System and method for seat vibration cancellation

Abstract

A method for eliminating seat vibration includes receiving a first accelerometer measurement. The method also includes receiving a second accelerometer measurement. The method also includes determining an inverse torque value based on the first accelerometer measurement and the second accelerometer measurement. The method also includes selectively controlling an electric motor using the inverse torque value.

Description

[0001] This divisional application is a divisional application of the application filed on November 6, 2020, with application number 202011228402.9. Technical Field

[0002] This disclosure relates to seats, and more particularly to systems and methods for seat vibration elimination. Background Technology

[0003] Vehicles, such as cars, trucks, SUVs, crossovers, minivans, ride-on industrial equipment (e.g., floor scrubbers, sweepers, forklifts, commercial lawnmowers, etc.), boats, aircraft, helicopters, and / or other suitable vehicles, typically include a seat for the operator to sit on while operating the vehicle. During operation of such vehicles, the operator may experience various vibrations while seated due to the various forces acting on the seat.

[0004] Typically, these vehicles include various pressure-reducing components adapted to reduce operator stress, allowing for longer operating periods and thus higher productivity. These pressure-reducing components can include airbags, mechanical dampers, and more. They can also be adapted to isolate the operator from the various vibrations experienced while operating the vehicle. Summary of the Invention

[0005] This disclosure generally relates to seat vibration elimination.

[0006] One aspect of the disclosed embodiments includes a system for eliminating seat vibrations. The system includes an electric motor in mechanical communication with a control arm. The system also includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a first accelerometer measurement from a first accelerometer; receive a second accelerometer measurement from a second accelerometer; determine a counter-torque value based on the first and second accelerometer measurements; and selectively control the electric motor using the counter-torque value.

[0007] Another aspect of the disclosed embodiments includes a method for eliminating seat vibration. The method includes receiving a first accelerometer measurement. The method also includes receiving a second accelerometer measurement. The method further includes determining a counter-torque value based on the first and second accelerometer measurements. The method also includes selectively controlling a motor using the counter-torque value.

[0008] Another aspect of the disclosed embodiments includes a vehicle seat assembly. The vehicle seat assembly includes a brushless servo motor and a controller. The brushless servo motor is mechanically connected to a control arm extending from a seat top plate to a base mounting plate. The controller is configured to: receive a first accelerometer measurement from a first accelerometer disposed on the seat top plate; receive a second accelerometer measurement from a second accelerometer disposed on the base mounting plate; determine a counter-torque value based on the first and second accelerometer measurements; and selectively control the brushless servo motor to apply a force corresponding to the counter-torque value to the seat top plate using the control arm.

[0009] These and other aspects of this disclosure are disclosed in the following detailed description of the embodiments, the appended claims, and the accompanying drawings. Attached Figure Description

[0010] This disclosure will be well understood from the following detailed description when read in conjunction with the accompanying drawings. It should be emphasized that, by convention, the various features in the drawings are not to scale. Rather, for clarity, the dimensions of the various features have been arbitrarily enlarged or reduced.

[0011] Figure 1 A general illustration shows a vibration elimination system based on the principles of this disclosure.

[0012] Figure 2 A general illustration shows a vibration cancellation controller system based on the principles of this disclosure.

[0013] Figure 3 This is a flowchart illustrating a method for eliminating seat vibration based on the principles of this disclosure. Detailed Implementation

[0014] The following discussion pertains to various embodiments of the invention. While one or more of these embodiments may be preferred, the disclosed embodiments should not be construed as or otherwise used to limit the scope of this disclosure, including the claims. Furthermore, those skilled in the art will understand that the following description has broad application, and the discussion of any embodiment is intended merely as an example of that embodiment and not to imply that the scope of this disclosure, including the claims, is limited to that embodiment.

[0015] As described, vehicles, such as automobiles, trucks, SUVs, crossovers, minivans, ride-on industrial equipment (e.g., floor scrubbers, sweepers, forklifts, commercial lawnmowers, etc.), boats, aircraft, helicopters, and / or other suitable vehicles, typically include a seat for an operator to sit on while operating the vehicle. During vehicle operation, the operator may experience various vibrations while seated due to various forces acting on the seat. For example, engine vibrations and various forces applied to the vehicle, such as those due to the various characteristics of the vehicle's path of travel, may cause various vibrations to act on the vehicle's seat.

[0016] Typically, these vehicles include various pressure-reducing components adapted to reduce operator stress, allowing for longer operation periods and thus higher productivity. These components can include airbags, mechanical dampers, and more. They can also be adapted to isolate the operator from the various vibrations experienced while operating the vehicle. Pressure-reducing components provide operator comfort and offer effective passive vibration isolation. However, such typical pressure-reducing components may not provide active vibration cancellation and can increase the manufacturing cost of typical vehicles.

[0017] Therefore, it is desirable to configure systems and methods that provide both passive and active vibration cancellation, such as those described herein. The systems and methods described herein can be configured to sense floor acceleration located near or beneath the seat in a portion of the vehicle floor. The systems and methods described herein can be configured to determine and provide a cancellation force to the seat top plate of the seat before vibrations and other forces act on the seat, thereby controlling seat movement.

[0018] In some embodiments, the systems and methods described herein can be configured to provide an operator interface. The operator interface may include a selectable switch (e.g., a three-position selector switch or other suitable selectable switch), a digital interface switch (e.g., on a vehicle display or other suitable display), or other suitable operator interfaces. In some embodiments, the systems and methods described herein can be configured to receive operator preferences (e.g., based on operator selection) from the operator interface. Operator preferences may indicate a preferred operating mode. Operator modes may include a comfort mode, a moderate mode, a stable mode, or other suitable modes. The systems and methods described herein can be configured to adjust the damping force provided to the seat headrest based on operator preferences (e.g., to provide ride stability selected by the operator).

[0019] In some embodiments, the systems and methods described herein can be configured to determine the motor position and motor speed of an electric motor associated with a vehicle seat. The systems and methods described herein can be configured to determine the amount of torque to be applied via the electric motor to the seat top plate to reduce or eliminate severe mechanical stop shocks. The torque can be determined based on the motor position and motor speed. For example, the amount of torque can include the sum of the motor position and motor speed, such that the amount of torque is transmitted via the electric motor to the seat top plate to counteract shocks on the seat.

[0020] In some embodiments, the systems and methods described herein can be configured to receive a first accelerometer measurement from a first accelerometer. The systems and methods described herein can be configured to receive a second accelerometer measurement from a second accelerometer. The systems and methods described herein can be configured to determine a counter-torque value based on the first and second accelerometer measurements. The systems and methods described herein can be configured to selectively control a motor using the counter-torque value.

[0021] In some embodiments of the systems and methods described herein, the electric motor may include a brushless servo motor or other suitable electric motor. In some embodiments of the systems and methods described herein, a first accelerometer is disposed on the seat top plate. In some embodiments of the systems and methods described herein, a second accelerometer is disposed on a base mounting plate. In some embodiments of the systems and methods described herein, a control arm is adapted to apply a force corresponding to a counter-torque value on the seat top plate. In some embodiments, the systems and methods described herein may be configured to selectively adjust the counter-torque value based on operator preferences. In some embodiments of the systems and methods described herein, operator preferences correspond to the operator's desired seating manner. In some embodiments, the systems and methods described herein may be configured to determine the motor position of the electric motor. In some embodiments, the systems and methods described herein may be configured to determine the motor speed of the electric motor. In some embodiments, the systems and methods described herein may be configured to selectively adjust the counter-torque value based on the motor position and motor speed.

[0022] Figure 1 A vibration cancellation system 10 based on the principles of this disclosure is illustrated in general. System 10 may be associated with a seat. The seat and / or system 10 may be installed within a vehicle, such as those described herein. System 10 may include a seat top plate 12 and a base mounting plate 14. The seat top plate 12 may be configured to engage the bottom or lower part of the seat. The base mounting plate 14 may be configured to secure system 10 and the seat to a portion of the vehicle floor.

[0023] System 10 may include a motor 16 disposed on a base mounting plate 14. It should be understood that the motor 16 may be disposed in any suitable location other than the base mounting plate 14. The motor 16 may include any suitable motor. For example, the motor 16 may include a brushless servo motor or other suitable motor. System 10 includes a controller 18. The controller 18 may be configured to selectively control the motor 16. For example, as will be described, the controller 18 may be configured to determine various torque values. The controller 18 may use the determined torque values ​​to control the motor 16. For example, the controller 18 may instruct the motor 16 to rotate at a speed corresponding to the determined torque value. The motor 16 may move in response to instructions from the controller 18.

[0024] The electric motor 16 may be mechanically connected to the gearbox 20. The gearbox 20 may include any suitable gearbox, such as a worm gearbox or other suitable gearbox. When the electric motor 16 rotates in response to a command from the controller 18, the gears within the gearbox 20 are engaged. The gearbox 20 may include multiple gears with any suitable gear ratio. The gearbox 20 may be configured to decrease the rotational speed and increase the torque provided by the electric motor 16. When the gears of the gearbox 20 are engaged, the linkage arm 22 connected to the gearbox 20 via the lever arm 24 moves, which may engage the lifting mechanism 26.

[0025] The lifting mechanism 26 may include one or more control arms 26'. In some embodiments, the control arms 26' may be arranged such that the lifting mechanism 26 includes a scissor-type lifting mechanism; however, the lifting mechanism 26 may include any suitable lifting mechanism. As the linkage arm 22 moves, the control arms 26' of the lifting mechanism 26 apply a force to the seat top plate 12. The force applied to the seat top plate 12 by the control arms 26' of the lifting mechanism 26 corresponds to the torque determined by the controller 18 and applied to the motor 16.

[0026] In some embodiments, system 10 includes an accelerometer 28 disposed on seat top plate 12 and an accelerometer 30 disposed on base mounting plate 14. While only accelerometer 28 and accelerometer 30 have been described, system 10 may include any suitable number of accelerometers, including fewer or more than those described herein. Accelerometer 28 and accelerometer 30 may include any suitable accelerometer. Accelerometer 28 and accelerometer 30 may be configured to measure acceleration forces acting on seat top plate 12 and base mounting plate 14, respectively.

[0027] As described, system 10 includes controller 18. Controller 18 may include any suitable controller or processor, such as those described herein. Figure 2As generally illustrated, controller 18 can be configured to execute instructions stored on memory (such as memory 32). Memory 32 may include a single disk or multiple disks (e.g., a hard disk drive) and includes a storage management module that manages one or more partitions within memory 32. In some embodiments, memory 32 may include flash memory, semiconductor (solid-state) memory, etc. Memory 32 may include random access memory (RAM), read-only memory (ROM), or a combination thereof.

[0028] Instructions stored in memory 32, when executed by controller 18, cause controller 18 to at least control or eliminate the operator's perception of vibrations acting on the vehicle seat. For example, controller 18 receives a first accelerometer measurement from accelerometer 28 and a second accelerometer measurement from accelerometer 30. The accelerometer measurements represent the forces currently acting on seat top plate 12 and base mounting plate 14, respectively. Controller 18 can be configured to determine a counter-torque value based on the first and second accelerometer measurements. The counter-torque value corresponds to a torque value that generates a force when controller 18 controls motor 16 using the counter-torque value, which is opposite in direction and equal or substantially equal in magnitude to the vibration acting on seat top plate 12.

[0029] As described, controller 18 controls motor 16 according to a counter-torque value. When motor 16 rotates according to the counter-torque value, gears in gearbox 20 are engaged, causing linkage arm 22 to move. Control arm 26' moves or is engaged in response to the movement of linkage arm 22, which causes lifting mechanism 26 to apply a force opposite to the vibrations acting on seat top plate 12, which can reduce or eliminate the operator's perception of vibrations acting on seat top plate 12.

[0030] In some embodiments, the controller 18 can determine the counter-torque value according to the following algorithm:

[0031] Where X is an input variable used for each mathematical formula in the algorithm, such as an accelerometer measurement, and K is a unique calibrable tuning constant defined for the mathematical formula in the algorithm. In the above, each variable can be tunable and / or weighted. Controller 18 can determine the counter-torque value based on the sum of the first and second accelerometer measurements.

[0032] In some embodiments, controller 18 may communicate with operator interface 34. Operator interface 34 may include any suitable interface. For example, operator interface 34 may include a selectable switch (e.g., a three-position selector switch or other suitable selectable switch), a digital interface switch (e.g., on a vehicle display, a mobile device display or other suitable display), or other suitable operator interfaces. Controller 18 may be configured to receive operator preferences from operator interface 34. Operator preferences may indicate a preferred operating mode. For example, a vehicle operator may use operator interface 34 to select a preferred or desired operating mode. Operator modes may include comfort mode, moderate mode, robust mode, or other suitable modes. Controller 18 may selectively adjust the counter-torque value based on operator preferences. For example, controller 18 may increase or decrease the counter-torque value based on operator preferences to provide more or less vibration cancellation (e.g., providing a ride experience through vibration cancellation corresponding to operator preferences).

[0033] In some embodiments, controller 18 may be configured to selectively adjust the counter-torque value based on the motor position and motor speed of motor 16 to control or eliminate severe mechanical end-stop impacts on the seat (e.g., via seat top plate 12). For example, controller 18 may determine the motor position of motor 16. Controller 18 may receive the motor position from a position sensor or other suitable sensor located near motor 16 and is configured to determine the motor position of motor 16. Controller 18 may determine the motor speed of motor 16. For example, controller 18 may receive the motor speed from a speed sensor or other suitable sensor located near motor 16 and is configured to determine the motor speed of motor 16.

[0034] In some embodiments, the controller 18 converts the motor position into a normalized seat displacement value, which corresponds to a displacement ranging from -100% to +100% of the seat position. The controller 18 determines the sum of the motor position and the motor speed. Based on the sum of the motor position and the motor speed, the controller 18 determines a torque value and / or selectively adjusts a counter-torque value. The controller 18 uses the determined torque value or the adjusted counter-torque value to control the motor 16 to reduce or eliminate severe mechanical end-stop impacts on the seat top plate 12.

[0035] In some embodiments, the controller 18 continues to monitor accelerometer measurements, motor position, and / or motor speed to provide the operator with a continuous reduction or elimination of the perception of vibrations acting on the seat via the seat top plate 12.

[0036] In some embodiments, controller 18 may perform the methods described herein. However, the methods described herein, as performed by controller 18, are not intended to be limiting, and any type of software executing on the controller may perform the methods described herein without departing from the scope of this disclosure. For example, a controller such as a processor executing software within a computing device may perform the methods described herein.

[0037] Figure 3 This is a flowchart illustrating a vibration cancellation method 300 according to the principles of this disclosure. At 302, method 300 receives a first accelerometer measurement. For example, controller 18 may receive the first accelerometer measurement from one of accelerometers 28 and 30. At 304, method 300 receives a second accelerometer measurement. For example, controller 18 may receive the second accelerometer measurement from the other of accelerometers 28 and 30. At 306, method 300 determines a counter-torque value. For example, controller 18 may determine the counter-torque value based on the first and second accelerometer measurements. In some embodiments, controller 18 determines the counter-torque value based on the motor position and motor speed of motor 16. In some embodiments, controller 18 may determine the counter-torque value based on the first and second accelerometer measurements and may adjust the counter-torque value based on the motor position and motor speed. In some embodiments, as described, controller 18 receives operator preferences. Controller 18 may adjust the counter-torque value or any determined torque value based on operator preferences. At 308, method 300 uses a counter-torque value to control the motor. For example, controller 18 uses a counter-torque value to control motor 16. When motor 16 rotates in response to the counter-torque value, gearbox 20 engages, which drives lever arm 24, thereby moving linkage arm 22. The movement of linkage arm 22 drives lifting mechanism 26, which applies a force corresponding to the counter-torque value to seat top plate 12. The force applied to seat top plate 12 can reduce or eliminate the operator's perception of vibrations acting on the seat.

[0038] In some embodiments, the system for eliminating seat vibration includes an electric motor mechanically connected to a control arm. The system also includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a first accelerometer measurement from a first accelerometer; receive a second accelerometer measurement from a second accelerometer; determine a counter-torque value based on the first and second accelerometer measurements; and selectively control the electric motor using the counter-torque value.

[0039] In some embodiments, the electric motor includes a brushless servo motor. In some embodiments, a first accelerometer is disposed on the seat top plate. In some embodiments, a second accelerometer is disposed on a base mounting plate. In some embodiments, the control arm is adapted to apply a force corresponding to a counter-torque value to the seat top plate. In some embodiments, the instructions further cause the processor to selectively adjust the counter-torque value based on operator preference. In some embodiments, the operator preference corresponds to the operator's desired seating position. In some embodiments, the instructions further cause the processor to determine the motor position and motor speed of the electric motor, and selectively adjust the counter-torque value based on the motor position and motor speed.

[0040] In some embodiments, the method for eliminating seat vibration includes receiving a first accelerometer measurement. The method further includes receiving a second accelerometer measurement. The method further includes determining a counter-torque value based on the first and second accelerometer measurements. The method further includes selectively controlling a motor using the counter-torque value.

[0041] In some embodiments, the electric motor includes a brushless servo motor. In some embodiments, a first accelerometer measurement corresponds to the seat top plate. In some embodiments, a second accelerometer measurement corresponds to the base mounting plate. In some embodiments, the method further includes applying a force corresponding to a counter-torque value to the seat top plate. In some embodiments, the method further includes selectively adjusting the counter-torque value based on operator preference. In some embodiments, operator preference corresponds to the operator's desired seating position. In some embodiments, the method further includes determining the motor position and motor speed of the electric motor, and selectively adjusting the counter-torque value based on the motor position and motor speed.

[0042] In some embodiments, the vehicle seat assembly includes a brushless servo motor and a controller. The brushless servo motor is mechanically connected to a control arm that extends from the seat top plate to a base mounting plate. The controller is configured to: receive a first accelerometer measurement from a first accelerometer disposed on the seat top plate; receive a second accelerometer measurement from a second accelerometer disposed on the base mounting plate; determine a counter-torque value based on the first and second accelerometer measurements; and selectively control the brushless servo motor to apply a force corresponding to the counter-torque value to the seat top plate using the control arm.

[0043] In some embodiments, the controller is further configured to selectively adjust the counter-torque value based on operator preferences. In some embodiments, operator preferences correspond to the operator's desired riding style. In some embodiments, the controller is further configured to determine the motor position and motor speed of the brushless servo motor, and selectively adjust the counter-torque value based on the motor position and motor speed.

[0044] The foregoing discussion is intended to illustrate the principles and various embodiments of the invention. Once the above disclosure is fully understood, many variations and modifications will become apparent to those skilled in the art. It should be understood that the following claims are intended to encompass all such variations and modifications.

[0045] The term “example” is used herein to indicate that something serves as an example, illustration, or description. Any aspect or design described herein as an “example” is not necessarily to be construed as being more preferred or advantageous than other aspects or designs. Rather, the use of the term “example” is intended to present a concept in a specific manner. The term “or” as used in this application is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise stated or clear from the context, “X comprises A or B” is intended to mean any of the natural inclusive arrangements. That is, if X comprises A; X comprises B; or X comprises A and B, then “X comprises A or B” is satisfied in any of the above cases. Furthermore, unless otherwise stated or clear from the context, the articles “a” and “an” as used in this application and the appended claims should generally be understood as “one or more”. Moreover, unless so described, the use of the terms “one embodiment” or “an embodiment” throughout the document is not intended to refer to the same embodiment or implementation.

[0046] The systems, algorithms, methods, instructions, etc., described herein can be implemented in hardware, software, or any combination thereof. Hardware may include, for example, computers, intellectual property (IP) cores, application-specific integrated circuits (ASICs), programmable logic arrays, optical processors, programmable logic controllers, microcode, microcontrollers, servers, microprocessors, digital signal processors, or any other suitable circuitry. In the claims, the term "processor" should be understood to include any of the foregoing hardware, individually or in combination. The terms "signal" and "data" may be used interchangeably.

[0047] As used herein, the term "module" can include packaged functional hardware units designed for use with other components, instruction sets executable by a controller (e.g., a processor executing software or firmware), processing circuitry configured to perform specific functions, and stand-alone hardware or software components that interface with a larger system. For example, a module can include application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), circuits, digital logic circuits, analog circuits, combinations of discrete circuits, gates, and other types of hardware or combinations thereof. In other embodiments, a module can include memory storing instructions executable by a controller to implement the features of the module.

[0048] Furthermore, in one aspect, for example, the system described herein can be implemented using a general-purpose computer or general-purpose processor with a computer program that, when executed, implements any of the corresponding methods, algorithms, and / or instructions described herein. Alternatively or alternatively, for example, a special-purpose computer / processor can be utilized, which may include additional hardware for implementing any of the methods, algorithms, or instructions described herein.

[0049] Furthermore, all or part of the embodiments of this disclosure may take the form of a computer program product accessible from, for example, a computer-usable or computer-readable medium. A computer-usable or computer-readable medium may be any device that can tangibly contain, store, deliver, or transmit a program for use by or in conjunction with any processor. The medium may be, for example, an electronic, magnetic, optical, electromagnetic, or semiconductor device. Other suitable media are also available.

[0050] The embodiments, implementations, and aspects described above are intended to facilitate an easy understanding of the invention and do not limit the invention. Rather, the invention is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, which should have the broadest meaning to cover all such modifications and equivalent structures permitted by law.

Claims

1. A system for eliminating seat vibration, the system comprising: The electric motor is mechanically connected to the control arm; processor; as well as Memory, containing instructions that, when executed by the processor, cause the processor to: Receive the measurement value from the first accelerometer; Receive the measurement value from the second accelerometer; The counter-torque value is determined by summing the first weighted sum of the monomials of the first accelerometer measurements and the second weighted sum of the monomials of the second accelerometer measurements; and The motor is selectively controlled using the aforementioned counter-torque value.

2. The system of claim 1, wherein the instructions further cause the processor to: Determine the motor position and motor speed; The counter-torque value is selectively adjusted based on the sum of the motor position and the motor speed; and The motor is controlled using an adjusted counter-torque value.

3. The system of claim 2, wherein the instructions further cause the processor to: The motor position is converted into a normalized seat displacement value, which corresponds to a seat displacement ranging from -100% to +100%; and The counter-torque value is selectively adjusted based on the sum of the normalized seat displacement value and the motor speed.

4. The system according to any one of claims 1 to 3, wherein the motor comprises a brushless servo motor.

5. The system according to any one of claims 1 to 3, wherein the first accelerometer is disposed on the seat top plate.

6. The system according to any one of claims 1 to 3, wherein the second accelerometer is disposed on the base mounting plate.

7. The system according to any one of claims 1 to 3, wherein the control arm is adapted to apply a force corresponding to the counter-torque value on the seat top plate.

8. The system according to any one of claims 1 to 3, wherein the instructions further cause the processor to selectively adjust the anti-torque value based on operator preferences.

9. The system of claim 8, wherein the operator preference corresponds to the operator's desired mode of transportation.

10. A method for eliminating seat vibration, the method comprising: Receive the measurement value from the first accelerometer; Receive the measurement value from the second accelerometer; The counter-torque value is determined by summing the first weighted sum of the monomials of the first accelerometer measurements and the second weighted sum of the monomials of the second accelerometer measurements; and The motor can be selectively controlled using the aforementioned counter-torque value.

11. The method of claim 10, wherein the method further comprises: Determine the motor position and motor speed; The counter-torque value is selectively adjusted based on the sum of the motor position and the motor speed; as well as The motor is controlled using an adjusted counter-torque value.

12. The method of claim 11, wherein the method further comprises: The motor position is converted into a normalized seat displacement value, which corresponds to a seat displacement ranging from -100% to +100%. and The counter-torque value is selectively adjusted based on the sum of the normalized seat displacement value and the motor speed.

13. The method according to any one of claims 10 to 12, wherein the motor comprises a brushless servo motor.

14. The method according to any one of claims 10 to 12, wherein the first accelerometer measurement corresponds to the seat top plate.

15. The method according to any one of claims 10 to 12, wherein the second accelerometer measurement corresponds to the base mounting plate.

16. The method according to any one of claims 10 to 12, further comprising applying a force corresponding to the counter-torque value to the seat top plate.

17. The method according to any one of claims 10 to 12, further comprising selectively adjusting the counter-torque value based on operator preference.

18. The method of claim 17, wherein the operator preference corresponds to the operator's desired mode of transportation.

19. A vehicle seat assembly, comprising: A brushless servo motor is mechanically connected to a control arm that extends from the top plate of the seat to the base mounting plate. The controller is configured as follows: Receive first accelerometer measurements from a first accelerometer mounted on the seat top plate; Receive the second accelerometer measurement value from the second accelerometer mounted on the base plate; The counter-torque value is determined by summing the first weighted sum of the monomials of the first accelerometer measurements and the second weighted sum of the monomials of the second accelerometer measurements; and The brushless servo motor is selectively controlled to apply a force corresponding to the counter-torque value to the seat top plate using a control arm.

20. The vehicle seat assembly of claim 19, wherein the controller is further configured to: Determine the motor position and motor speed of the brushless servo motor; The counter-torque value is selectively adjusted based on the sum of the motor position and the motor speed; and The brushless servo motor is controlled to apply a force corresponding to an adjusted counter-torque value to the seat top plate using the control arm.

21. The vehicle seat assembly of claim 20, wherein the controller is further configured to: The motor position is converted into a normalized seat displacement value, which corresponds to a seat displacement ranging from -100% to +100%; and The counter-torque value is selectively adjusted based on the sum of the normalized seat displacement value and the motor speed.

22. The vehicle seat device according to any one of claims 19 to 21, wherein the controller is further configured to selectively adjust the counter-torque value based on operator preference.

23. The vehicle seating arrangement of claim 22, wherein the operator preference corresponds to the operator's desired seating manner.

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