention and the accompanying drawings.

Embodiments will be described with reference to the drawings. <FIG> is an exploded perspective view illustrating an embodiment of the oscillatory actuator according to the present invention. <FIG> is a top view when <FIG> is assembled. <FIG> is a front view of <FIG>. <FIG> is a rear view of <FIG>. <FIG> is a bottom view of <FIG>. <FIG> is a left side view of <FIG>. <FIG> is a right side view of <FIG>. <FIG> is a cross-sectional view taken along line VIII-VIII of <FIG>. <FIG> is a perspective view of a damper unit including a first leaf spring of <FIG> on which an elastic member is provided. <FIG> is a top view of <FIG>. <FIG> is a front view of <FIG>. <FIG> is a configuration diagram illustrating a structure of the first elastic member of <FIG>. <FIG> illustrates an operation of the oscillatory actuator shown in <FIG>. <FIG> illustrates torsional resonance of first elastic damper and second elastic damper shown in <FIG>. <FIG> illustrates resonance of arms of the first elastic damper and second elastic damper shown in <FIG>.

An overall configuration of an oscillatory actuator <NUM> will be described with reference to <FIG>.

A case <NUM> is in a cylindrical shape with openings at both ends and made of a resin such as ABS. A yoke <NUM> in a cylindrical shape and made of a soft magnetic material is located inside the case <NUM>. A coil <NUM> is attached to an inner circumferential surface of the yoke <NUM> in a state of being electrically insulated from the yoke <NUM>.

A first cover case <NUM> in a cylindrical shape and made of a resin such as ABS is located on an end surface at one opening side of the case <NUM>. A second cover case <NUM> in a cylindrical shape and made of a resin such as ABS is located on an end surface at the other opening side of the case <NUM>.

A first damper unit <NUM> is located on an end surface of the first cover case <NUM> on the opening side opposite to the case <NUM>. The first damper unit <NUM> is formed by processing a thin plate of stainless steel (e.g., SUS <NUM> in this embodiment) and includes a first damper <NUM> that is a leaf spring flexible along the oscillation axis O of the case <NUM> and a first elastic member <NUM> provided on the first damper <NUM>.

A second damper unit <NUM> is located on the end surface of the second cover case <NUM> on the opening side opposite to the case <NUM>. The second damper unit <NUM> is formed by processing a thin plate of stainless steel and includes a second damper <NUM> that is a leaf spring flexible along the oscillation axis O of the case <NUM> and a second elastic member <NUM> provided on the second damper <NUM>.

The details of the first damper unit <NUM> and second damper unit and <NUM> will be described later. A first damper cover <NUM> is located to interpose the first damper unit <NUM> therebetween in cooperation with the first cover case <NUM>. A second damper cover <NUM> is located to interpose the second damper unit <NUM> therebetween in cooperation with the second cover case <NUM>.

Three through-holes 71a are formed at a pitch of <NUM>° along the edge of the first damper cover <NUM>. The first cover case <NUM> has three through-holes 31a facing the holes 71a of the first damper cover <NUM>. Three screw holes 1a facing the three holes 31a of the first cover case <NUM> are formed on the end surface on one opening side of the case <NUM>.

Then, three screws <NUM> are inserted through the holes 71a of the first damper cover <NUM> and the holes 31a of the first cover case <NUM> and screwed into the screw holes 1a of the case <NUM>. With the circumferential edge of the first damper <NUM> interposed between the first damper cover <NUM> and the first cover case <NUM>, the first damper cover <NUM>, the first damper unit <NUM>, and the first cover case <NUM> are attached to the one opening side of the case <NUM> by the three screws <NUM>.

Three through-holes 81a are formed at a pitch of <NUM>° along the edge of the second damper cover <NUM>. The second cover case <NUM> has three through-holes 41a facing the holes 81a of the second damper cover <NUM>. Three screw holes (not shown) facing the three holes 41a of the second cover case <NUM> are formed on the end surface on the other opening side of the case <NUM>.

Then, three screws <NUM> are inserted through the holes 81a of the second damper cover <NUM> and the holes 41a of the second cover case <NUM> and screwed into the screw holes formed in the end surface of the other opening side of the case <NUM>. With the circumferential edge of the second damper <NUM> interposed between the second damper cover <NUM> and the second cover case <NUM>, the second damper cover <NUM>, the second damper unit <NUM>, and the second cover case <NUM> are attached to the other opening side of the case <NUM> by the three screws <NUM>.

A mover <NUM>, which is surrounded by the coil <NUM> and oscillates along the oscillation axis O, is interposed between the first and second damper units <NUM> and <NUM>. The mover <NUM> includes a magnet <NUM> in the shape of a disk, a first pole piece <NUM> and a second pole piece <NUM> each in the shape of a disk and arranged so as to interpose the magnet <NUM> therebetween, and a first mass (weights) <NUM> and a second mass (weights) <NUM> arranged so as to interpose the magnet <NUM> and the first pole piece <NUM> and the second pole piece <NUM> therebetween.

The magnetizing direction of the magnet <NUM> is the oscillation axis O direction. The first pole piece <NUM> and the second pole piece <NUM> are made of a soft magnetic material and attached to the magnet <NUM> by a magnetic attraction force of the magnet <NUM> and an adhesive, or the like. The first mass <NUM> and the second mass <NUM> are made of a non-magnetic material and are attached to the first pole piece <NUM> and the second pole piece <NUM> by an adhesive, or the like. Accordingly, the magnet <NUM>, the first pole piece <NUM>, the second pole piece <NUM>, the first mass <NUM>, and the second mass <NUM>, which constitute the mover <NUM>, are integrated.

A through-hole 119a and a through-hole 121a penetrating along the central axis are formed on the first mass <NUM> and the second mass <NUM>. Further, at the center of the first damper <NUM> and the first elastic member <NUM>, a through-hole 51a and a through-hole 150a facing the hole 119a of the first mass <NUM> are formed. Similarly, at the center of the second damper <NUM> and the second elastic member <NUM> a through-hole 251a and a through-hole 350a facing the hole 121a of the second mass <NUM> are formed.

Then, by inserting a pin <NUM> into the hole 51a of the first damper <NUM> and the hole 150a of the first elastic member <NUM> and press-fitting the pin into the hole 119a of the first mass <NUM>, Inserting a pin <NUM> into the hole 251a of the second damper <NUM> and the hole 350a of the second elastic member <NUM> and press-fitting the pin into the hole 121a of the second mass <NUM>, the mover <NUM> is oscillatably supported along the oscillation axis O of the case <NUM>.

A terminal <NUM> is formed on the circumferential surface of the case <NUM>, and to which a lead wire is connected and supplies currents to the coil <NUM>. (Coil <NUM>).

The coil <NUM> will be described with reference to <FIG>.

The coil <NUM> according to this embodiment is located along the oscillation axis O, and includes a first coil <NUM> and a second coil <NUM>. The first coil <NUM> and the second coil <NUM> are wound along the inner circumferential surface of the yoke <NUM>.

In this manner, inside the case <NUM>, the first coil <NUM> and the second coil <NUM> provided on the case <NUM> side and the magnet <NUM> provided in the mover <NUM> side constitute an electromagnetic driver of the oscillatory actuator <NUM>. The mover <NUM> oscillates along the oscillation axis O of the case <NUM> due to the electromagnetic action of the electromagnetic driver which will be described later with reference to <FIG>.

The first damper unit <NUM> and second damper unit <NUM> according to this embodiment will be described in more detail with reference to <FIG>. Since the first damper unit <NUM> and second damper unit <NUM> are in the same shape and attached to the case <NUM> in the same manner, only the first damper unit <NUM> will be described here and the description of the second damper unit <NUM> will be omitted. Then, the same portion of the second damper unit <NUM> as the first damper unit <NUM> are labeled with reference numerals obtained by adding <NUM> to the reference numerals of the corresponding components of the first damper unit <NUM>. For example, when a first arm of the first damper <NUM> of the first damper unit <NUM> is labeled with reference numeral <NUM>, the reference numeral of a first arm of the second damper <NUM> of the second damper unit <NUM> is <NUM>.

At the center of the first damper <NUM>, which is one of the two components constituting the first damper unit <NUM>, a support 51b attached to the mover <NUM> using the pin <NUM> that passes through the hole 51a is formed.

An annular frame 51c of the first damper <NUM> is held between the first damper cover <NUM> and the first cover case <NUM> and attached to the case <NUM>. Three cutouts 51d are formed on this annular frame 51c of the first damper 51in order to avoid interference with the screws <NUM>.

Then, the support 51b and the annular frame 51c are connected together by three arms such as a first arm <NUM>, a second arm <NUM>, and a third arm <NUM> having the same spiral shape. The first arm <NUM>, the second arm <NUM>, and the third arm <NUM> are arranged at a pitch of <NUM>° around the oscillation axis O.

The second damper <NUM> also has this configuration.

The first elastic member <NUM>, which is the other component constituting the first damper unit <NUM>, has bridges that bridge the adjacent arms of the first damper <NUM>. That is, a first bridge <NUM> bridges the first arm <NUM> and the third arms <NUM> of the first damper <NUM>, a second bridge <NUM> bridges the second arm <NUM> and the first arm <NUM>, and a third bridge <NUM> bridges the third arm <NUM> and the second arm <NUM>. The first bridge <NUM>, the second bridge <NUM>, and the third bridge <NUM> according to this embodiment have a hole 152a, a hole <NUM>, and a hole 157a, respectively.

Accordingly, the first bridge <NUM> bridges the first arm <NUM> and third arm <NUM> in two positions via the hole 152a. The second bridge <NUM> bridges the second arm <NUM> and first arm <NUM> in two positions via the hole 155a. The third bridge <NUM> bridges the third arm <NUM> and second arm <NUM> in two positions via the hole 157a.

In addition, the first elastic member <NUM> has a first stacked arm <NUM> that is connected to the first bridge <NUM>, extends along the first arm <NUM>, and is overlapped with the first arm <NUM>. This first stacked arm <NUM> includes a first support-direction stacked arm 159a extending in the support 51b direction and a first annular-frame-direction stacked arm 159b extending in the annular-frame 51c direction and connecting to the second bridge <NUM>.

Further, the first elastic member <NUM> has a second stacked arm <NUM> that is connected to the second bridge <NUM>, extends along the second arm <NUM>, and is overlapped with the second arm <NUM>. This second stacked arm <NUM> includes a second support-direction stacked arm161a extending in the support 51b direction and a second annular-frame-direction stacked arm161b extending in the annular frame 51c direction and connecting to the third bridge <NUM>.

Furthermore, the first elastic member <NUM> has a third stacked arm <NUM> that is connected to the third bridge <NUM>, extends along the third arm <NUM>, and is overlapped with the third arm <NUM>. This third stacked arm <NUM> includes a third support-direction stacked arm 163a extending in the support 51b direction and a third annular-frame-direction stacked arm 163b extending in the annular frame 51c direction and connecting to the first bridge <NUM>.

Then, the first elastic member <NUM> includes a stacked support <NUM> overlapped with the support 51b in which the first support-direction stacked arm 159a, the second support direction stacked arm 161a, and the third support-direction stacked arm163a are continuously provided.

The second elastic member350 also has this configuration.

The first elastic member <NUM> and the second elastic members <NUM> will be described with reference to <FIG>. Since the first elastic member <NUM> and the second elastic member <NUM> according to this embodiment have the same structure, the description of the second elastic member <NUM> will be omitted.

As shown in <FIG>, the first elastic member <NUM> includes, stacking on the first damper <NUM>, a first adhesive layer <NUM> made of an adhesive, a PE layer <NUM> made of polyethylene (PE) , a second adhesive layer <NUM> made of an adhesive, and an elastomer layer <NUM> made of elastomer which may be, but not limited to, a thermoplastic polyurethane elastomer (TPU). Then, the elastic deformations of the first elastic member <NUM> (i.e., the shear deformation of the PE layer <NUM> and the bending deformation of the elastomer layer <NUM> in this embodiment) control the oscillation of the first damper <NUM>.

The second elastic member <NUM> also has this structure.

An operation of the oscillatory actuator <NUM> according to this embodiment will be described with reference to <FIG>.

When the first coil <NUM> and the second coil <NUM> are not energized, the mover <NUM> supported by the first damper unit <NUM> and the second damper unit <NUM> is located at the center of the coil <NUM>.

The first coil <NUM> and the second coil <NUM> are alternately energized with alternating currents in directions in which magnetic fields with opposite polarities occurs. That is, the same polarity is generated between adjacent portions of the first coil <NUM> and the second coil <NUM>.

At the polarities of <FIG>, a downward thrust (i.e., in the direction of arrow A) is generated on the mover <NUM>, when the currents flowing to the first coil <NUM> and the second coil <NUM> are inverted, an upward thrust (i.e., the direction of arrow B) is generated on the mover.

In this way, when alternating currents are applied to the first coil <NUM> and the second coil <NUM>, the mover <NUM> oscillates along the oscillation axis O while receiving the biasing force by the first damper unit <NUM> and second damper unit <NUM> from both sides.

By the way, the thrust generated in the mover <NUM> is basically based on the thrust given based on the Fleming's left-hand rule. In this embodiment, since the first coil <NUM> and the second coil <NUM> are fixed, a thrust as the reaction forces to the forces generated in the first coil <NUM> and the second coil 25in generated in the mover <NUM>.

Therefore, it is a horizontal component (i.e., a component orthogonal to the axis direction of the magnet <NUM>) of the magnetic flux of the magnet <NUM> of the mover <NUM> that contributes to the thrust. Then, the yoke <NUM> increases the horizontal component of the magnetic flux of the magnet <NUM>.

According to the above configuration, the following effects can be obtained.

The second elastic member <NUM> has the bridges that bridge the adjacent arms of the second damper <NUM>, namely, the first bridge <NUM> that bridges the first arm <NUM> and the third arm <NUM>, the second bridge <NUM> that bridges the second arm <NUM> and the first arm <NUM>, and the third bridge <NUM> that bridges the third arm <NUM> and second arm <NUM>.

Therefore, the resonance caused by the torsion of the first damper <NUM> and second damper <NUM> is suppressed. In addition, the influences on the amplitude at the natural resonance frequencies can be reduced and a sufficient oscillation output can be obtained. The resonance caused by the torsion of the first damper <NUM> and second damper <NUM> means ,as shown in <FIG>, a resonance in the state that the mover <NUM> is off-axis (tilted) due to assembly and component variations in which the magnetic field inside the actuator becomes non-uniform and the distance between the adjacent arms of the first damper <NUM> and the second damper <NUM> changes.

(<NUM>) The first elastic member <NUM> has the first stacked arm <NUM> that is connected to the first bridge <NUM>, extends along the first arm <NUM>, and is overlapped with the first arm <NUM>, the second stacked arm <NUM> that is connected to the second bridge <NUM>, extends along the second arm <NUM>, and is overlapped with the second arm <NUM>, and the third stacked arm <NUM> that is connected to the third bridge <NUM>, extends along the third arm <NUM>, and is overlapped with the third arm <NUM>. Each of the stacked arms extends in the support 51b direction as well as extending in the annular frame 51c direction and is connected to the other bridges.

The second elastic member <NUM> has the first stacked arm <NUM> that is connected to the first bridge <NUM>, extends along the first arm <NUM>, and is overlapped with the first arm <NUM>, the second stacked arm <NUM> that is connected to the second bridge <NUM>, extends along the second arm <NUM>, and is overlapped with the second arm <NUM>, and the third stacked arm <NUM> that is connected to the third bridge <NUM>, extends along the third arm <NUM>, and is overlapped with the third arm <NUM>. Each of the stacked arms extends in the support 251b direction as well as extending in the annular frame 251c direction and is connected to the other bridges.

Therefore, it is possible to suppress the resonance of each arm itself of the first damper <NUM> and the second damper <NUM> as shown in <FIG>.

A first damper unit <NUM> and a second damper unit <NUM> according to the other embodiment will be described. Since the first damper unit <NUM> and the second damper unit <NUM> are in the same shape and attaching manner to the case <NUM> is also the same, the first damper unit <NUM> will be described here, and the description of the second damper unit <NUM> will be omitted. Then, the same portion of the second damper unit <NUM> as the first damper unit <NUM> are labeled with reference numerals obtained by adding <NUM> to the reference numerals of the corresponding components of the first damper unit <NUM>. For example, when a first arm of the first damper <NUM> of the first damper unit <NUM> is labeled with reference numeral <NUM>, the reference numeral of a first arm of a second damper <NUM> of the second damper unit <NUM> is <NUM>.

Further, since the first damper 551and the second damper <NUM> are in the same shapes as the first damper <NUM> and the second damper <NUM> described above, the redundant description will be omitted.

A first elastic member <NUM>, which is the other one of the two components constituting the first damper unit <NUM>, has bridges that bridge the adjacent arms of the first damper <NUM>. Specifically, first bridges <NUM> and <NUM>' bridge the first arms <NUM> and the third arm <NUM> of the first damper <NUM>, second bridges <NUM> and <NUM>' bridge the second arm <NUM> and the first arm <NUM>, third bridges <NUM> and <NUM>' bridge the third arm <NUM> and the second arm <NUM>.

Accordingly, t the first arms <NUM> and the third arm <NUM> are bridged at two locations, namely, the first bridge <NUM> and the first bridge <NUM>'. The second arm <NUM> and the first arm <NUM> are bridged at two locations, namely, the second bridge <NUM> and the second bridge <NUM>'. The third arm <NUM> and the second arm <NUM> are bridged at two locations, namely, the third bridge <NUM> and the third bridge <NUM>'.

Further, the first elastic member <NUM> has a first support-direction stacked arm <NUM> toward a support that is connected to the first bridge <NUM>, extends along the first arm <NUM>, is overlapped with the first arm <NUM>, and extends in a support 551b direction. The first elastic member has a second support-direction stacked arm <NUM> that is connected to the second bridge <NUM>, extends along the second arm <NUM>, is overlapped with the second arm <NUM>, and extends in the support 551b direction. The first elastic member has a third support-direction stacked arm <NUM> that is connected to the third bridge <NUM>, extends along the third arm <NUM>, is overlapped with the third arm <NUM>, and extends in the support 551b direction.

Then, the first elastic member <NUM> includes a stacked support <NUM> overlapped with the support 551b of the first damper <NUM> in which the first support-direction stacked arm <NUM>, the second support-direction stacked arm <NUM>, and third support-direction stacked arm <NUM> are continuously provided.

In addition, in the first bridge <NUM>, a first intermediate stacked arm <NUM> overlapped with the third arm <NUM> and connected to the third bridge <NUM>'is continuously provided. In the second bridge <NUM>, a second intermediate stacked arm <NUM> overlapped with the first arm <NUM> and connected to the first bridge <NUM>' is continuously provided. In the third bridge <NUM>, a third intermediate stacked arm <NUM> overlapped with the second arm <NUM> and connected to the second bridge <NUM>' is continuously provided.

Further, in the third bridge <NUM>', a first annular-frame-direction stacked arm <NUM> overlapped with the second arm <NUM> and extends in an annular frame 551c direction is continuously provided. In the first bridge <NUM>', a second annular-frame-direction stacked arm 675overlapped with the third arm <NUM> and extends in the annular frame 551c direction is continuously provided. In the second bridge <NUM>', a third annular-frame-direction stacked arm 677overlapped with the first arm <NUM> and extends in the annular frame 551c direction is continuously provided.

The second elastic member <NUM> also has this configuration.

(<NUM>) The structure of the first elastic member and the second elastic member may be the structure shown in <FIG>. Although the description will be given with the first elastic member, the second elastic member may also have such a structure.

<FIG> is a configuration diagram illustrating another structure of the first elastic member of <FIG>.

As shown in <FIG>, a first elastic member <NUM> includes an adhesive layer <NUM> made of an adhesive and a PE layer <NUM> made of polyethylene (PE) that are stacked on the first damper <NUM>. The elastic deformation of the first elastic member <NUM> (i.e., the shear deformation of the PE layer <NUM> in this embodiment) controls the oscillation of the first damper <NUM>.

As shown in <FIG>, a first elastic member <NUM> includes a first adhesive layer <NUM> made of an adhesive and a first PE layer <NUM> made of polyethylene (PE) that are stacked on one surface of the first damper <NUM>, and a second adhesive layer <NUM> made of an adhesive and a second PE layer <NUM> made of polyethylene (PE) that are stacked on the other surface of the first damper <NUM>. Then, the elastic deformations of the first elastic member <NUM> (i.e., the shear deformations of the first PE layers <NUM> and second PE layer <NUM> in this embodiment) control the oscillation of the first damper <NUM>.

As shown in <FIG>, the first elastic member <NUM> is an elastomer layer <NUM> formed on the first damper <NUM> by insert molding method.

The, the elastic deformation of the first elastic member <NUM> (i.e., the bending deformation of the elastomer layer <NUM> in this embodiment) controls the oscillation of the first damper <NUM>.

As shown in <FIG>, a first elastic member <NUM> includes a first adhesive layer <NUM> made of an adhesive, a first PE layer <NUM> made of polyethylene (PE), a second adhesive layer <NUM> made of an adhesive, and a first elastomer layer <NUM> made of an elastomer that are stacked on one surface of the first damper <NUM>, and a third adhesive layer <NUM> made of an adhesive, a second PE layer <NUM> made of polyethylene (PE), a fourth adhesive layer <NUM> made of an adhesive, and a second elastomer layer <NUM> made of an elastomer that are stacked on the other surface of the first damper <NUM>. Then, the elastic deformations of the first elastic member <NUM> (i.e., the shear deformations of the first PE layer <NUM> and the second PE layer <NUM> and the bending deformations of the first elastomer layer <NUM> and second elastomer layer <NUM> in this embodiment) control the oscillation of the first damper <NUM>.

(<NUM>) Although the case <NUM> has the cylindrical shape, the shape is not limited to the cylinder and may be a square tubular shape, for example, as long as it is a tubular shape.

In order to confirm the effect of the present invention, the applicant examined the relationship, by using an acceleration detector and an FFT analyzer, between the frequency (Frequency [Hz]) and the acceleration (G [Gp-p]) of an oscillatory actuator corresponding to the conventional example using dampers without any elastic member and the oscillatory actuator <NUM> shown in <FIG> using damper units including the elastic members and the dampers. <FIG> shows the results.

Note that the unit Gp-p is the value obtained by dividing the acceleration (m/s<NUM>) obtained by the FFT analyzer by <NUM> (m/s<NUM>) and multiplying by <MAT>.

It is found that without any elastic member as indicated by the broken line, resonance (see the part B) occurs due to the torsion of the first damper and second damper, but that when the first damper unit and second damper unit including the elastic members and the dampers are used as indicated by the solid line, the torsional resonance is suppressed.

Further, at the natural resonance frequency (see the part A), influence on the amplitude, which is obtained by integrating the acceleration twice, is small, and sufficient oscillation outputs are obtained.

Claim 1:
An oscillatory actuator (<NUM>) comprising:
a case (<NUM>) in a cylindrical shape;
an electromagnetic driver provided inside the case (<NUM>);
a mover (<NUM>) oscillated by the electromagnetic driver along an oscillation axis (O) of the case (<NUM>);
a first leaf spring (<NUM>) and a second leaf spring (<NUM>) arranged on one side and the other side of the mover (<NUM>), each of the first leaf spring (<NUM>) and the second leaf spring (<NUM>) including a support (51b, 251b) to which the mover (<NUM>) is attached;
an annular frame (51c, 251c) attached to the case (<NUM>); and
a plurality of arms (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) each having a spiral shape and connecting the support (51b, 251b) and the annular frame (51c, 251c);
characterized in that
at least an elastic member (<NUM>, <NUM>) that bridges adjacent arms of the first leaf spring (<NUM>) or the second leaf spring (<NUM>) is provided,
wherein the elastic member (<NUM>) includes:
a bridge (<NUM>, <NUM>, <NUM>) that bridges the adjacent arms;
a support-direction stacked arm (159a, 161a, 163a) continuously provided with the bridge (<NUM>, <NUM>, <NUM>) and extending in the support direction along the arm (<NUM>, <NUM>, <NUM>), and being overlapped with the arm (<NUM>, <NUM>, <NUM>); and
a stacked support (<NUM>) continuously provided with the support-direction stacked arm (159a, 161a, 163a) and being overlapped with the support (51b).