US20200103969A1 - Button Providing Force Sensing and/or Haptic Output - Google Patents
Button Providing Force Sensing and/or Haptic Output Download PDFInfo
- Publication number
- US20200103969A1 US20200103969A1 US16/146,384 US201816146384A US2020103969A1 US 20200103969 A1 US20200103969 A1 US 20200103969A1 US 201816146384 A US201816146384 A US 201816146384A US 2020103969 A1 US2020103969 A1 US 2020103969A1
- Authority
- US
- United States
- Prior art keywords
- force
- button
- movable portion
- module
- stator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/044—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by capacitive means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/046—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by electromagnetic means
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/94—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the way in which the control signals are generated
- H03K17/96—Touch switches
- H03K17/9625—Touch switches using a force resistance transducer
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/94—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the way in which the control signals are generated
- H03K17/965—Switches controlled by moving an element forming part of the switch
- H03K17/97—Switches controlled by moving an element forming part of the switch using a magnetic movable element
- H03K2017/9706—Inductive element
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K2217/00—Indexing scheme related to electronic switching or gating, i.e. not by contact-making or -breaking covered by H03K17/00
- H03K2217/94—Indexing scheme related to electronic switching or gating, i.e. not by contact-making or -breaking covered by H03K17/00 characterised by the way in which the control signal is generated
- H03K2217/96—Touch switches
- H03K2217/96062—Touch switches with tactile or haptic feedback
Definitions
- the described embodiments generally relate to a button that provides force sensing and/or haptic output. More particularly, the described embodiments relate to a button having a force sensor (or tactile switch) that may trigger operation of a haptic engine of the button, and to alternative embodiments of a haptic engine for a button.
- the haptic engine may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine).
- a device such as a smartphone, tablet computer, or electronic watch may include a button that is usable to provide input to the device.
- the button may be a volume button.
- the button may be context-sensitive, and may be configured to receive different types of input based on an active context (e.g., an active utility or application) running on the device.
- an active context e.g., an active utility or application
- Such a button may be located along a sidewall of a device, and may move toward the sidewall when a user presses the button. Pressing the button with an applied force that exceeds a threshold may trigger actuation (e.g., a state change) of a mechanical switch disposed behind the button.
- a button may pivot along the sidewall. For example, the top of the button may be pressed and pivot toward the sidewall to increase a sound volume, or the bottom of the button may be pressed and pivot toward the sidewall to decrease the sound volume.
- Embodiments of the systems, devices, methods, and apparatus described in the present disclosure are directed to a button that provides force sensing and/or haptic output.
- a button may be associated with a force sensor (or tactile switch) that triggers operation of a haptic engine in response to detecting a force (or press) on the button.
- the haptic engine may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine).
- the present disclosure describes a module having a permanent magnet biased electromagnetic haptic engine.
- the haptic engine may include a stator and a shuttle.
- a constraint may be coupled to the stator and the shuttle.
- a force sensor may be at least partially attached to the permanent magnet biased electromagnetic haptic engine, and may be configured to sense a force applied to the module.
- the constraint may be configured to constrain closure of a gap between the stator and the shuttle and bias the shuttle toward a rest position in which the shuttle is separated from the stator by the gap.
- the present disclosure describes another module.
- the module may include a haptic engine, a force sensor, and a constraint.
- the haptic engine may include a stationary portion and a movable portion.
- the movable portion may be configured to move linearly, when the haptic engine is stimulated by an electrical signal, to provide a haptic output.
- the force sensor may be at least partially attached to the haptic engine and configured to sense a force applied to the module.
- the constraint may be configured to constrain movement of the movable portion relative to the stationary portion and bias the movable portion toward a rest position in which the movable portion is separated from the stationary portion by a gap.
- a method of providing a haptic response to a user may include constraining relative motion between a stationary portion and a movable portion of a haptic engine, to bias the movable portion toward a rest position in which the movable portion is separated from the stationary portion by a gap, and to constrain closure of the gap.
- the method may further include determining a force applied to a button using a force sensor, where the button is mechanically coupled to the movable portion; determining the determined force matches a predetermined force; identifying a haptic actuation waveform associated with the predetermined force; and applying the haptic actuation waveform to the haptic engine.
- the relative motion between the stationary portion and the movable portion may be constrained to translation of the movable portion along an axis.
- FIGS. 1A-1C show an example of an electronic device
- FIGS. 2A & 2B show partially exploded views of button assemblies in relation to a housing
- FIG. 2C shows a cross-section of an alternative configuration of a button assembly
- FIG. 3 shows an exploded view of an example haptic engine
- FIGS. 4A-4C show an assembled cross-section of the haptic engine and button described with reference to FIG. 3 ;
- FIGS. 5-8, 9A & 9B show alternatives to the haptic engine described with reference to FIGS. 4A-4C ;
- FIGS. 10A, 10B, 11A, 11B & 12A-12E show example embodiments of rotors
- FIG. 13A shows a cross-section of the components described with reference to FIG. 3 , with an alternative force sensor
- FIG. 13B shows an alternative way to wrap a flex circuit around the rotor core (or alternatively the first stator) described with reference to FIG. 13A ;
- FIG. 14A shows another cross-section of the components described with reference to FIG. 3 , with another alternative force sensor
- FIG. 14B shows an isometric view of a flex circuit used to implement the force sensor described with reference to FIG. 14A ;
- FIG. 15 shows an example two-dimensional arrangement of force sensing elements
- FIGS. 16A-16C there are shown alternative configurations of a rotor core
- FIGS. 17A-17D show another example haptic engine
- FIG. 18 illustrates an example method of providing a haptic response to a user
- FIG. 19 shows a sample electrical block diagram of an electronic device.
- cross-hatching or shading in the accompanying figures is generally provided to clarify the boundaries between adjacent elements and also to facilitate legibility of the figures. Accordingly, neither the presence nor the absence of cross-hatching or shading conveys or indicates any preference or requirement for particular materials, material properties, element proportions, element dimensions, commonalities of similarly illustrated elements, or any other characteristic, attribute, or property for any element illustrated in the accompanying figures.
- a button may be associated with a force sensor that triggers operation of a haptic engine in response to detecting a force on the button.
- the force sensing and haptic output functions may be decoupled.
- the haptic engine may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine)—e.g., a haptic engine having a rotor or shuttle that is biased by one or more permanent magnets, and electromagnetically actuated.
- the haptic engine and force sensor associated with a button may be combined in a single module.
- the force sensor associated with a button may include a plurality of force sensing elements distributed in one, two, or three dimensions. Such force sensing elements may be used to determine both the amount of force applied to the button, as well as a location of the force.
- a button that does not move when pressed may be operated as the functional equivalent of a button that can be pressed in multiple locations, such as a volume button that can be pressed along a top portion or a bottom portion to increase or lower a sound volume.
- the force sensor associated with a button may sense a force pattern applied to a button, such as a sequence of longer or shorter presses.
- the force sensor may also or alternatively be configured to distinguish a button tap from a button press having a longer duration.
- the haptic engine associated with a button may be driven using different haptic actuation waveforms, to provide different types of haptic output.
- the different haptic actuation waveforms may provide different haptic output at the button.
- a processor, controller, or other circuit associated with a button, or a circuit in communication with the button may determine whether a force applied to the button matches a predetermined force, and if so, stimulate the haptic engine using a particular haptic actuation waveform that has been paired with the predetermined force.
- a haptic engine may also be stimulated using different haptic actuation waveforms based on a device's context (e.g., based on an active utility or application).
- a module providing force sensing and haptic output functionality may be programmed to customize the manner in which force sensing is performed or haptic output is provided.
- a haptic output providing nearly 2 Newtons (N) of force (e.g., 1 N of rotational force on one side of a rotor and 1N of rotational force on the other side of the rotor, providing a net rotational force of 2 N) and a torque of 2.5 N-millimeters (Nmm) has been generated with a haptic engine volume of less than 150 cubic millimeters (mm 3 ) and button travel of ⁇ 0.10 mm.
- N 2 Newtons
- the haptic engine embodiments described herein can provide a haptic output force that increases linearly with the current applied to the haptic engine and movement of a rotor or shuttle.
- FIGS. 1A-19 These and other embodiments are described with reference to FIGS. 1A-19 . However, those skilled in the art will readily appreciate that the detailed description given herein with respect to these figures is for explanatory purposes only and should not be construed as limiting.
- FIGS. 1A-1C show an example of an electronic device or simply “device” 100 .
- the device's dimensions and form factor including the ratio of the length of its long sides to the length of its short sides, suggest that the device 100 is a mobile phone (e.g., a smartphone).
- the device's dimensions and form factor are arbitrarily chosen, and the device 100 could alternatively be any portable electronic device including, for example a mobile phone, tablet computer, portable computer, portable music player, health monitor device, portable terminal, or other portable or mobile device.
- FIG. 1A shows a front isometric view of the device 100 ;
- FIG. 1B shows a rear isometric view of the device 100 ;
- FIG. 1C shows a cross-section of the device 100 .
- the device 100 may include a housing 102 that at least partially surrounds a display 104 .
- the housing 102 may include or support a front cover 106 or a rear cover 108 .
- the front cover 106 may be positioned over the display 104 , and may provide a window through which the display 104 may be viewed.
- the display 104 may be attached to (or abut) the housing 102 and/or the front cover 106 .
- the device 100 may include various other components.
- the front of the device 100 may include one or more front-facing cameras 110 , speakers 112 , microphones, or other components 114 (e.g., audio, imaging, or sensing components) that are configured to transmit or receive signals to/from the device 100 .
- a front-facing camera 120 alone or in combination with other sensors, may be configured to operate as a bio-authentication or facial recognition sensor.
- the device 100 may also include various input devices, including a mechanical or virtual button 116 , which may be located along the front surface of the device 100 .
- the device 100 may also include buttons or other input devices positioned along a sidewall of the housing 102 and/or on rear surface of the device 100 .
- a volume button or multipurpose button 118 may be positioned along the sidewall of the housing 102 , and in some cases may extend through an aperture in the sidewall.
- the rear surface of the device 100 is shown to include a rear-facing camera 120 or other optical sensor (see, FIG. 1B ).
- a flash or light source may also be positioned along the rear of the device 100 (e.g., near the camera 120 ).
- the rear surface of the device may include multiple rear-facing cameras.
- the device 100 may include a display 104 that is at least partially surrounded by the housing 102 .
- the display 104 may include one or more display elements including, for example, a light-emitting display (LED), organic light-emitting display (OLED), liquid crystal display (LCD), electroluminescent display (EL), or other type of display element.
- the display 104 may also include one or more touch and/or force sensors that are configured to detect a touch and/or a force applied to a surface of the cover 106 .
- the touch sensor may include a capacitive array of nodes or elements that are configured to detect a location of a touch on the surface of the cover 106 .
- the force sensor may include a capacitive array and/or strain sensor that is configured to detect an amount of force applied to the surface of the cover 106 .
- FIG. 1C depicts a cross-section of the device 100 shown in FIGS. 1A and 1B .
- the rear cover 108 may be a discrete or separate component that is attached to the sidewall 122 .
- the rear cover 108 may be integrally formed with part or all of the sidewall 122 .
- the sidewall 122 or housing 102 may define an interior volume 124 in which various electronic components of the device 100 , including the display 104 , may be positioned.
- the display 104 is at least partially positioned within the internal volume 128 and attached to an inner surface of the cover 106 .
- a touch sensor, force sensor, or other sensing element may be integrated with the cover 106 and/or the display 104 and may be configured to detect a touch and/or force applied to an outer surface of the cover 106 . In some cases, the touch sensor, force sensor, and/or other sensing element may be positioned between the cover 106 and the display 104 .
- the touch sensor and/or force sensor may include an array of electrodes that are configured to detect a location and/or force of a touch using a capacitive, resistive, strain-based, or other sensing configuration.
- the touch sensor may include, for example, a set of capacitive touch sensing elements, a set of resistive touch sensing elements, or a set of ultrasonic touch sensing elements.
- the touch sensor (or touch sensing system) may detect one or more touches on the cover 106 and determine locations of the touches on the cover 106 .
- the touches may include, for example, touches by a user's finger or stylus.
- a force sensor or force sensing system may include, for example, a set of capacitive force sensing elements, a set of resistive force sensing elements, or one or more pressure transducers.
- the force sensing system may determine an amount of force applied to the cover 106 .
- the force sensor or force sensing system
- the touch sensor or touch sensing system
- FIG. 1C further shows the button 118 along the sidewall 122
- the button may be accessible to a user of the device 100 and extend outward from the sidewall 122 .
- a portion of the button 118 may be positioned within a recess in the sidewall 122 .
- the entire button 118 may be positioned within a recess in the sidewall 122 , and the button 118 may be flush with the housing or inset into the housing.
- the button may extend through the housing and attach to a haptic engine and force sensor.
- the haptic engine and force sensor may be combined in a single module 126 .
- the haptic engine may include a permanent magnet biased electromagnetic haptic engine, or a permanent magnet normal flux electromagnetic haptic engine.
- the haptic engine may cause the button to pivot back-and-forth in relation to an axis, translate back-in forth parallel to the sidewall 122 , or translate back-and-forth transverse to the sidewall 122 .
- the force sensor may include, for example, a capacitive force sensor, a resistive force sensor, an ultrasonic force sensor, or a pressure sensor.
- FIG. 2A shows a partially exploded view of a button assembly 200 in relation to a housing (e.g., the sidewall 202 ).
- the button assembly 200 may include a button 204 and a button base 206 .
- the button base 206 may be mechanically coupled to an interior of the housing.
- the button base 206 may be mounted to an interior of the sidewall 202 , which may be an example of the sidewall 122 described with reference to FIGS. 1A-1C .
- the button base 206 may be mechanically coupled to the sidewall 202 by one or more screws 208 that extend through one or more holes 210 in the button base 206 .
- Each screw 208 may be threaded into a hole 212 along an interior surface of the sidewall 202 such that a screw head of the screw 208 bears against a surface of the button base 206 opposite the sidewall 202 and holds the button base 206 against the sidewall 202 .
- the button base 206 may also or alternatively be mechanically coupled to the interior surface of the sidewall 202 by other means, such as by an adhesive or welds.
- an o-ring, leap seal, diaphragm seal, or other type of seal may be positioned or formed between each leg 216 of the button 204 and the sidewall 202 .
- a gasket or seal may be positioned or formed between the button base 206 and sidewall 202 .
- the gasket or seal may prevent moisture, dirt, or other contaminants from entering a device through a button base-to-sidewall interface.
- the sidewall 202 may have a recess 214 in which part or all of the button 204 may reside, or over which part or all of the button 204 may be positioned. In other cases, the sidewall 202 need not have such a recess 214 .
- the button base 206 may include a haptic engine and a force sensor (e.g., a capacitive force sensor or strain sensor).
- the haptic engine may include a stationary portion (e.g., a stator) and a movable portion (e.g., a rotor or shuttle).
- the haptic engine may include multiple stationary portions (e.g., a first stator and a second stator, a button base housing, and so on) or multiple movable portions.
- One or more components of the haptic engine (e.g., one or more of the stationary portion(s) and/or movable portion(s)) may be stimulated to provide a haptic output to the button 204 .
- an electrical signal (e.g., an alternating current) may be applied to a coil (i.e., a conductive coil) wound around a stationary or movable portion of the haptic engine, thereby selectively increasing the flux of a magnetic field produced by one or more permanent magnets that bias the haptic engine, and periodically reversing the direction of the flux to cause the movable portion(s) to move with respect to the stationary portion(s) and provide a haptic output as the movable portion(s) move back-and-forth.
- a coil i.e., a conductive coil
- the flux is “selectively” increased in that it is increased on some faces of a rotor or shuttle and decreased on opposing faces, resulting in an increased net rotational force that provides or increases a torque about an axis of a rotor, or an increased net translational force that provides or increases a force along an axis of a shuttle.
- the movable portion may be configured to move non-linearly (e.g., pivot) when the haptic engine is stimulated to provide a haptic output.
- the movable portion may be configured to move linearly (e.g., translate) when the haptic engine is stimulated to provide a haptic output.
- the button base 206 may include a constraint, which constraint may be configured to constrain movement of the movable portion(s) relative to the stationary portion(s) (e.g., constrain closure of a gap between a movable portion and a stationary portion), bias the movable portion toward a rest position in which the movable portion is separated from the stationary portion by a gap, and/or guide or constrain motion to motion along a desired path.
- constraint may be configured to constrain movement of the movable portion(s) relative to the stationary portion(s) (e.g., constrain closure of a gap between a movable portion and a stationary portion), bias the movable portion toward a rest position in which the movable portion is separated from the stationary portion by a gap, and/or guide or constrain motion to motion along a desired path.
- the button 204 may have a first major surface and a second major surface.
- the first major surface may be a user interaction surface that faces away from the sidewall 202
- the second major surface may be a device-facing surface that faces toward the sidewall 202 .
- One or more legs 216 may extend perpendicularly from the second major surface. By way of example, two legs 216 are shown in FIG. 2A .
- the legs 216 may be aligned with and inserted through respective holes 218 , 220 in the sidewall 202 and button base 206 , and may be mechanically coupled to the movable portion of the haptic engine.
- the leg(s) 216 may be mechanically coupled to the movable portion by one or more screws 222 that extend through one or more holes in the movable portion.
- Each screw 222 may be threaded into a hole in a respective leg 216 of the button 204 such that a screw head of the screw 222 bears against a surface of the movable portion opposite the leg 216 and mechanically couples the button 204 to the movable portion.
- the force sensor may include components attached to one or more components of the haptic engine, or more generally, to the button base 206 .
- different components of the force sensor may be attached to the movable portion or stationary portion of the haptic engine, and may be separated by a capacitive gap.
- a force applied to the button e.g., a user's press
- the force sensor may include one or more strain sensors disposed on the button base 206 or button 204 .
- flex of the button base 206 e.g., the housing of, or a mount for, the button base 206
- one or more components within the button base 206 e.g., a stator, rotor, shuttle, or other component capable of flexing
- the button 204 in response to a force applied to the button 204 , may cause a change in the output of a strain sensor (e.g., a strain gauge), which output enable the applied force (or an amount or location of the applied force) to be detected.
- a strain sensor e.g., a strain gauge
- buttons e.g., button 204 or button 224 .
- a button 226 may be permanently or semi-permanently attached to a button base 228 (e.g., by one or more welds).
- a sidewall 230 of a housing may include an opening 232 through which the button 226 may be inserted before the button base 228 is mechanically coupled to the sidewall 230 (e.g., using one or more screws 222 ).
- FIG. 2C shows a cross-section of an alternative configuration of a button assembly 234 .
- the cross-section shows portions of a device sidewall 236 , with a button 238 extending through an opening in the sidewall 236 .
- a button base 240 may be attached to an interior of the sidewall 236 by an adhesive, welds, or other attachment mechanism 242 , and the button 238 may be removably or semi-permanently attached to the button base 240 , as described with reference to FIG. 2A or 2B for example.
- FIG. 2C shows a cross-section of an alternative configuration of a button assembly 234 .
- the cross-section shows portions of a device sidewall 236 , with a button 238 extending through an opening in the sidewall 236 .
- a button base 240 may be attached to an interior of the sidewall 236 by an adhesive, welds, or other attachment mechanism 242 , and the button 238 may be removably or semi-permanently
- the button base 240 (and in some cases a stator portion of the button base 240 ) may form a portion of the sidewall 236 that faces the button 238 (e.g., a portion of the sidewall 236 below the button 238 ).
- An o-ring or other type of seal 244 may surround each leg of the button 238 to prevent moisture and debris from entering the button base 240 or interfering with other components interior to the sidewall 236 .
- FIG. 3 shows an exploded view of an example haptic engine 300 .
- the haptic engine 300 is an example of the haptic engine included in the button base 206 described with reference to FIGS. 2A & 2B , and in some cases may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine).
- the haptic engine 300 may include one or more stationary portions and one or more movable portions, in addition to a constraint 314 that is configured to constrain movement of the movable portion(s) relative to the stationary portion(s) and bias the movable portion(s) toward a rest position in which the movable portion(s) are separated from the stationary portion(s) by one or more gaps.
- the stationary portion(s) may include a pair of ferritic stators (e.g., a first stator 302 and a second stator 304 ), and the movable portion(s) may include a rotor 306 that is positioned between the first and second stators 302 , 304 .
- the first and second stators 302 , 304 may be held in a spaced apart position by one or more brackets 338 , 340 that may be welded or clipped to the stators 302 , 304 .
- the rotor 306 may be separated from the first stator 302 by a first gap 308 (e.g., a first rotor-to-stator gap), and from the second stator 304 by a second gap 310 (e.g., a second rotor-to-stator gap).
- the rotor 306 may be configured to move non-linearly (e.g., pivot about a longitudinal axis 312 parallel to each of the first and second stators 302 , 304 , the rotor 306 , and a sidewall to which a button base including the haptic engine 300 is mounted).
- the constraint 314 may constrain closure of the first and second gaps 308 , 310 and bias the rotor 306 toward a rest position in which the rotor 306 is separated from the first and second stators 302 , 304 by the first and second gaps 308 , 310 .
- the rotor 306 may have a height that would allow it to pivot about the longitudinal axis 312 and contact (e.g., crash against) the first stator 302 and/or the second stator 304 in the absence of the constraint 314 .
- a button 316 may be mechanically coupled to the haptic engine 300 .
- a button 316 may be mechanically coupled to the rotor 306 , such that movement of the rotor 306 may provide a haptic output to the button 316 .
- the button 316 may be attached to the rotor 306 by screws 318 that pass through holes 320 , 322 , 324 in the second stator 304 , the rotor 306 , and the first stator 302 .
- the screws 318 may be received by threaded inserts in the legs 326 of the button 316 , and heads of the screws 318 may bear against a surface of the rotor 306 .
- the constraint 314 may include a flexure 314 a that has rotor attachment portions 328 a , 328 b on either side of a stator attachment portion 330 .
- the stator attachment portion 330 may be attached to the first stator 302 , and the rotor attachment portions 328 a , 328 b (e.g., one or more arms or extensions extending from the stator attachment portion 330 ) may be attached to the rotor 306 .
- the stator attachment portion 330 may be attached to the first stator 302 along an axis 332 of the flexure 314 a .
- the flexure 314 a may constrain movement of the rotor 306 to movement about a pivot axis (e.g., the longitudinal axis 312 ), and may provide a linearly consistent stiffness opposing the pivot movement.
- the flexure 314 a may be a metal flexure that is welded or clamped to the first stator 302 (e.g., clamped to the first stator 302 by a clamp 334 that is welded to the first stator 302 ; in FIG. 3 , the clamp 334 is shown to include two strips aligned with the axis 332 of the flexure 314 a ).
- the rotor attachment portions 328 a , 328 b may be welded to the sides of a rotor core, or otherwise clipped or fastened to a rotor core, such that movement of the rotor 306 imparts forces to the arms 328 a , 328 b of the flexure 314 a , and the flexure 314 a in turn imparts forces to the rotor core to constrain movement of the rotor 306 .
- the forces imparted by the flexure 314 a may be stronger than forces imparted by the rotor 306 when the haptic engine 300 is not being stimulated by an electrical signal to produce haptic output at the button 316 , but weaker than the forces imparted by the rotor 306 when the haptic engine 300 is stimulated by an electrical signal to produce haptic output.
- the flexure 314 a may bias the rotor 306 toward a rest position in which the rotor 306 is separated from the stators 302 , 304 by rotor-to-stator gaps, but stimulation of the haptic engine 300 by an electrical signal may overcome the forces imparted to the rotor 306 by the flexure 314 a , at least to a degree, and cause the rotor 306 to pivot back-and-forth between the stators 302 , 304 .
- the constraint 314 may alternatively or additionally provided by a set of one or more elastomers (e.g., one or more elastomeric pads, such as silicone pads) or other compliant material(s) 314 b .
- the compliant material(s) 314 b may be disposed (positioned) between the first stator 302 and the rotor 306 in the first gap 308 , and/or between the second stator 304 and the rotor 306 in the second gap 310 .
- the compliant material(s) 314 b may constrain movement of the rotor 306 to movement about a pivot axis (e.g., the longitudinal axis 312 ).
- the compliant material(s) 314 b may also damp movement of the rotor 306 .
- the compliant material(s) 314 b may be adhesively bonded to the rotor 306 and one or more of the stators 302 , 304 .
- the forces imparted by the compliant material(s) 314 b may be stronger than forces imparted by the rotor 306 when the haptic engine 300 is not being stimulated by an electrical signal to produce haptic output at the button 316 , but weaker than the forces imparted by the rotor 306 when the haptic engine 300 is stimulated by an electrical signal to produce haptic output.
- the compliant material(s) 314 b may bias the rotor 306 toward a rest position in which the rotor 306 is separated from the stators 302 , 304 by rotor-to-stator gaps, but stimulation of the haptic engine 300 by an electrical signal may overcome the forces imparted to the rotor 306 by the compliant material(s) 314 b , at least to a degree, and cause the rotor 306 to pivot back-and-forth between the stators 302 , 304 .
- the compliant material(s) 314 b may be aligned with an axis of the button 316 , as shown in FIG. 3 , or distributed along an axis, plane, or planes that are transverse to a user interaction surface of the button 316 (e.g., in a one, two, or three-dimensional array).
- the haptic engine 300 shown in FIG. 3 may include only one stator (e.g., the first stator 302 ), and the rotor 306 may move with respect to the one stator.
- a force sensor 336 may be at least partially attached to the haptic engine 300 .
- the force sensor 336 may be configured to sense a force applied to the haptic engine 300 or a module including the haptic engine 300 .
- the force sensor 336 may be configured to sense a force applied to the rotor 306 when a user presses the button 316 .
- the force sensor 336 may include one or more strain sensors 336 a attached to the first stator 302 or the second stator 304 . When a user applies a force to the button 316 (e.g., presses the button 316 ), the strain sensor(s) 336 a may flex.
- Outputs of the strain sensor(s) 336 a may change in a manner that is related to the amount or location of the force applied to the button 316 .
- the strain sensors 336 a may be positioned elsewhere on the haptic engine 300 , or on a housing of the haptic engine 300 (e.g., on the button base described with reference to FIG. 2A or 2B ).
- the force sensor 336 may additionally or alternatively include a capacitive force sensor or other type of force sensor.
- FIGS. 4A-4C there is shown an assembled cross-section of the haptic engine 300 and button 316 described with reference to FIG. 3 .
- the arms 328 a , 328 b that extend from the flexure 314 a may extend around upper and lower surfaces of the first stator 302 , and may be attached to the upper and lower surfaces of the rotor 306 (e.g., to upper and lower surfaces or sides of a rotor core).
- FIG. 4A shows the haptic engine 300 at rest.
- FIGS. 4B & 4C show the haptic engine 300 after it has been stimulated to provide a haptic output. More specifically, FIG. 4B shows the haptic engine 300 after the rotor 306 has pivoted clockwise to a maximum extent, and FIG. 4C shows the haptic engine 300 after the rotor 306 has pivoted counter-clockwise to a maximum extent. While the haptic engine 300 is being stimulated, the rotor 306 may pivot back-and-forth between the states shown in FIGS. 4B & 4C to provide haptic output to the button 316 .
- Stimulation of the haptic engine 300 causes the rotor 306 to move non-linearly (e.g., pivot) with enough force to overcome the spring force of the flexure 314 a and the shear force of the compliant material(s) 314 b .
- the spring force of the flexure 314 a and/or the shear force(s) of the compliant material(s) 314 b may be sufficient to restore the rotor 306 to the rest position shown in FIG. 4A .
- Each of the flexure 314 a and/or compliant material(s) 314 b may be configured to provide a first stiffness opposing the non-linear movement of the rotor 306 , and a second stiffness opposing a force applied to the button 316 (i.e., asymmetric first and second stiffnesses). This can enable the stiffnesses to be individually adjusted (e.g., to separately tune the force input and haptic output user experiences for the button 316 ).
- FIG. 5 shows an alternative haptic engine 500 that is similar to the haptic engine 300 described with reference to FIGS. 4A-4C .
- the alternative haptic engine 500 lacks the compliant material(s) 314 b and instead relies on the flexure 314 a to constrain motion of the rotor 306 .
- FIG. 6 shows another alternative haptic engine 600 that is similar to the haptic engine 300 described with reference to FIGS. 4A-4C .
- the alternative haptic engine 600 shown in FIG. 6 lacks the flexure 314 a and relies instead on the compliant material(s) 314 b to constrain motion of the rotor 306 .
- FIG. 7 shows yet another alternative haptic engine 700 that is similar to the haptic engine 300 described with reference to FIGS. 4A-4C .
- the alternative haptic engine 700 shown in FIG. 7 distributes the compliant material(s) 314 b differently than what is shown in FIGS. 4A-4C .
- the compliant material(s) 314 b may be positioned in a two or three-dimensional array, within the gaps 308 , 310 between the stators 302 , 304 and rotor 306 .
- FIG. 8 shows a haptic engine 800 similar to that described with reference to FIGS. 4A-4C , but with the flexure 314 a attached to the second stator 304 instead of the first stator 302 .
- the flexure 314 a to the haptic engine (e.g., to the second stator 304 ) along an axis disposed on a side of the rotor 306 opposite the button 316 , instead of along an axis disposed on a same side of the rotor 306 as the button 316 (as shown in FIGS. 4A-4C ), the moment arm of the rotor 306 with respect to the button 316 may be changed, and the haptic output provided to the button 316 may be changed.
- FIGS. 9A & 9B show a haptic engine 900 similar to that shown in FIGS. 4A-4C , but with the stator and rotor components swapped so that a stator 902 is positioned between portions 904 a , 904 b of a rotor 904 .
- FIG. 9A shows the haptic engine 900 at rest
- FIG. 9B shows the haptic engine 900 with the rotor 904 in a left-most (or counter-clockwise) state.
- the embodiment shown in FIGS. 9A & 9B allows the button 906 to be attached to an outer component of the haptic engine 900 (e.g., to the rotor portion 904 b ).
- a flexure 314 a or other constraint may be attached to the rotor 904 and stator 902 similarly to how a flexure 314 is attached to the stators 302 , 304 and rotor 306 described with reference to FIGS. 4A-4C .
- FIGS. 10A & 10B there is shown an example embodiment of the rotor described with reference to FIGS. 3, 4A-4C, 5-8 , & 9 A- 9 B.
- FIGS. 10A-12E illustrate various examples of a permanent magnet biased electromagnetic haptic engine (or permanent magnet biased normal flux electromagnetic haptic engine).
- one of the haptic engines described with reference to FIGS. 10A-12F may be used as the haptic engine described with reference to FIGS. 1A-9B .
- FIGS. 10A & 10B show a haptic engine 1000 having a rotor 1002 positioned between first and second stators 1004 , 1006 .
- the stators 1004 , 1006 may take the form of ferritic plates.
- the rotor 1002 may have an H-shaped core 1008 having two side plates connected by an intermediate plate that joins the two side plates.
- the different plates of the core 1008 may be attached (e.g., welded) to one another, or integrally formed as a monolithic component.
- a first coil 1010 may be wound around the core 1008 (e.g., around the intermediate plate) near one side plate of the core 1008
- a second coil 1012 may be wound around the core 1008 (e.g., around the intermediate plate) near the other side plate of the core 1008
- the first and second coils 1010 , 1012 may be electrically connected in series or in parallel.
- a parallel connection of the coils 1010 , 1012 may provide a reduction in the total resistance of the coils 1010 , 1012 , and/or may enable the use of a thinner wire to achieve the same resistance as a series connection of the coils 1010 , 1012 .
- a first permanent magnet 1014 may be attached to a first surface of the core 1008 (e.g., to a first surface of the intermediate plate), and a second permanent magnet 1016 may be attached to a second surface of the core 1008 (e.g., to a second surface of the intermediate plate, opposite the first surface of the intermediate plate).
- the first and second permanent magnets 1014 , 1016 may be oriented with their north poles facing the same direction (e.g., to the right in FIG. 10B ).
- the permanent magnets 1014 , 1016 may form a magnetic bias field indicated by flux 1018 .
- the magnetic bias field may be differentially changed by flux 1020 when the haptic engine 1000 is stimulated by applying an electrical signal (e.g., a current) to the coils 1010 , 1012 .
- an electrical signal e.g., a current
- the flux 1018 and 1020 may add at a first pair of opposite corners of the haptic engine 1000 , and subtract at a second pair of opposite corners of the haptic engine 1000 , thereby causing the rotor 1002 to pivot.
- the rotor 1002 may be caused to pivot in an opposite direction by reversing the current in the coils, or by removing the current and letting the momentum of the restorative force provided by a constraint (e.g., constraint 314 a or 314 b , not shown) to cause the rotor 306 to pivot in the opposite direction.
- a constraint e.g., constraint 314 a or 314 b , not shown
- the rotor 306 would pivot in the absence of an electrical signal applied to the coils 1010 , 1012 and crash against the first and second stators 1004 , 1006 .
- FIGS. 11A & 11B show a haptic engine 1100 that is similar to the haptic engine 1000 described with reference to FIGS. 10A & 10B , but without the second stator 1006 .
- FIG. 12A shows a haptic engine 1200 that is similar to the haptic engine 1100 , but with the coils 1010 , 1012 wound around perpendicular extensions 1202 , 1204 from a core 1206 , such that the coils 1010 , 1012 are planar to one another.
- a single permanent magnet 1208 may be attached to a surface of the core 1206 , between the coils 1010 , 1012 .
- FIG. 12B shows a haptic engine 1210 that is similar to the haptic engine 1200 described with reference to FIG. 12A , but with a singular coil 1212 wound around an extension of the core 1214 , and permanent magnets 1216 , 1218 attached to the core 1214 on opposite sides of the coil 1212 .
- the haptic engine 1210 includes a single stator 1220 .
- FIG. 12C shows a haptic engine 1230 having a rotor 1232 positioned between first and second stators 1234 , 1236 .
- the rotor 1232 includes an H-shaped core 1238 in which the H-profile of the core 1238 extends planar to the first and second stators 1234 , 1236 .
- a coil 1240 is wound around the middle portion of the H-profile, and permanent magnets 1242 and 1244 are attached to the H-shaped core 1238 within upper and lower voids of the H-shaped profile.
- FIG. 12D shows a haptic engine 1250 having a rotor 1252 positioned adjacent a pair of planar stators 1254 , 1256 .
- the rotor 1252 may be configured similarly to the rotor shown in FIG. 12B , but in some cases may have a larger coil 1258 that extends between stators 1254 , 1256 .
- FIG. 12E shows a haptic engine 1260 that is similar to the haptic engine 1250 described with reference to FIG. 12D , but with a second pair of planar stators 1262 , 1264 positioned on a side of the rotor 1252 opposite the first pair of planar stators 1254 , 1256 .
- the coil 1258 may also extend between the stators 1262 and 1264 .
- the core of a rotor may be less H-shaped or non-H-shaped, and one or more stators may be C-shaped and extend at least partially around the rotor.
- only a single coil and a single permanent magnet may be included on a rotor.
- one or more coils or permanent magnets may be positioned on a stator, instead of or in addition to one or more coils or permanent magnets positioned on a rotor.
- FIG. 13A shows a cross-section of the components described with reference to FIG. 3 , but for the constraint (which may be included in a module including the components shown in FIG. 13A , but which is not shown in FIG. 13A ).
- the components include the haptic engine 300 (e.g., the rotor 306 positioned between first and second stators 302 , 304 ).
- the haptic engine 300 may be further configured as described with reference to any of FIGS. 3-12E .
- the components shown in FIG. 13A include a capacitive force sensor 1302 that is at least partially attached to the haptic engine 300 .
- FIG. 13A also shows the button 316 described with reference to FIG.
- the capacitive force sensor 1302 may be configured to sense a force applied to the button 316 , and thereby to the rotor 306 , in response to user or other interaction with the button 316 (e.g., the capacitive force sensor 1302 may sense a force that is applied to the button 316 parallel to a rotor-to-stator gap, or a force applied to the button 316 which has a force component parallel to the rotor-to-stator gap).
- the capacitive force sensor 1302 is shown to include two force sensing elements 1302 a , each of which may be similarly configured.
- the two force sensing elements 1302 a may be positioned at different locations relative to a user interaction surface of the button 316 .
- the two force sensing elements 1302 a may be spaced apart along the housing 1320 , at opposite ends of the haptic engine 300 .
- the capacitive force sensor 1302 may include more force sensing elements (e.g., 3-4 force sensing elements, or 3-8 force sensing elements) or fewer force sensing elements (e.g., one force sensing element).
- the force sensing elements may be positioned in a one-dimensional array or two-dimensional array with respect to the user interaction surface of the button 316 .
- Each force sensing element 1302 a may include a set of electrodes 1304 , 1306 , and each set of electrodes may include a first electrode 1304 attached to the rotor 306 , and a second electrode 1306 attached to one of the stators (e.g., the first stator 302 ) and separated from the first electrode 1304 by a capacitive gap 1308 .
- the first electrode 1304 may be attached to an extension 1310 of the rotor's core, on a side of the core that faces the first stator 302 ; and the second electrode 1306 may be attached to an extension 1312 of the first stator 302 , on a side of the first stator 302 that faces the rotor 306 .
- the first electrode 1304 may be attached to or included in a first flex circuit 1314 (or printed circuit board) attached to the core, and the second electrode 1306 may be attached to or included in a second flex circuit 1316 (or printed circuit board) attached to the first stator 302 .
- the first flex circuit 1314 may carry power, ground, or other electrical signals to the first electrode 1304 , as well as to the rotor 306 .
- the first flex circuit 1314 may carry an electrical signal (e.g., power) to a coil (or coils) attached to the rotor 306 , to stimulate the haptic engine 300 to provide a haptic output.
- the second flex circuit 1316 may carry power, ground, or other electrical signals to the second electrode 1306 , as well as to a controller, processor, or other circuit 1318 coupled to the second flex circuit 1316 .
- the circuit 1318 may be coupled to the first flex circuit 1314 , or to both flex circuits 1314 , 1316 .
- the second flex circuit 1316 may also carry electrical signals away from the second electrode 1306 or circuit 1318 , or couple the second electrode 1306 to the circuit 1318 .
- the first and second flex circuits 1314 , 1316 may electrically isolate the first and second electrodes 1304 , 1306 from the core and first stator 302 .
- the first flex circuit 1314 may be adhesively bonded, clipped, or otherwise attached to the rotor core.
- the second flex circuit 1316 may be adhesively bonded, clipped, or otherwise attached to the first stator 302 .
- the circuit 1318 may be used to detect or measure a capacitance of the second electrode 1306 of each force sensing element 1302 a , and provide an indication of whether a force applied to the button 316 is detected.
- the first electrode 1304 may be driven with an electrical signal as the capacitance of the second electrode 1306 is measured.
- the circuit 1318 may also or alternatively indicate a value of a capacitance of the second electrode 1306 , which value may be routed to an off-module controller, processor, or other circuit via the second flex circuit 1316 .
- the circuit 1318 or an off-module circuit may use the different outputs of different force sensing elements (e.g., outputs of the two force sensing elements 1302 a shown in FIG. 13A ) to determine an amount of force applied to the button 316 or a location of a force applied to the button 316 (i.e., a force location). For example, measurements provided by different force sensing elements may be averaged or otherwise combined to determine an amount of force; or measurements provided by different force sensing elements, in combination with the locations of the force sensing elements with respect to a surface of the button, can be used to determine a force location.
- the circuit 1318 may provide a pattern of capacitances to the off-module circuit.
- the pattern of capacitances may indicate a type of force input to the button 316 (e.g., a particular command or input).
- the pattern of capacitances (or force pattern) provided by the circuit 1318 may be timing insensitive, or may include a pattern of capacitances sensed within a particular time period, or may include a pattern of capacitances and an indication of times between the capacitances.
- the signals carried by the first or second flex circuit 1314 , 1316 may include analog and/or digital signals (e.g., analog or digital indications of the presence, amount, or location of a force may be provided via analog and/or digital signals).
- the first and second flex circuits 1314 , 1316 may be electrically coupled, and the circuit 1318 may provide an electrical signal to the haptic engine 300 , to stimulate the haptic engine 300 to provide a haptic output, in response to detecting the presence of a force on the button 316 (or in response to determining that a particular amount of force, location of force, or pattern of force has been applied to the button 316 ).
- the circuit 1318 may provide a single type of electrical signal or haptic actuation waveform to the haptic engine 300 in response to determining that a force, or a particular type of force, has been applied to the button 316 .
- the circuit 1318 may identify a haptic actuation waveform associated with a particular type of force applied to the button 316 , and apply the identified haptic actuation waveform to the haptic engine 300 (e.g., to produce different types of haptic output in response to determining that different types of force have been applied to the button 316 ).
- different haptic actuation waveforms may have different amplitudes, different frequencies, and/or different patterns.
- FIG. 13A shows an example arrangement of flex circuits 1314 , 1316 in which the first flex circuit 1314 wraps around each of opposite ends of the rotor core, and the second flex circuit 1316 wraps around each of opposite ends of the first stator 302 .
- the portions of the first flex circuit 1314 shown at the left and right of FIG. 13A may be connected by another portion of the first flex circuit 1314 that extends between the two end portions.
- the portion of the first flex circuit 1314 that connects the two end portions may be bent or folded to extend perpendicularly to the two end portions (and in some cases, the folded portion may connected to an off-module circuit).
- the portions of the second flex circuit 1316 shown in FIG. 13A may be connected similarly to how the portions of the first flex circuit 1314 are connected, and may also be connected to an off-module circuit.
- FIG. 13B shows an alternative way to wrap a flex circuit around the rotor core 1358 (or alternatively the first stator 302 ) described with reference to FIG. 13A .
- the flex circuit 1350 may include a central portion 1352 that connects pairs of tab portions 1354 , 1356 at opposite ends of the central portion 1352 .
- One pair of tab portions 1354 extends perpendicularly from the central portion 1352 , over first and second opposite faces of the rotor core 1358 , near one end of the rotor core 1358 .
- Another pair of tab portions 1356 extends perpendicularly from the central portion 1352 , over the first and second opposite faces of the rotor core 1358 , near an opposite end of the rotor core 1358 .
- the flex circuit 1350 may be adhesively bonded, clipped, or otherwise attached to the rotor core 1358 .
- a flex circuit may be attached to the rotor or stator without wrapping the flex circuit around the rotor or stator.
- wrapping a flex circuit around a rotor core may provide a flex circuit surface for coil lead connections, if needed, or may increase the flex service loop length and flexibility, if needed.
- the rotor and stator flex circuits may be coupled by a hot bar or other element.
- FIG. 14A shows another cross-section of the components described with reference to FIG. 3 , but for the constraint (which may be included in a module including the components shown in FIG. 14A , but which is not shown in FIG. 14A ).
- the components include a haptic engine (e.g., a rotor positioned between first and second stators).
- the components include the haptic engine 300 (e.g., the rotor 306 positioned between first and second stators 302 , 304 ).
- the haptic engine 300 may be further configured as described with reference to any of FIGS. 3-12E .
- the components shown in FIG. 14A also include a capacitive force sensor 1402 that is at least partially attached to the haptic engine 300 .
- FIG. 14A also include a capacitive force sensor 1402 that is at least partially attached to the haptic engine 300 .
- the capacitive force sensor 1402 may be configured to sense a force applied to the button 316 , and thereby to the rotor 306 , in response to user or other interaction with the button 316 (e.g., the capacitive force sensor 1402 may sense a force that is applied to the button 316 parallel to a rotor-to-stator gap, or a force applied to the button 316 which has a force component parallel to the rotor-to-stator gap).
- the capacitive force sensor 1402 is shown to include two force sensing elements 1402 a , each of which may be similarly configured.
- the two force sensing elements 1402 a may be positioned at different locations relative to a user interaction surface of the button 316 .
- the two force sensing elements 1402 a may be spaced apart along the housing 1418 , at opposite ends of the haptic engine 300 .
- the capacitive force sensor 1402 may include more force sensing elements (e.g., 3-4 force sensing elements, or 3-8 force sensing elements) or fewer force sensing elements (e.g., one force sensing element).
- the force sensing elements may be positioned in a one-dimensional array or two-dimensional array with respect to the user interaction surface of the button 316 .
- Each force sensing element 1402 a may include a set of electrodes 1404 , 1406 , and each set of electrodes may include a first electrode 1404 attached to the rotor 306 , and a second electrode 1406 attached to one of the stators (e.g., the first stator 302 ) and separated from the first electrode 1404 by a capacitive gap 1408 .
- the first electrode 1404 may be attached to a flex circuit 1410 or clip connected (e.g., adhesively bonded or clipped) to the rotor's core
- the second electrode 1406 may be attached to the first stator 302 , on a side of the first stator 302 that faces the rotor 306 .
- the flex circuit 1410 or clip to which the first electrode 1404 is attached may include a central portion 1412 that faces the button 316 , and arms 1414 that extend perpendicularly from the central portion 1412 and are attached to the rotor 306 (e.g., to its core), as shown in FIGS. 14A & 14B .
- the second electrode 1406 may be attached to or included in a second flex circuit 1416 (or printed circuit board) attached to the first stator 302 .
- the flex circuits 1410 , 1416 may carry power, ground, or other electrical signals similarly to the first and second flex circuits 1314 , 1316 described with reference to FIG. 13A .
- a circuit may be electrically coupled to one or both of the flex circuits 1410 , 1416 and used to detect or measure a capacitance of the second electrode 1406 of each of the force sensing elements, and provide an indication of whether a force applied to the button 316 is detected.
- the circuit may also or alternatively indicate a value of a capacitance of the second electrode 1406 , which value may be routed to an off-module controller, processor, or other circuit via the second flex circuit 1416 .
- the circuit or an off-module circuit may use the different outputs of different force sensing elements (e.g., outputs of the two force sensing elements 1402 a shown in FIG.
- the circuit may provide a pattern of capacitances to the off-module circuit.
- the pattern of capacitances may indicate a type of force input to the button 316 (e.g., a particular command or input).
- the pattern of capacitances (or force pattern) provided by the circuit may be timing insensitive, or include a pattern of capacitances sensed within a particular time period, or include a pattern of capacitances and an indication of times between the capacitances.
- the signals carried by the flex circuits 1410 , 1416 may include analog and/or digital signals (e.g., analog or digital indications of the presence, amount, or location of a force may be provided via analog and/or digital signals).
- the flex circuits 1410 , 1416 may be electrically coupled, and a circuit coupled to the flex circuits 1410 , 1416 may provide an electrical signal to the haptic engine 300 , to stimulate the haptic engine to provide a haptic output, in response to detecting the presence of a force on the button 316 (or in response to determining that a particular amount of force, location of force, or pattern of force has been applied to the button 316 ).
- the circuit may provide one or more haptic actuation waveforms as described with reference to FIG. 13A .
- a capacitive force sensor may additionally or alternatively include other types of force sensing elements in which a first electrode of the force sensing element is attached to a movable portion of a module, and a second electrode of the force sensing element is attached to a stationary portion of the module and separated from the first electrode by a capacitive gap.
- the force sensing elements may be positioned within or outside a stator-to-rotor gap.
- FIG. 15 shows an example two-dimensional arrangement of force sensing elements 1500 , which force sensing elements 1500 may be incorporated into the force sensor described with reference to FIG. 13A or 14A , or into other force sensors.
- the example arrangement shown in FIG. 15 includes four force sensing elements 1500 disposed near the corners of a haptic engine (or near the corners of a button's user interaction surface).
- the force sensing elements 1500 may alternatively be distributed uniformly across a surface or volume 1502 .
- a two-dimensional array of force sensing elements 1500 can be used to determine what portion of a button is pressed, or to sense the components of a force applied in different directions (e.g., a side-to-side movement as might be provided to a ringer on/off switch).
- a one-dimensional array of force sensing elements 1500 can also be used to determine what portion of a button is pressed, but only along one button axis. In some embodiments, only three of the force sensing elements 1500 may be provided, or the force sensing elements 1500 may be disposed in different positions.
- a rotor core 1600 may include a first rigid plate 1602 and a second rigid plate 1604 having opposing surfaces joined by a third rigid plate 1606 to form an H-shaped core 1600 .
- a first pair of plates 1608 , 1610 may be stacked and welded to form the first rigid plate 1602
- a second pair of plates may be stacked and welded to form the second rigid plate 1604 .
- a third pair of plates may be stacked and welded to form the third rigid plate 1606 (not shown).
- FIG. 16B shows an alternative rotor core 1620 .
- a first pair of plates 1622 , 1624 may be positioned side-by-side and welded together such that first slot is formed between the plates 1622 , 1624 of the first pair.
- a second pair of plates 1626 1628 may also be positioned side-by-side and welded together such that a second slot is formed between the plates 1626 , 1628 of the second pair.
- Opposite sides of a fifth plate 1630 may be inserted into the respective first and second slots, and the first and second pairs of plates 1622 / 1624 , 1626 / 1628 may be welded to the opposite sides of the fifth plate 1630 .
- FIG. 16C shows another alternative rotor core 1640 .
- a first plate 1642 may have opposite side portions that are bent perpendicularly to a central portion of the first plate 1642 .
- a second plate 1644 may be formed similarly to the first plate 1642 , stacked on the first plate 1642 , and welded to the first plate 1642 such that corresponding side portions of the first and second plates 1642 1644 extend in opposite directions.
- a third plate 1646 may be welded to a first set of corresponding side portions of the first and second plates 1642 , 1644
- a fourth plate 1648 may be welded to a second set of corresponding side portions of the first and second plates 1642 1644 .
- any of the plates described with reference to FIGS. 16A-16C may include one plate or a set of two or more stacked plates.
- FIGS. 17A-17D show another example haptic engine 1700 (or button assembly).
- FIG. 17A shows an exploded isometric view of the haptic engine 1700 .
- FIG. 17B shows an isometric view of an inner surface of a first component 1704 of a stator 1702 of the haptic engine 1700 .
- FIG. 17C shows an assembled version of the haptic engine 1700 .
- FIG. 17D shows an assembled cross-section of the haptic engine 1700 .
- the haptic engine 1700 is an example of the haptic engine included in the button base 206 described with reference to FIGS. 2A & 2B , and in some cases may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine).
- the haptic engine 1700 may include one or more stationary portions and one or more movable portions, in addition to a constraint 1714 that is configured to constrain movement of the movable portion(s) relative to the stationary portion(s) and bias the movable portion(s) toward a rest position in which the movable portion(s) are separated from the stationary portion(s) by one or more gaps.
- the stationary portion(s) may include a ferritic stator 1702 including a set of two or four components (e.g., walls) 1704 , 1706 , 1708 , 1710 defining a channel
- the movable portion(s) may include a ferritic shuttle 1712 that is positioned in and movable within the channel.
- the shuttle 1712 When the components of the haptic engine 1700 are assembled, the shuttle 1712 may be separated from a first component 1704 of the stator 1702 by a first gap 1716 (e.g., a first shuttle-to-stator gap), and from a second component 1706 of the stator 1702 by a second gap 1718 (e.g., a second shuttle-to-stator gap).
- the shuttle 1712 may be configured to move linearly (e.g., translate along an axis 1720 that perpendicularly intersects the first and second components 1704 , 1706 of the stator 1702 .
- the constraint 1714 may constrain closure of the first and second gaps 1716 , 1718 and bias the shuttle 1712 toward a rest position in which the shuttle 1712 is separated from the first and second components 1708 , 1710 of the stator 1702 by the first and second gaps 1716 , 1718 .
- the shuttle 1712 may be magnetically attracted to one or the other of the first and second components 1708 , 1710 of the stator 1702 , and may contact (e.g., crash against) the stator 1702 in the absence of the constraint 1714 .
- a button 1722 may be mechanically coupled to the haptic engine 1700 .
- a button 1722 may be mechanically coupled to the shuttle 1712 such that movement of the shuttle 1712 may provide a haptic output to the button 1722 .
- the button 1722 may be attached to the shuttle 1712 by a screw that passes through holes 1724 , 1726 , 1728 in the second component 1706 of the stator 1702 , the shuttle 1712 , and the first component 1704 of the stator 1702 .
- the screw may be received by a threaded insert in a leg 1730 (or other button attachment member) of the button 1722 , and a head of the screw may bear against a surface of the shuttle 1712 .
- the constraint 1714 may include one or more flexures 714 a . Although two flexures 714 a are shown in FIG. 17A , only one flexure 1714 a may be included in some embodiments.
- Each flexure 1714 a may have shuttle attachment portions 1732 a , 1732 b on either side of a stator attachment portion 1734 .
- the stator attachment portion 1734 of each flexure may extend along one side of a pair of opposite sides, and may be spaced apart from the shuttle 1712 (e.g., by a gap 1716 or gap 1718 ).
- An assembly including the flexures 1714 a and the shuttle 1712 may be combined with the stator 1702 by positioning the third and fourth components 1708 , 1710 of the stator 1702 within the gaps 1716 , 1718 .
- the third and fourth components 1708 , 1710 may only partially fill the gaps 1716 , 1718 , thereby leaving space for the shuttle 1712 to translate.
- the stator attachment portion 1734 of one flexure 1714 a may be attached to the third component 1708 of the stator 1702
- the stator attachment portion 1734 of the other flexure 1714 a may be attached to the fourth component 1710 of the stator 1702 .
- a clamp 1736 (e.g., a stiffening clamp) may be welded or otherwise attached to the stator attachment portion 1734 of a flexure 1714 a and used to limit the flex of the flexure 1714 a along the stator attachment portion 1734 .
- the flexure 1714 a may extend in a direction transverse to a direction of linear movement of the shuttle 1712 , and may be spaced apart from a first side of the shuttle 1712 that is transverse to the direction of linear movement.
- the flexure 1714 a may connect at least one side of the shuttle 1712 , other than the first side, to the stator 1702 .
- the shuttle attachment portions 1732 a , 1732 b (e.g., one or more arms or extensions extending from the stator attachment portion 1734 ) of a flexure 1714 a may be attached to opposite sides or ends of the shuttle 1712 , along an axis transverse to the axis 1720 along which the shuttle 1712 translates.
- the shuttle attachment portions 1732 a or 1732 b of different flexures 1714 a which shuttle attachment portions 1732 a or 1732 b are attached to a same end of the shuttle 1712 , may be mechanically coupled by a clamp 1738 (e.g., a stiffening clamp).
- the flexure 1714 a may constrain movement of the shuttle 1712 to translation movement along the axis 1720 , and may provide a linearly consistent stiffness opposing the translation movement.
- the flexures 1714 a may be metal flexures.
- Each of the flexures 1714 a may function similarly to the flexure 314 a described with reference to FIG. 3 .
- the constraint 1714 may alternatively or additionally include a set of one or more elastomers (e.g., one or more elastomeric pads, such as silicone pads) or other compliant material(s) 1714 b .
- the compliant material(s) 1714 b may be disposed (positioned) between the first component 1704 of the stator 1702 and the shuttle 1712 , and/or between the second component 1706 of the stator 1702 and the shuttle 1712 .
- the compliant material(s) 1714 b may constrain movement of the shuttle 1712 and bias the shuttle 1712 toward a rest position that maintains the gaps 1716 and 1718 .
- the compliant material(s) 1714 b may also damp movement of the shuttle 1712 .
- the compliant material(s) 1714 b may be adhesively bonded to the component 1704 or 1706 of the stator 1702 and the shuttle 1712 .
- the compliant material(s) 1714 b may be distributed in a two or three-dimensional array.
- Each of the flexure 1714 a and/or the compliant material(s) 1714 b may be configured to provide a first stiffness opposing the linear movement of the shuttle 1712 , and a second stiffness opposing a force applied to the button 1722 (i.e., asymmetric first and second stiffnesses). This can enable the stiffnesses to be individually adjusted (e.g., to separately tune the force input and haptic output user experiences for the button 1722 ).
- the haptic engine 1700 may include one or more permanent magnets 1740 (e.g., two permanent magnets 1740 ) mounted to one or each of the first and second housing components 1704 , 1706 of the stator 1702 , and one or more coils 1742 wound around an inward extension of one or more of the third and fourth components 1708 , 1710 of the stator 1702 .
- the permanent magnets 1740 may be disposed on first opposite sides of the shuttle 1712 , in planes parallel to the axis 1720 along which the shuttle 1712 translates.
- Each of the permanent magnets 1740 may be magnetized toward the shuttle 1712 , with the permanent magnets 1740 on one side of the shuttle 1712 opposing the permanent magnets 1740 on the other side of the shuttle 1712 .
- the coils 1742 may be disposed on second opposite sides of the shuttle 1712 and wound in planes that bisect the axis 1720 along which the shuttle 1712 translates.
- the coils 1742 may be electrically connected in series or in parallel.
- a parallel connection of the coils 1742 may provide a reduction in the total resistance of the coils 1742 , and/or may enable the use of a thinner wire to achieve the same resistance as a series connection of the coils 1742 .
- permanent magnets may be positioned on two or four sides of the shuttle 1712 . In the case of four permanent magnets, the sides that include the permanent magnets would not be used for the coils. In some alternative embodiments, the coils may be combined on one side of the shuttle 1712 .
- the permanent magnets may be attached to the stator or the shuttle. When the coils 1742 are stimulated by an electrical signal (e.g., a current), the flux of a magnetic bias field created by the permanent magnets may be selectively increased, and the shuttle 1712 may overcome the biasing forces of the constraints 1714 and translate along the axis 1720 .
- an electrical signal e.g., a current
- the flux is “selectively” increased in that it is increased on some faces of the shuttle 1712 and decreased on opposing faces, resulting in an increased net translational force that provides or increases a force along the axis 1720 of the shuttle 1712 .
- one or more permanent magnets and coils may be positioned about (or on) the shuttle 1712 in other ways.
- a force sensor 1744 may be at least partially attached to the haptic engine 1700 and configured to sense a force applied to the module (e.g., a force applied to a user interaction surface of the button 1722 , which force is received by the shuttle 1712 , the stator 1702 , or a housing for the haptic engine 1700 ).
- the force sensor 1744 may include one or more strain sensors 1744 a attached to an exterior surface of the second component 1706 of the stator 1702 , or to other surfaces of the stator 1702 .
- the strain sensors 1744 a may be formed on a flex circuit 1746 , and the flex circuit 1746 may be adhesively bonded or otherwise attached to a surface of the stator 1702 .
- one or more strain sensors may be attached to the flexure 1714 a (e.g., at or near a shuttle attachment portion 1732 a , 1732 b or elsewhere), or to another component.
- the strain sensor(s) 1744 a may flex. Outputs of the strain sensor(s) 1744 a may change in a manner that is related to the amount or location of the force applied to the button 1722 .
- the strain sensors 1744 a may be positioned elsewhere on the haptic engine 1700 , or on a housing of the haptic engine 1700 .
- the force sensor 1744 may additionally or alternatively include a capacitive force sensor or other type of force sensor, such as a capacitive force sensor having first and second spaced apart electrodes mounted in a gap between the first component 1704 of the stator 1702 and the shuttle 1712 , or a capacitive force sensor having first and second spaced apart electrodes mounted between the button 1722 and the first component 1704 of the stator 1702 .
- the flex circuit 1746 may include a circuit such as the circuit 1318 described with reference to FIG. 13A . In some embodiments, the flex circuit 1746 may be electrically coupled to an off-module processor, controller, or other circuit. In some embodiments, the flex circuit 1746 , or another flex circuit that may or may not be coupled to the flex circuit 1746 , may be electrically coupled to the coils 1742 .
- the button 1722 may have a user interaction surface that extends parallel (or substantially parallel) to the axis 1720 along which the shuttle 1712 translates.
- the button 1722 may have a user interaction surface that extends transverse to (e.g., intersects) the axis 1720 along which the shuttle 1712 translates, and the attachment member 1730 may extend through or around the flexure 1714 a and fourth housing component 1710 of the stator 1702 .
- the button 1722 may move in and out with respect to an exterior surface of a housing, instead of translating along an exterior surface of the housing.
- FIG. 18 illustrates an example method 1800 of providing a haptic response to a user.
- the method 1800 may be performed by, or using, any of the modules or button assemblies described herein.
- the method 1800 may also be performed by, or using, other modules or button assemblies.
- the method 1800 may include constraining relative motion between a stationary portion and a movable portion of a haptic engine, to bias the movable portion toward a rest position in which the movable portion is separated from the stationary portion by a gap, and to constrain closure of the gap.
- the movable portion may be mechanically coupled to a button.
- the relative motion between the stationary portion and the movable portion may be constrained to a pivot of the movable portion with respect to the stationary portion.
- the relative motion between the stationary portion and the movable portion is constrained to translation of the movable portion along an axis.
- the operation(s) at block 1802 may be performed by one or more of the constrains described herein.
- the method 1800 may include determining a force applied to the button using a force sensor (e.g., a capacitive force sensor, a strain sensor, a tactile switch, and so on).
- a force sensor e.g., a capacitive force sensor, a strain sensor, a tactile switch, and so on.
- the operation(s) at block 1804 may be performed by one or more of the force sensors described herein.
- the method 1800 may include determining the determined force matches a predetermined force.
- the operation(s) at block 1806 may be performed by one or more of the on-module or off-module circuits described herein.
- the method 1800 may include identifying a haptic actuation waveform associated with the predetermined force.
- different haptic actuation waveforms may have different amplitudes, different frequencies, and/or different patterns.
- the operation(s) at block 1808 may be performed by one or more of the on-module or off-module circuits described herein.
- the method 1800 may include applying the haptic actuation waveform to the haptic engine.
- the operation(s) at block 1810 may be performed by one or more of the on-module or off-module circuits described herein.
- the force sensor may include at least two force sensing elements positioned at different locations relative to a user interaction surface of the button, and the force may be determined using different outputs of the different force sensing elements, as described, for example, with reference to FIGS. 13A 14 A.
- the determined force may include a determined amount of force
- the predetermined force may include a predetermined amount of force
- the determined force may include a determined force location
- the predetermined force may include a predetermined force location.
- the determined force may include a determined force pattern
- the predetermined force may include a predetermined force pattern
- the relative motion between the stationary portion and the movable portion may be constrained to translation along an axis transverse to a direction of the force applied to the button.
- the relative motion may be constrained to translation along an axis parallel to the direction of the force applied to the button.
- the method 1800 may include measuring the gap, between the movable and stationary portions of the haptic engine, and controlling the gap's width in a closed loop fashion (e.g., to provide haptic output, or to maintain the gap width when no haptic output is being provided).
- the gap width may be measured capacitively, optically, or by other means.
- the method 1800 may not include the operations at blocks 1808 and 1810 , and may instead include the operation of taking an action associated with the predetermined force, without providing a haptic output.
- the method 1800 may include providing an input to an application or utility running on a device, altering the output of a user interface (e.g., a display) of the device, providing an audible notification, etc.
- FIG. 19 shows a sample electrical block diagram of an electronic device 1900 , which may be the electronic device described with reference to FIGS. 1A-1C .
- the electronic device 1900 may include a display 1902 (e.g., a light-emitting display), a processor 1904 , a power source 1906 , a memory 1908 or storage device, a sensor system 1910 , and an input/output (I/O) mechanism 1912 (e.g., an input/output device and/or input/output port).
- the processor 1904 may control some or all of the operations of the electronic device 1900 .
- the processor 1904 may communicate, either directly or indirectly, with substantially all of the components of the electronic device 1900 .
- a system bus or other communication mechanism 1914 may provide communication between the processor 1904 , the power source 1906 , the memory 1908 , the sensor system 1910 , and/or the input/output mechanism 1912 .
- the processor 1904 may be implemented as any electronic device capable of processing, receiving, or transmitting data or instructions.
- the processor 1904 may be a microprocessor, a central processing unit (CPU), an application-specific integrated circuit (ASIC), a digital signal processor (DSP), or combinations of such devices.
- the term “processor” is meant to encompass a single processor or processing unit, multiple processors, multiple processing units, or other suitably configured computing element or elements.
- the processor 1904 may include or be an example of the circuit 1318 described with reference to FIG. 13A .
- the components of the electronic device 1900 may be controlled by multiple processors. For example, select components of the electronic device 1900 may be controlled by a first processor and other components of the electronic device 1900 may be controlled by a second processor, where the first and second processors may or may not be in communication with each other.
- the power source 1906 may be implemented with any device capable of providing energy to the electronic device 1900 .
- the power source 1906 may be one or more batteries or rechargeable batteries.
- the power source 1906 may be a power connector or power cord that connects the electronic device 1900 to another power source, such as a wall outlet.
- the memory 1908 may store electronic data that may be used by the electronic device 1900 .
- the memory 1908 may store electrical data or content such as, for example, audio and video files, documents and applications, device settings and user preferences, timing signals, control signals, data structures or databases, image data, or focus settings.
- the memory 1908 may be configured as any type of memory.
- the memory 1908 may be implemented as random access memory, read-only memory, Flash memory, removable memory, other types of storage elements, or combinations of such devices.
- the electronic device 1900 may also include one or more sensors defining the sensor system 1910 .
- the sensors may be positioned substantially anywhere on the electronic device 1900 .
- the sensor(s) may be configured to sense substantially any type of characteristic, such as but not limited to, touch, force, pressure, light, heat, movement, relative motion, biometric data, and so on.
- the sensor system 1910 may include a touch sensor, a force sensor, a heat sensor, a position sensor, a light or optical sensor, an accelerometer, a pressure sensor (e.g., a pressure transducer), a gyroscope, a magnetometer, a health monitoring sensor, and so on.
- the one or more sensors may utilize any suitable sensing technology, including, but not limited to, capacitive, ultrasonic, resistive, optical, ultrasound, piezoelectric, and thermal sensing technology.
- the sensor(s) may include the force sensor in any of the modules or button assemblies described herein.
- the I/O mechanism 1912 may transmit and/or receive data from a user or another electronic device.
- An I/O device may include a display, a touch sensing input surface such as a track pad, one or more buttons (e.g., a graphical user interface “home” button, or one of the buttons described herein), one or more cameras, one or more microphones or speakers, one or more ports such as a microphone port, and/or a keyboard. Additionally or alternatively, an I/O device or port may transmit electronic signals via a communications network, such as a wireless and/or wired network connection. Examples of wireless and wired network connections include, but are not limited to, cellular, Wi-Fi, Bluetooth, IR, and Ethernet connections.
- the I/O mechanism 1912 may also provide feedback (e.g., a haptic output) to a user, and may include the haptic engine of any of the modules or button assemblies described herein.
Abstract
Description
- The described embodiments generally relate to a button that provides force sensing and/or haptic output. More particularly, the described embodiments relate to a button having a force sensor (or tactile switch) that may trigger operation of a haptic engine of the button, and to alternative embodiments of a haptic engine for a button. The haptic engine may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine).
- A device such as a smartphone, tablet computer, or electronic watch may include a button that is usable to provide input to the device. In some cases, the button may be a volume button. In some cases, the button may be context-sensitive, and may be configured to receive different types of input based on an active context (e.g., an active utility or application) running on the device. Such a button may be located along a sidewall of a device, and may move toward the sidewall when a user presses the button. Pressing the button with an applied force that exceeds a threshold may trigger actuation (e.g., a state change) of a mechanical switch disposed behind the button. In some cases, a button may pivot along the sidewall. For example, the top of the button may be pressed and pivot toward the sidewall to increase a sound volume, or the bottom of the button may be pressed and pivot toward the sidewall to decrease the sound volume.
- Embodiments of the systems, devices, methods, and apparatus described in the present disclosure are directed to a button that provides force sensing and/or haptic output. In some cases, a button may be associated with a force sensor (or tactile switch) that triggers operation of a haptic engine in response to detecting a force (or press) on the button. The haptic engine may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine).
- In a first aspect, the present disclosure describes a module having a permanent magnet biased electromagnetic haptic engine. The haptic engine may include a stator and a shuttle. A constraint may be coupled to the stator and the shuttle. A force sensor may be at least partially attached to the permanent magnet biased electromagnetic haptic engine, and may be configured to sense a force applied to the module. The constraint may be configured to constrain closure of a gap between the stator and the shuttle and bias the shuttle toward a rest position in which the shuttle is separated from the stator by the gap.
- In another aspect, the present disclosure describes another module. The module may include a haptic engine, a force sensor, and a constraint. The haptic engine may include a stationary portion and a movable portion. The movable portion may be configured to move linearly, when the haptic engine is stimulated by an electrical signal, to provide a haptic output. The force sensor may be at least partially attached to the haptic engine and configured to sense a force applied to the module. The constraint may be configured to constrain movement of the movable portion relative to the stationary portion and bias the movable portion toward a rest position in which the movable portion is separated from the stationary portion by a gap.
- In still another aspect of the disclosure, a method of providing a haptic response to a user is described. The method may include constraining relative motion between a stationary portion and a movable portion of a haptic engine, to bias the movable portion toward a rest position in which the movable portion is separated from the stationary portion by a gap, and to constrain closure of the gap. The method may further include determining a force applied to a button using a force sensor, where the button is mechanically coupled to the movable portion; determining the determined force matches a predetermined force; identifying a haptic actuation waveform associated with the predetermined force; and applying the haptic actuation waveform to the haptic engine. The relative motion between the stationary portion and the movable portion may be constrained to translation of the movable portion along an axis.
- In addition to the aspects and embodiments described above, further aspects and embodiments will become apparent by reference to the drawings and by study of the following description.
- The disclosure will be readily understood by the following detailed description in conjunction with the accompanying drawings, wherein like reference numerals designate like structural elements, and in which:
-
FIGS. 1A-1C show an example of an electronic device; -
FIGS. 2A & 2B show partially exploded views of button assemblies in relation to a housing; -
FIG. 2C shows a cross-section of an alternative configuration of a button assembly; -
FIG. 3 shows an exploded view of an example haptic engine; -
FIGS. 4A-4C show an assembled cross-section of the haptic engine and button described with reference toFIG. 3 ; -
FIGS. 5-8, 9A & 9B show alternatives to the haptic engine described with reference toFIGS. 4A-4C ; -
FIGS. 10A, 10B, 11A, 11B & 12A-12E show example embodiments of rotors; -
FIG. 13A shows a cross-section of the components described with reference toFIG. 3 , with an alternative force sensor; -
FIG. 13B shows an alternative way to wrap a flex circuit around the rotor core (or alternatively the first stator) described with reference toFIG. 13A ; -
FIG. 14A shows another cross-section of the components described with reference toFIG. 3 , with another alternative force sensor; -
FIG. 14B shows an isometric view of a flex circuit used to implement the force sensor described with reference toFIG. 14A ; -
FIG. 15 shows an example two-dimensional arrangement of force sensing elements; -
FIGS. 16A-16C , there are shown alternative configurations of a rotor core; -
FIGS. 17A-17D show another example haptic engine; -
FIG. 18 illustrates an example method of providing a haptic response to a user; and -
FIG. 19 shows a sample electrical block diagram of an electronic device. - The use of cross-hatching or shading in the accompanying figures is generally provided to clarify the boundaries between adjacent elements and also to facilitate legibility of the figures. Accordingly, neither the presence nor the absence of cross-hatching or shading conveys or indicates any preference or requirement for particular materials, material properties, element proportions, element dimensions, commonalities of similarly illustrated elements, or any other characteristic, attribute, or property for any element illustrated in the accompanying figures.
- Additionally, it should be understood that the proportions and dimensions (either relative or absolute) of the various features and elements (and collections and groupings thereof) and the boundaries, separations, and positional relationships presented therebetween, are provided in the accompanying figures merely to facilitate an understanding of the various embodiments described herein and, accordingly, may not necessarily be presented or illustrated to scale, and are not intended to indicate any preference or requirement for an illustrated embodiment to the exclusion of embodiments described with reference thereto.
- Reference will now be made in detail to representative embodiments illustrated in the accompanying drawings. It should be understood that the following description is not intended to limit the embodiments to one preferred embodiment. To the contrary, it is intended to cover alternatives, modifications, and equivalents as can be included within the spirit and scope of the described embodiments as defined by the appended claims.
- Described herein are techniques that enable a button to provide force sensing and/or haptic output functionality. In some cases, a button may be associated with a force sensor that triggers operation of a haptic engine in response to detecting a force on the button. In other cases, the force sensing and haptic output functions may be decoupled. The haptic engine may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine)—e.g., a haptic engine having a rotor or shuttle that is biased by one or more permanent magnets, and electromagnetically actuated.
- In some embodiments, the haptic engine and force sensor associated with a button may be combined in a single module.
- In some embodiments, the force sensor associated with a button may include a plurality of force sensing elements distributed in one, two, or three dimensions. Such force sensing elements may be used to determine both the amount of force applied to the button, as well as a location of the force. In this manner, and by way of example, a button that does not move when pressed may be operated as the functional equivalent of a button that can be pressed in multiple locations, such as a volume button that can be pressed along a top portion or a bottom portion to increase or lower a sound volume.
- In some embodiments, the force sensor associated with a button may sense a force pattern applied to a button, such as a sequence of longer or shorter presses. The force sensor may also or alternatively be configured to distinguish a button tap from a button press having a longer duration.
- In some embodiments, the haptic engine associated with a button may be driven using different haptic actuation waveforms, to provide different types of haptic output. The different haptic actuation waveforms may provide different haptic output at the button. In some embodiments, a processor, controller, or other circuit associated with a button, or a circuit in communication with the button, may determine whether a force applied to the button matches a predetermined force, and if so, stimulate the haptic engine using a particular haptic actuation waveform that has been paired with the predetermined force. A haptic engine may also be stimulated using different haptic actuation waveforms based on a device's context (e.g., based on an active utility or application).
- In some embodiments, a module providing force sensing and haptic output functionality may be programmed to customize the manner in which force sensing is performed or haptic output is provided.
- Various of the described embodiments may be operated at low power or provide high engine force density (e.g., a high force with low travel). In an embodiment incorporating the features described with reference to
FIGS. 3, 4A-4C, 10A-10B , & 13A, a haptic output providing nearly 2 Newtons (N) of force (e.g., 1 N of rotational force on one side of a rotor and 1N of rotational force on the other side of the rotor, providing a net rotational force of 2 N) and a torque of 2.5 N-millimeters (Nmm) has been generated with a haptic engine volume of less than 150 cubic millimeters (mm3) and button travel of ±0.10 mm. Such performance is significantly better than the haptic output of known button alternatives of similar and larger size. - The haptic engine embodiments described herein can provide a haptic output force that increases linearly with the current applied to the haptic engine and movement of a rotor or shuttle.
- These and other embodiments are described with reference to
FIGS. 1A-19 . However, those skilled in the art will readily appreciate that the detailed description given herein with respect to these figures is for explanatory purposes only and should not be construed as limiting. - Directional terminology, such as “top”, “bottom”, “upper”, “lower”, “front”, “back”, “over”, “under”, “above”, “below”, “left”, “right”, etc. is used with reference to the orientation of some of the components in some of the figures described below. Because components in various embodiments can be positioned in a number of different orientations, directional terminology is used for purposes of illustration only and is in no way limiting. The directional terminology is intended to be construed broadly, and therefore should not be interpreted to preclude components being oriented in different ways. The use of alternative terminology, such as “or”, is intended to indicate different combinations of the alternative elements. For example, A or B is intended to include, A, or B, or A and B.
-
FIGS. 1A-1C show an example of an electronic device or simply “device” 100. The device's dimensions and form factor, including the ratio of the length of its long sides to the length of its short sides, suggest that thedevice 100 is a mobile phone (e.g., a smartphone). However, the device's dimensions and form factor are arbitrarily chosen, and thedevice 100 could alternatively be any portable electronic device including, for example a mobile phone, tablet computer, portable computer, portable music player, health monitor device, portable terminal, or other portable or mobile device.FIG. 1A shows a front isometric view of thedevice 100;FIG. 1B shows a rear isometric view of thedevice 100; andFIG. 1C shows a cross-section of thedevice 100. Thedevice 100 may include ahousing 102 that at least partially surrounds adisplay 104. Thehousing 102 may include or support afront cover 106 or arear cover 108. Thefront cover 106 may be positioned over thedisplay 104, and may provide a window through which thedisplay 104 may be viewed. In some embodiments, thedisplay 104 may be attached to (or abut) thehousing 102 and/or thefront cover 106. - As shown in
FIGS. 1A & 1B , thedevice 100 may include various other components. For example, the front of thedevice 100 may include one or more front-facingcameras 110,speakers 112, microphones, or other components 114 (e.g., audio, imaging, or sensing components) that are configured to transmit or receive signals to/from thedevice 100. In some cases, a front-facingcamera 120, alone or in combination with other sensors, may be configured to operate as a bio-authentication or facial recognition sensor. Thedevice 100 may also include various input devices, including a mechanical orvirtual button 116, which may be located along the front surface of thedevice 100. Thedevice 100 may also include buttons or other input devices positioned along a sidewall of thehousing 102 and/or on rear surface of thedevice 100. For example, a volume button ormultipurpose button 118 may be positioned along the sidewall of thehousing 102, and in some cases may extend through an aperture in the sidewall. By way of example, the rear surface of thedevice 100 is shown to include a rear-facingcamera 120 or other optical sensor (see,FIG. 1B ). A flash or light source may also be positioned along the rear of the device 100 (e.g., near the camera 120). In some cases, the rear surface of the device may include multiple rear-facing cameras. - As discussed previously, the
device 100 may include adisplay 104 that is at least partially surrounded by thehousing 102. Thedisplay 104 may include one or more display elements including, for example, a light-emitting display (LED), organic light-emitting display (OLED), liquid crystal display (LCD), electroluminescent display (EL), or other type of display element. Thedisplay 104 may also include one or more touch and/or force sensors that are configured to detect a touch and/or a force applied to a surface of thecover 106. The touch sensor may include a capacitive array of nodes or elements that are configured to detect a location of a touch on the surface of thecover 106. The force sensor may include a capacitive array and/or strain sensor that is configured to detect an amount of force applied to the surface of thecover 106. -
FIG. 1C depicts a cross-section of thedevice 100 shown inFIGS. 1A and 1B . As shown inFIG. 1C , therear cover 108 may be a discrete or separate component that is attached to thesidewall 122. In other cases, therear cover 108 may be integrally formed with part or all of thesidewall 122. - As shown in
FIG. 1C , thesidewall 122 orhousing 102 may define aninterior volume 124 in which various electronic components of thedevice 100, including thedisplay 104, may be positioned. In this example, thedisplay 104 is at least partially positioned within the internal volume 128 and attached to an inner surface of thecover 106. A touch sensor, force sensor, or other sensing element may be integrated with thecover 106 and/or thedisplay 104 and may be configured to detect a touch and/or force applied to an outer surface of thecover 106. In some cases, the touch sensor, force sensor, and/or other sensing element may be positioned between thecover 106 and thedisplay 104. - The touch sensor and/or force sensor may include an array of electrodes that are configured to detect a location and/or force of a touch using a capacitive, resistive, strain-based, or other sensing configuration. The touch sensor may include, for example, a set of capacitive touch sensing elements, a set of resistive touch sensing elements, or a set of ultrasonic touch sensing elements. When a user of the device touches the
cover 106, the touch sensor (or touch sensing system) may detect one or more touches on thecover 106 and determine locations of the touches on thecover 106. The touches may include, for example, touches by a user's finger or stylus. A force sensor or force sensing system may include, for example, a set of capacitive force sensing elements, a set of resistive force sensing elements, or one or more pressure transducers. When a user of thedevice 100 presses on the cover 106 (e.g., applies a force to the cover 106), the force sensing system may determine an amount of force applied to thecover 106. In some embodiments, the force sensor (or force sensing system) may be used alone or in combination with the touch sensor (or touch sensing system) to determine a location of an applied force, or an amount of force associated with each touch in a set of multiple contemporaneous touches. -
FIG. 1C further shows thebutton 118 along thesidewall 122 The button may be accessible to a user of thedevice 100 and extend outward from thesidewall 122. In some cases, a portion of thebutton 118 may be positioned within a recess in thesidewall 122. Alternatively, theentire button 118 may be positioned within a recess in thesidewall 122, and thebutton 118 may be flush with the housing or inset into the housing. - The button may extend through the housing and attach to a haptic engine and force sensor. In some embodiments, the haptic engine and force sensor may be combined in a
single module 126. By way of example, the haptic engine may include a permanent magnet biased electromagnetic haptic engine, or a permanent magnet normal flux electromagnetic haptic engine. Also by way of example, the haptic engine may cause the button to pivot back-and-forth in relation to an axis, translate back-in forth parallel to thesidewall 122, or translate back-and-forth transverse to thesidewall 122. The force sensor may include, for example, a capacitive force sensor, a resistive force sensor, an ultrasonic force sensor, or a pressure sensor. -
FIG. 2A shows a partially exploded view of abutton assembly 200 in relation to a housing (e.g., the sidewall 202). Thebutton assembly 200 may include abutton 204 and abutton base 206. Thebutton base 206 may be mechanically coupled to an interior of the housing. For example, thebutton base 206 may be mounted to an interior of thesidewall 202, which may be an example of thesidewall 122 described with reference toFIGS. 1A-1C . Thebutton base 206 may be mechanically coupled to thesidewall 202 by one ormore screws 208 that extend through one ormore holes 210 in thebutton base 206. Eachscrew 208 may be threaded into ahole 212 along an interior surface of thesidewall 202 such that a screw head of thescrew 208 bears against a surface of thebutton base 206 opposite thesidewall 202 and holds thebutton base 206 against thesidewall 202. Thebutton base 206 may also or alternatively be mechanically coupled to the interior surface of thesidewall 202 by other means, such as by an adhesive or welds. In some embodiments, an o-ring, leap seal, diaphragm seal, or other type of seal may be positioned or formed between eachleg 216 of thebutton 204 and thesidewall 202. Alternatively or additionally, a gasket or seal may be positioned or formed between thebutton base 206 andsidewall 202. The gasket or seal may prevent moisture, dirt, or other contaminants from entering a device through a button base-to-sidewall interface. In some cases, thesidewall 202 may have arecess 214 in which part or all of thebutton 204 may reside, or over which part or all of thebutton 204 may be positioned. In other cases, thesidewall 202 need not have such arecess 214. - The
button base 206 may include a haptic engine and a force sensor (e.g., a capacitive force sensor or strain sensor). The haptic engine may include a stationary portion (e.g., a stator) and a movable portion (e.g., a rotor or shuttle). In some cases, the haptic engine may include multiple stationary portions (e.g., a first stator and a second stator, a button base housing, and so on) or multiple movable portions. One or more components of the haptic engine (e.g., one or more of the stationary portion(s) and/or movable portion(s)) may be stimulated to provide a haptic output to thebutton 204. For example, an electrical signal (e.g., an alternating current) may be applied to a coil (i.e., a conductive coil) wound around a stationary or movable portion of the haptic engine, thereby selectively increasing the flux of a magnetic field produced by one or more permanent magnets that bias the haptic engine, and periodically reversing the direction of the flux to cause the movable portion(s) to move with respect to the stationary portion(s) and provide a haptic output as the movable portion(s) move back-and-forth. The flux is “selectively” increased in that it is increased on some faces of a rotor or shuttle and decreased on opposing faces, resulting in an increased net rotational force that provides or increases a torque about an axis of a rotor, or an increased net translational force that provides or increases a force along an axis of a shuttle. In cases where the movable portion includes a rotor, the movable portion may be configured to move non-linearly (e.g., pivot) when the haptic engine is stimulated to provide a haptic output. In cases where the movable portion includes a shuttle, the movable portion may be configured to move linearly (e.g., translate) when the haptic engine is stimulated to provide a haptic output. In some cases, thebutton base 206 may include a constraint, which constraint may be configured to constrain movement of the movable portion(s) relative to the stationary portion(s) (e.g., constrain closure of a gap between a movable portion and a stationary portion), bias the movable portion toward a rest position in which the movable portion is separated from the stationary portion by a gap, and/or guide or constrain motion to motion along a desired path. - The
button 204 may have a first major surface and a second major surface. The first major surface may be a user interaction surface that faces away from thesidewall 202, and the second major surface may be a device-facing surface that faces toward thesidewall 202. One ormore legs 216 may extend perpendicularly from the second major surface. By way of example, twolegs 216 are shown inFIG. 2A . Thelegs 216 may be aligned with and inserted throughrespective holes sidewall 202 andbutton base 206, and may be mechanically coupled to the movable portion of the haptic engine. In some cases, the leg(s) 216 may be mechanically coupled to the movable portion by one ormore screws 222 that extend through one or more holes in the movable portion. Eachscrew 222 may be threaded into a hole in arespective leg 216 of thebutton 204 such that a screw head of thescrew 222 bears against a surface of the movable portion opposite theleg 216 and mechanically couples thebutton 204 to the movable portion. - The force sensor may include components attached to one or more components of the haptic engine, or more generally, to the
button base 206. In some embodiments, different components of the force sensor may be attached to the movable portion or stationary portion of the haptic engine, and may be separated by a capacitive gap. A force applied to the button (e.g., a user's press) may cause the movable portion to move toward or away from the stationary portion, thereby changing the width of the capacitive gap and enabling the applied force (or an amount or location of the applied force) to be detected. In some embodiments, the force sensor may include one or more strain sensors disposed on thebutton base 206 orbutton 204. In these latter embodiments, flex of the button base 206 (e.g., the housing of, or a mount for, the button base 206), one or more components within the button base 206 (e.g., a stator, rotor, shuttle, or other component capable of flexing), or thebutton 204, in response to a force applied to thebutton 204, may cause a change in the output of a strain sensor (e.g., a strain gauge), which output enable the applied force (or an amount or location of the applied force) to be detected. - As shown in phantom in
FIG. 2A , the configuration of thebutton base 206 may enable it to be used with different sizes, shapes, or styles of buttons (e.g.,button 204 or button 224). In alternative embodiments, and as shown inFIG. 2B , abutton 226 may be permanently or semi-permanently attached to a button base 228 (e.g., by one or more welds). In these embodiments, asidewall 230 of a housing may include anopening 232 through which thebutton 226 may be inserted before thebutton base 228 is mechanically coupled to the sidewall 230 (e.g., using one or more screws 222). -
FIG. 2C shows a cross-section of an alternative configuration of abutton assembly 234. The cross-section shows portions of adevice sidewall 236, with abutton 238 extending through an opening in thesidewall 236. Abutton base 240 may be attached to an interior of thesidewall 236 by an adhesive, welds, orother attachment mechanism 242, and thebutton 238 may be removably or semi-permanently attached to thebutton base 240, as described with reference toFIG. 2A or 2B for example. In the embodiment shown inFIG. 2C , the button base 240 (and in some cases a stator portion of the button base 240) may form a portion of thesidewall 236 that faces the button 238 (e.g., a portion of thesidewall 236 below the button 238). An o-ring or other type ofseal 244 may surround each leg of thebutton 238 to prevent moisture and debris from entering thebutton base 240 or interfering with other components interior to thesidewall 236. -
FIG. 3 shows an exploded view of an examplehaptic engine 300. Thehaptic engine 300 is an example of the haptic engine included in thebutton base 206 described with reference toFIGS. 2A & 2B , and in some cases may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine). - The
haptic engine 300 may include one or more stationary portions and one or more movable portions, in addition to a constraint 314 that is configured to constrain movement of the movable portion(s) relative to the stationary portion(s) and bias the movable portion(s) toward a rest position in which the movable portion(s) are separated from the stationary portion(s) by one or more gaps. By way of example, the stationary portion(s) may include a pair of ferritic stators (e.g., afirst stator 302 and a second stator 304), and the movable portion(s) may include arotor 306 that is positioned between the first andsecond stators second stators more brackets stators haptic engine 300 are assembled, therotor 306 may be separated from thefirst stator 302 by a first gap 308 (e.g., a first rotor-to-stator gap), and from thesecond stator 304 by a second gap 310 (e.g., a second rotor-to-stator gap). Therotor 306 may be configured to move non-linearly (e.g., pivot about alongitudinal axis 312 parallel to each of the first andsecond stators rotor 306, and a sidewall to which a button base including thehaptic engine 300 is mounted). The constraint 314 may constrain closure of the first andsecond gaps rotor 306 toward a rest position in which therotor 306 is separated from the first andsecond stators second gaps rotor 306 may have a height that would allow it to pivot about thelongitudinal axis 312 and contact (e.g., crash against) thefirst stator 302 and/or thesecond stator 304 in the absence of the constraint 314. - A
button 316 may be mechanically coupled to thehaptic engine 300. For example, abutton 316 may be mechanically coupled to therotor 306, such that movement of therotor 306 may provide a haptic output to thebutton 316. In some cases, thebutton 316 may be attached to therotor 306 byscrews 318 that pass throughholes second stator 304, therotor 306, and thefirst stator 302. Thescrews 318 may be received by threaded inserts in thelegs 326 of thebutton 316, and heads of thescrews 318 may bear against a surface of therotor 306. - In some embodiments, the constraint 314 may include a
flexure 314 a that hasrotor attachment portions stator attachment portion 330. Thestator attachment portion 330 may be attached to thefirst stator 302, and therotor attachment portions rotor 306. In some embodiments, thestator attachment portion 330 may be attached to thefirst stator 302 along anaxis 332 of theflexure 314 a. Theflexure 314 a may constrain movement of therotor 306 to movement about a pivot axis (e.g., the longitudinal axis 312), and may provide a linearly consistent stiffness opposing the pivot movement. In some cases, theflexure 314 a may be a metal flexure that is welded or clamped to the first stator 302 (e.g., clamped to thefirst stator 302 by aclamp 334 that is welded to thefirst stator 302; inFIG. 3 , theclamp 334 is shown to include two strips aligned with theaxis 332 of theflexure 314 a). In some cases, therotor attachment portions rotor 306 imparts forces to thearms flexure 314 a, and theflexure 314 a in turn imparts forces to the rotor core to constrain movement of therotor 306. The forces imparted by theflexure 314 a may be stronger than forces imparted by therotor 306 when thehaptic engine 300 is not being stimulated by an electrical signal to produce haptic output at thebutton 316, but weaker than the forces imparted by therotor 306 when thehaptic engine 300 is stimulated by an electrical signal to produce haptic output. In this manner, theflexure 314 a may bias therotor 306 toward a rest position in which therotor 306 is separated from thestators haptic engine 300 by an electrical signal may overcome the forces imparted to therotor 306 by theflexure 314 a, at least to a degree, and cause therotor 306 to pivot back-and-forth between thestators - As another example, the constraint 314 may alternatively or additionally provided by a set of one or more elastomers (e.g., one or more elastomeric pads, such as silicone pads) or other compliant material(s) 314 b. The compliant material(s) 314 b may be disposed (positioned) between the
first stator 302 and therotor 306 in thefirst gap 308, and/or between thesecond stator 304 and therotor 306 in thesecond gap 310. The compliant material(s) 314 b may constrain movement of therotor 306 to movement about a pivot axis (e.g., the longitudinal axis 312). The compliant material(s) 314 b may also damp movement of therotor 306. In some cases, the compliant material(s) 314 b may be adhesively bonded to therotor 306 and one or more of thestators flexure 314 a, the forces imparted by the compliant material(s) 314 b may be stronger than forces imparted by therotor 306 when thehaptic engine 300 is not being stimulated by an electrical signal to produce haptic output at thebutton 316, but weaker than the forces imparted by therotor 306 when thehaptic engine 300 is stimulated by an electrical signal to produce haptic output. In this manner, the compliant material(s) 314 b may bias therotor 306 toward a rest position in which therotor 306 is separated from thestators haptic engine 300 by an electrical signal may overcome the forces imparted to therotor 306 by the compliant material(s) 314 b, at least to a degree, and cause therotor 306 to pivot back-and-forth between thestators - The compliant material(s) 314 b may be aligned with an axis of the
button 316, as shown inFIG. 3 , or distributed along an axis, plane, or planes that are transverse to a user interaction surface of the button 316 (e.g., in a one, two, or three-dimensional array). - In some alternative embodiments, the
haptic engine 300 shown inFIG. 3 may include only one stator (e.g., the first stator 302), and therotor 306 may move with respect to the one stator. - As also shown in
FIG. 3 , a force sensor 336 may be at least partially attached to thehaptic engine 300. The force sensor 336 may be configured to sense a force applied to thehaptic engine 300 or a module including thehaptic engine 300. For example, the force sensor 336 may be configured to sense a force applied to therotor 306 when a user presses thebutton 316. In some embodiments, the force sensor 336 may include one ormore strain sensors 336 a attached to thefirst stator 302 or thesecond stator 304. When a user applies a force to the button 316 (e.g., presses the button 316), the strain sensor(s) 336 a may flex. Outputs of the strain sensor(s) 336 a may change in a manner that is related to the amount or location of the force applied to thebutton 316. In alternative embodiments, thestrain sensors 336 a may be positioned elsewhere on thehaptic engine 300, or on a housing of the haptic engine 300 (e.g., on the button base described with reference toFIG. 2A or 2B ). In further alternative embodiments, the force sensor 336 may additionally or alternatively include a capacitive force sensor or other type of force sensor. - Turning now to
FIGS. 4A-4C , there is shown an assembled cross-section of thehaptic engine 300 andbutton 316 described with reference toFIG. 3 . As shown, thearms flexure 314 a may extend around upper and lower surfaces of thefirst stator 302, and may be attached to the upper and lower surfaces of the rotor 306 (e.g., to upper and lower surfaces or sides of a rotor core). -
FIG. 4A shows thehaptic engine 300 at rest.FIGS. 4B & 4C show thehaptic engine 300 after it has been stimulated to provide a haptic output. More specifically,FIG. 4B shows thehaptic engine 300 after therotor 306 has pivoted clockwise to a maximum extent, andFIG. 4C shows thehaptic engine 300 after therotor 306 has pivoted counter-clockwise to a maximum extent. While thehaptic engine 300 is being stimulated, therotor 306 may pivot back-and-forth between the states shown inFIGS. 4B & 4C to provide haptic output to thebutton 316. Stimulation of thehaptic engine 300 causes therotor 306 to move non-linearly (e.g., pivot) with enough force to overcome the spring force of theflexure 314 a and the shear force of the compliant material(s) 314 b. After stimulation of thehaptic engine 300 ceases, the spring force of theflexure 314 a and/or the shear force(s) of the compliant material(s) 314 b may be sufficient to restore therotor 306 to the rest position shown inFIG. 4A . - Each of the
flexure 314 a and/or compliant material(s) 314 b may be configured to provide a first stiffness opposing the non-linear movement of therotor 306, and a second stiffness opposing a force applied to the button 316 (i.e., asymmetric first and second stiffnesses). This can enable the stiffnesses to be individually adjusted (e.g., to separately tune the force input and haptic output user experiences for the button 316). -
FIG. 5 shows an alternativehaptic engine 500 that is similar to thehaptic engine 300 described with reference toFIGS. 4A-4C . The alternativehaptic engine 500 lacks the compliant material(s) 314 b and instead relies on theflexure 314 a to constrain motion of therotor 306. -
FIG. 6 shows another alternative haptic engine 600 that is similar to thehaptic engine 300 described with reference toFIGS. 4A-4C . The alternative haptic engine 600 shown inFIG. 6 lacks theflexure 314 a and relies instead on the compliant material(s) 314 b to constrain motion of therotor 306. -
FIG. 7 shows yet another alternativehaptic engine 700 that is similar to thehaptic engine 300 described with reference toFIGS. 4A-4C . The alternativehaptic engine 700 shown inFIG. 7 distributes the compliant material(s) 314 b differently than what is shown inFIGS. 4A-4C . In particular, the compliant material(s) 314 b may be positioned in a two or three-dimensional array, within thegaps stators rotor 306. -
FIG. 8 shows a haptic engine 800 similar to that described with reference toFIGS. 4A-4C , but with theflexure 314 a attached to thesecond stator 304 instead of thefirst stator 302. By attaching theflexure 314 a to the haptic engine (e.g., to the second stator 304) along an axis disposed on a side of therotor 306 opposite thebutton 316, instead of along an axis disposed on a same side of therotor 306 as the button 316 (as shown inFIGS. 4A-4C ), the moment arm of therotor 306 with respect to thebutton 316 may be changed, and the haptic output provided to thebutton 316 may be changed. -
FIGS. 9A & 9B show a haptic engine 900 similar to that shown inFIGS. 4A-4C , but with the stator and rotor components swapped so that astator 902 is positioned betweenportions FIG. 9A shows the haptic engine 900 at rest, andFIG. 9B shows the haptic engine 900 with the rotor 904 in a left-most (or counter-clockwise) state. The embodiment shown inFIGS. 9A & 9B allows the button 906 to be attached to an outer component of the haptic engine 900 (e.g., to therotor portion 904 b). Aflexure 314 a or other constraint may be attached to the rotor 904 andstator 902 similarly to how a flexure 314 is attached to thestators rotor 306 described with reference toFIGS. 4A-4C . - Referring now to
FIGS. 10A & 10B , there is shown an example embodiment of the rotor described with reference toFIGS. 3, 4A-4C, 5-8 , & 9A-9B. -
FIGS. 10A-12E illustrate various examples of a permanent magnet biased electromagnetic haptic engine (or permanent magnet biased normal flux electromagnetic haptic engine). In some embodiments, one of the haptic engines described with reference toFIGS. 10A-12F may be used as the haptic engine described with reference toFIGS. 1A-9B . -
FIGS. 10A & 10B show ahaptic engine 1000 having arotor 1002 positioned between first andsecond stators stators rotor 1002 may have an H-shapedcore 1008 having two side plates connected by an intermediate plate that joins the two side plates. The different plates of thecore 1008 may be attached (e.g., welded) to one another, or integrally formed as a monolithic component. - A
first coil 1010 may be wound around the core 1008 (e.g., around the intermediate plate) near one side plate of thecore 1008, and asecond coil 1012 may be wound around the core 1008 (e.g., around the intermediate plate) near the other side plate of thecore 1008. The first andsecond coils coils coils coils permanent magnet 1014 may be attached to a first surface of the core 1008 (e.g., to a first surface of the intermediate plate), and a secondpermanent magnet 1016 may be attached to a second surface of the core 1008 (e.g., to a second surface of the intermediate plate, opposite the first surface of the intermediate plate). The first and secondpermanent magnets FIG. 10B ). - As shown in
FIG. 10B , thepermanent magnets flux 1018. The magnetic bias field may be differentially changed byflux 1020 when thehaptic engine 1000 is stimulated by applying an electrical signal (e.g., a current) to thecoils flux haptic engine 1000, and subtract at a second pair of opposite corners of thehaptic engine 1000, thereby causing therotor 1002 to pivot. Therotor 1002 may be caused to pivot in an opposite direction by reversing the current in the coils, or by removing the current and letting the momentum of the restorative force provided by a constraint (e.g.,constraint rotor 306 to pivot in the opposite direction. Note that, in the absence of a constraint (e.g., theconstraint rotor 306 would pivot in the absence of an electrical signal applied to thecoils second stators -
FIGS. 11A & 11B show ahaptic engine 1100 that is similar to thehaptic engine 1000 described with reference toFIGS. 10A & 10B , but without thesecond stator 1006. -
FIG. 12A shows ahaptic engine 1200 that is similar to thehaptic engine 1100, but with thecoils perpendicular extensions core 1206, such that thecoils permanent magnet 1208 may be attached to a surface of thecore 1206, between thecoils -
FIG. 12B shows ahaptic engine 1210 that is similar to thehaptic engine 1200 described with reference toFIG. 12A , but with asingular coil 1212 wound around an extension of thecore 1214, andpermanent magnets core 1214 on opposite sides of thecoil 1212. Thehaptic engine 1210 includes asingle stator 1220. -
FIG. 12C shows ahaptic engine 1230 having arotor 1232 positioned between first andsecond stators rotor 1232 includes an H-shapedcore 1238 in which the H-profile of thecore 1238 extends planar to the first andsecond stators coil 1240 is wound around the middle portion of the H-profile, andpermanent magnets core 1238 within upper and lower voids of the H-shaped profile. -
FIG. 12D shows ahaptic engine 1250 having arotor 1252 positioned adjacent a pair ofplanar stators rotor 1252 may be configured similarly to the rotor shown inFIG. 12B , but in some cases may have alarger coil 1258 that extends betweenstators -
FIG. 12E shows ahaptic engine 1260 that is similar to thehaptic engine 1250 described with reference toFIG. 12D , but with a second pair ofplanar stators 1262, 1264 positioned on a side of therotor 1252 opposite the first pair ofplanar stators coil 1258 may also extend between thestators 1262 and 1264. - In alternative embodiments of the haptic engines described with reference to
FIGS. 10A-12E , the core of a rotor may be less H-shaped or non-H-shaped, and one or more stators may be C-shaped and extend at least partially around the rotor. In some embodiments, only a single coil and a single permanent magnet may be included on a rotor. Alternatively, one or more coils or permanent magnets may be positioned on a stator, instead of or in addition to one or more coils or permanent magnets positioned on a rotor. -
FIG. 13A shows a cross-section of the components described with reference toFIG. 3 , but for the constraint (which may be included in a module including the components shown inFIG. 13A , but which is not shown inFIG. 13A ). The components include the haptic engine 300 (e.g., therotor 306 positioned between first andsecond stators 302, 304). In some embodiments, thehaptic engine 300 may be further configured as described with reference to any ofFIGS. 3-12E . In contrast to the force sensor 336 shown inFIG. 3 , the components shown inFIG. 13A include a capacitive force sensor 1302 that is at least partially attached to thehaptic engine 300.FIG. 13A also shows thebutton 316 described with reference toFIG. 3 , with itslegs 326 inserted through a housing 1320 (e.g., a sidewall of a device) and attached to therotor 306 byscrews 318. The capacitive force sensor 1302 may be configured to sense a force applied to thebutton 316, and thereby to therotor 306, in response to user or other interaction with the button 316 (e.g., the capacitive force sensor 1302 may sense a force that is applied to thebutton 316 parallel to a rotor-to-stator gap, or a force applied to thebutton 316 which has a force component parallel to the rotor-to-stator gap). - By way of example, the capacitive force sensor 1302 is shown to include two
force sensing elements 1302 a, each of which may be similarly configured. The twoforce sensing elements 1302 a may be positioned at different locations relative to a user interaction surface of thebutton 316. As shown, the twoforce sensing elements 1302 a may be spaced apart along thehousing 1320, at opposite ends of thehaptic engine 300. In alternative embodiments, the capacitive force sensor 1302 may include more force sensing elements (e.g., 3-4 force sensing elements, or 3-8 force sensing elements) or fewer force sensing elements (e.g., one force sensing element). In the case of three or more force sensing elements, the force sensing elements may be positioned in a one-dimensional array or two-dimensional array with respect to the user interaction surface of thebutton 316. - Each
force sensing element 1302 a may include a set ofelectrodes first electrode 1304 attached to therotor 306, and asecond electrode 1306 attached to one of the stators (e.g., the first stator 302) and separated from thefirst electrode 1304 by acapacitive gap 1308. In some embodiments, thefirst electrode 1304 may be attached to anextension 1310 of the rotor's core, on a side of the core that faces thefirst stator 302; and thesecond electrode 1306 may be attached to anextension 1312 of thefirst stator 302, on a side of thefirst stator 302 that faces therotor 306. - In some cases, the
first electrode 1304 may be attached to or included in a first flex circuit 1314 (or printed circuit board) attached to the core, and thesecond electrode 1306 may be attached to or included in a second flex circuit 1316 (or printed circuit board) attached to thefirst stator 302. By way of example, thefirst flex circuit 1314 may carry power, ground, or other electrical signals to thefirst electrode 1304, as well as to therotor 306. For example, thefirst flex circuit 1314 may carry an electrical signal (e.g., power) to a coil (or coils) attached to therotor 306, to stimulate thehaptic engine 300 to provide a haptic output. Also by way of example, thesecond flex circuit 1316 may carry power, ground, or other electrical signals to thesecond electrode 1306, as well as to a controller, processor, orother circuit 1318 coupled to thesecond flex circuit 1316. Alternatively, thecircuit 1318 may be coupled to thefirst flex circuit 1314, or to bothflex circuits second flex circuit 1316 may also carry electrical signals away from thesecond electrode 1306 orcircuit 1318, or couple thesecond electrode 1306 to thecircuit 1318. The first andsecond flex circuits second electrodes first stator 302. - The
first flex circuit 1314 may be adhesively bonded, clipped, or otherwise attached to the rotor core. Thesecond flex circuit 1316 may be adhesively bonded, clipped, or otherwise attached to thefirst stator 302. - In some embodiments, the
circuit 1318 may be used to detect or measure a capacitance of thesecond electrode 1306 of eachforce sensing element 1302 a, and provide an indication of whether a force applied to thebutton 316 is detected. In some cases, thefirst electrode 1304 may be driven with an electrical signal as the capacitance of thesecond electrode 1306 is measured. Thecircuit 1318 may also or alternatively indicate a value of a capacitance of thesecond electrode 1306, which value may be routed to an off-module controller, processor, or other circuit via thesecond flex circuit 1316. In some embodiments, thecircuit 1318 or an off-module circuit may use the different outputs of different force sensing elements (e.g., outputs of the twoforce sensing elements 1302 a shown inFIG. 13A ) to determine an amount of force applied to thebutton 316 or a location of a force applied to the button 316 (i.e., a force location). For example, measurements provided by different force sensing elements may be averaged or otherwise combined to determine an amount of force; or measurements provided by different force sensing elements, in combination with the locations of the force sensing elements with respect to a surface of the button, can be used to determine a force location. In some embodiments, thecircuit 1318 may provide a pattern of capacitances to the off-module circuit. The pattern of capacitances may indicate a type of force input to the button 316 (e.g., a particular command or input). The pattern of capacitances (or force pattern) provided by thecircuit 1318 may be timing insensitive, or may include a pattern of capacitances sensed within a particular time period, or may include a pattern of capacitances and an indication of times between the capacitances. - The signals carried by the first or
second flex circuit - In some embodiments, the first and
second flex circuits circuit 1318 may provide an electrical signal to thehaptic engine 300, to stimulate thehaptic engine 300 to provide a haptic output, in response to detecting the presence of a force on the button 316 (or in response to determining that a particular amount of force, location of force, or pattern of force has been applied to the button 316). Thecircuit 1318 may provide a single type of electrical signal or haptic actuation waveform to thehaptic engine 300 in response to determining that a force, or a particular type of force, has been applied to thebutton 316. Alternatively, thecircuit 1318 may identify a haptic actuation waveform associated with a particular type of force applied to thebutton 316, and apply the identified haptic actuation waveform to the haptic engine 300 (e.g., to produce different types of haptic output in response to determining that different types of force have been applied to the button 316). In some embodiments, different haptic actuation waveforms may have different amplitudes, different frequencies, and/or different patterns. -
FIG. 13A shows an example arrangement offlex circuits first flex circuit 1314 wraps around each of opposite ends of the rotor core, and thesecond flex circuit 1316 wraps around each of opposite ends of thefirst stator 302. The portions of thefirst flex circuit 1314 shown at the left and right ofFIG. 13A may be connected by another portion of thefirst flex circuit 1314 that extends between the two end portions. In some cases, the portion of thefirst flex circuit 1314 that connects the two end portions may be bent or folded to extend perpendicularly to the two end portions (and in some cases, the folded portion may connected to an off-module circuit). The portions of thesecond flex circuit 1316 shown inFIG. 13A may be connected similarly to how the portions of thefirst flex circuit 1314 are connected, and may also be connected to an off-module circuit. -
FIG. 13B shows an alternative way to wrap a flex circuit around the rotor core 1358 (or alternatively the first stator 302) described with reference toFIG. 13A . As shown, theflex circuit 1350 may include acentral portion 1352 that connects pairs oftab portions central portion 1352. One pair oftab portions 1354 extends perpendicularly from thecentral portion 1352, over first and second opposite faces of therotor core 1358, near one end of therotor core 1358. Another pair oftab portions 1356 extends perpendicularly from thecentral portion 1352, over the first and second opposite faces of therotor core 1358, near an opposite end of therotor core 1358. Theflex circuit 1350 may be adhesively bonded, clipped, or otherwise attached to therotor core 1358. - In alternative flex circuit arrangements, a flex circuit may be attached to the rotor or stator without wrapping the flex circuit around the rotor or stator. However, wrapping a flex circuit around a rotor core may provide a flex circuit surface for coil lead connections, if needed, or may increase the flex service loop length and flexibility, if needed. In some embodiments, the rotor and stator flex circuits may be coupled by a hot bar or other element.
-
FIG. 14A shows another cross-section of the components described with reference toFIG. 3 , but for the constraint (which may be included in a module including the components shown inFIG. 14A , but which is not shown inFIG. 14A ). The components include a haptic engine (e.g., a rotor positioned between first and second stators). The components include the haptic engine 300 (e.g., therotor 306 positioned between first andsecond stators 302, 304). In some embodiments, thehaptic engine 300 may be further configured as described with reference to any ofFIGS. 3-12E . The components shown inFIG. 14A also include a capacitive force sensor 1402 that is at least partially attached to thehaptic engine 300.FIG. 14A also shows thebutton 316 described with reference toFIG. 3 , with itslegs 326 inserted through a housing 1418 (e.g., a sidewall of a device) and attached to therotor 306 byscrews 318. The capacitive force sensor 1402 may be configured to sense a force applied to thebutton 316, and thereby to therotor 306, in response to user or other interaction with the button 316 (e.g., the capacitive force sensor 1402 may sense a force that is applied to thebutton 316 parallel to a rotor-to-stator gap, or a force applied to thebutton 316 which has a force component parallel to the rotor-to-stator gap). - By way of example, the capacitive force sensor 1402 is shown to include two
force sensing elements 1402 a, each of which may be similarly configured. The twoforce sensing elements 1402 a may be positioned at different locations relative to a user interaction surface of thebutton 316. As shown, the twoforce sensing elements 1402 a may be spaced apart along thehousing 1418, at opposite ends of thehaptic engine 300. In alternative embodiments, the capacitive force sensor 1402 may include more force sensing elements (e.g., 3-4 force sensing elements, or 3-8 force sensing elements) or fewer force sensing elements (e.g., one force sensing element). In the case of three or more force sensing elements, the force sensing elements may be positioned in a one-dimensional array or two-dimensional array with respect to the user interaction surface of thebutton 316. - Each
force sensing element 1402 a may include a set ofelectrodes first electrode 1404 attached to therotor 306, and asecond electrode 1406 attached to one of the stators (e.g., the first stator 302) and separated from thefirst electrode 1404 by acapacitive gap 1408. In some embodiments, thefirst electrode 1404 may be attached to aflex circuit 1410 or clip connected (e.g., adhesively bonded or clipped) to the rotor's core, and thesecond electrode 1406 may be attached to thefirst stator 302, on a side of thefirst stator 302 that faces therotor 306. - In some cases, the
flex circuit 1410 or clip to which thefirst electrode 1404 is attached may include acentral portion 1412 that faces thebutton 316, andarms 1414 that extend perpendicularly from thecentral portion 1412 and are attached to the rotor 306 (e.g., to its core), as shown inFIGS. 14A & 14B . Thesecond electrode 1406 may be attached to or included in a second flex circuit 1416 (or printed circuit board) attached to thefirst stator 302. By way of example, theflex circuits second flex circuits FIG. 13A . - In some embodiments, a circuit may be electrically coupled to one or both of the
flex circuits second electrode 1406 of each of the force sensing elements, and provide an indication of whether a force applied to thebutton 316 is detected. The circuit may also or alternatively indicate a value of a capacitance of thesecond electrode 1406, which value may be routed to an off-module controller, processor, or other circuit via thesecond flex circuit 1416. In some embodiments, the circuit or an off-module circuit may use the different outputs of different force sensing elements (e.g., outputs of the twoforce sensing elements 1402 a shown inFIG. 14A ) to determine an amount of force applied to thebutton 316 or a location of a force applied to the button 316 (i.e., a force location). In some embodiments, the circuit may provide a pattern of capacitances to the off-module circuit. The pattern of capacitances may indicate a type of force input to the button 316 (e.g., a particular command or input). The pattern of capacitances (or force pattern) provided by the circuit may be timing insensitive, or include a pattern of capacitances sensed within a particular time period, or include a pattern of capacitances and an indication of times between the capacitances. - The signals carried by the
flex circuits - In some embodiments, the
flex circuits flex circuits haptic engine 300, to stimulate the haptic engine to provide a haptic output, in response to detecting the presence of a force on the button 316 (or in response to determining that a particular amount of force, location of force, or pattern of force has been applied to the button 316). The circuit may provide one or more haptic actuation waveforms as described with reference toFIG. 13A . - A capacitive force sensor may additionally or alternatively include other types of force sensing elements in which a first electrode of the force sensing element is attached to a movable portion of a module, and a second electrode of the force sensing element is attached to a stationary portion of the module and separated from the first electrode by a capacitive gap. The force sensing elements may be positioned within or outside a stator-to-rotor gap.
-
FIG. 15 shows an example two-dimensional arrangement offorce sensing elements 1500, which forcesensing elements 1500 may be incorporated into the force sensor described with reference toFIG. 13A or 14A , or into other force sensors. The example arrangement shown inFIG. 15 includes fourforce sensing elements 1500 disposed near the corners of a haptic engine (or near the corners of a button's user interaction surface). Theforce sensing elements 1500 may alternatively be distributed uniformly across a surface orvolume 1502. A two-dimensional array offorce sensing elements 1500 can be used to determine what portion of a button is pressed, or to sense the components of a force applied in different directions (e.g., a side-to-side movement as might be provided to a ringer on/off switch). A one-dimensional array offorce sensing elements 1500 can also be used to determine what portion of a button is pressed, but only along one button axis. In some embodiments, only three of theforce sensing elements 1500 may be provided, or theforce sensing elements 1500 may be disposed in different positions. - Turning now to
FIGS. 16A-16C , there are shown alternative configurations of a rotor core. As shown inFIG. 16A , arotor core 1600 may include a firstrigid plate 1602 and a secondrigid plate 1604 having opposing surfaces joined by a thirdrigid plate 1606 to form an H-shapedcore 1600. In some embodiments, a first pair ofplates rigid plate 1602, and a second pair of plates may be stacked and welded to form the secondrigid plate 1604. In some embodiments, a third pair of plates may be stacked and welded to form the third rigid plate 1606 (not shown). -
FIG. 16B shows analternative rotor core 1620. As shown inFIG. 16B , a first pair ofplates plates plates 1626 1628 may also be positioned side-by-side and welded together such that a second slot is formed between theplates plates 1622/1624, 1626/1628 may be welded to the opposite sides of the fifth plate 1630. -
FIG. 16C shows anotheralternative rotor core 1640. As shown inFIG. 16C , afirst plate 1642 may have opposite side portions that are bent perpendicularly to a central portion of thefirst plate 1642. Asecond plate 1644 may be formed similarly to thefirst plate 1642, stacked on thefirst plate 1642, and welded to thefirst plate 1642 such that corresponding side portions of the first andsecond plates 1642 1644 extend in opposite directions. Athird plate 1646 may be welded to a first set of corresponding side portions of the first andsecond plates fourth plate 1648 may be welded to a second set of corresponding side portions of the first andsecond plates 1642 1644. - Any of the plates described with reference to
FIGS. 16A-16C may include one plate or a set of two or more stacked plates. -
FIGS. 17A-17D show another example haptic engine 1700 (or button assembly).FIG. 17A shows an exploded isometric view of thehaptic engine 1700.FIG. 17B shows an isometric view of an inner surface of afirst component 1704 of astator 1702 of thehaptic engine 1700.FIG. 17C shows an assembled version of thehaptic engine 1700.FIG. 17D shows an assembled cross-section of thehaptic engine 1700. Thehaptic engine 1700 is an example of the haptic engine included in thebutton base 206 described with reference toFIGS. 2A & 2B , and in some cases may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine). - The
haptic engine 1700 may include one or more stationary portions and one or more movable portions, in addition to a constraint 1714 that is configured to constrain movement of the movable portion(s) relative to the stationary portion(s) and bias the movable portion(s) toward a rest position in which the movable portion(s) are separated from the stationary portion(s) by one or more gaps. By way of example, the stationary portion(s) may include aferritic stator 1702 including a set of two or four components (e.g., walls) 1704, 1706, 1708, 1710 defining a channel, and the movable portion(s) may include aferritic shuttle 1712 that is positioned in and movable within the channel. When the components of thehaptic engine 1700 are assembled, theshuttle 1712 may be separated from afirst component 1704 of thestator 1702 by a first gap 1716 (e.g., a first shuttle-to-stator gap), and from asecond component 1706 of thestator 1702 by a second gap 1718 (e.g., a second shuttle-to-stator gap). Theshuttle 1712 may be configured to move linearly (e.g., translate along anaxis 1720 that perpendicularly intersects the first andsecond components stator 1702. The constraint 1714 may constrain closure of the first andsecond gaps shuttle 1712 toward a rest position in which theshuttle 1712 is separated from the first andsecond components stator 1702 by the first andsecond gaps shuttle 1712 may be magnetically attracted to one or the other of the first andsecond components stator 1702, and may contact (e.g., crash against) thestator 1702 in the absence of the constraint 1714. - A
button 1722 may be mechanically coupled to thehaptic engine 1700. For example, abutton 1722 may be mechanically coupled to theshuttle 1712 such that movement of theshuttle 1712 may provide a haptic output to thebutton 1722. In some cases, thebutton 1722 may be attached to theshuttle 1712 by a screw that passes throughholes second component 1706 of thestator 1702, theshuttle 1712, and thefirst component 1704 of thestator 1702. The screw may be received by a threaded insert in a leg 1730 (or other button attachment member) of thebutton 1722, and a head of the screw may bear against a surface of theshuttle 1712. - In some embodiments, the constraint 1714 may include one or more flexures 714 a. Although two flexures 714 a are shown in
FIG. 17A , only oneflexure 1714 a may be included in some embodiments. Eachflexure 1714 a may haveshuttle attachment portions stator attachment portion 1734. Thestator attachment portion 1734 of each flexure may extend along one side of a pair of opposite sides, and may be spaced apart from the shuttle 1712 (e.g., by agap 1716 or gap 1718). An assembly including theflexures 1714 a and theshuttle 1712 may be combined with thestator 1702 by positioning the third andfourth components stator 1702 within thegaps fourth components gaps shuttle 1712 to translate. Thestator attachment portion 1734 of oneflexure 1714 a may be attached to thethird component 1708 of thestator 1702, and thestator attachment portion 1734 of theother flexure 1714 a may be attached to thefourth component 1710 of thestator 1702. In some embodiments, a clamp 1736 (e.g., a stiffening clamp) may be welded or otherwise attached to thestator attachment portion 1734 of aflexure 1714 a and used to limit the flex of theflexure 1714 a along thestator attachment portion 1734. More generally, theflexure 1714 a may extend in a direction transverse to a direction of linear movement of theshuttle 1712, and may be spaced apart from a first side of theshuttle 1712 that is transverse to the direction of linear movement. Theflexure 1714 a may connect at least one side of theshuttle 1712, other than the first side, to thestator 1702. - The
shuttle attachment portions flexure 1714 a may be attached to opposite sides or ends of theshuttle 1712, along an axis transverse to theaxis 1720 along which theshuttle 1712 translates. In some embodiments, theshuttle attachment portions different flexures 1714 a, which shuttleattachment portions shuttle 1712, may be mechanically coupled by a clamp 1738 (e.g., a stiffening clamp). - The
flexure 1714 a may constrain movement of theshuttle 1712 to translation movement along theaxis 1720, and may provide a linearly consistent stiffness opposing the translation movement. In some cases, theflexures 1714 a may be metal flexures. Each of theflexures 1714 a may function similarly to theflexure 314 a described with reference toFIG. 3 . - As another example, the constraint 1714 may alternatively or additionally include a set of one or more elastomers (e.g., one or more elastomeric pads, such as silicone pads) or other compliant material(s) 1714 b. The compliant material(s) 1714 b may be disposed (positioned) between the
first component 1704 of thestator 1702 and theshuttle 1712, and/or between thesecond component 1706 of thestator 1702 and theshuttle 1712. The compliant material(s) 1714 b may constrain movement of theshuttle 1712 and bias theshuttle 1712 toward a rest position that maintains thegaps shuttle 1712. In some cases, the compliant material(s) 1714 b may be adhesively bonded to thecomponent stator 1702 and theshuttle 1712. - In some cases, the compliant material(s) 1714 b may be distributed in a two or three-dimensional array.
- Each of the
flexure 1714 a and/or the compliant material(s) 1714 b may be configured to provide a first stiffness opposing the linear movement of theshuttle 1712, and a second stiffness opposing a force applied to the button 1722 (i.e., asymmetric first and second stiffnesses). This can enable the stiffnesses to be individually adjusted (e.g., to separately tune the force input and haptic output user experiences for the button 1722). - By way of example, and as shown in
FIGS. 17A, 17B , & 17D, thehaptic engine 1700 may include one or more permanent magnets 1740 (e.g., two permanent magnets 1740) mounted to one or each of the first andsecond housing components stator 1702, and one ormore coils 1742 wound around an inward extension of one or more of the third andfourth components stator 1702. By way of example, thepermanent magnets 1740 may be disposed on first opposite sides of theshuttle 1712, in planes parallel to theaxis 1720 along which theshuttle 1712 translates. Each of thepermanent magnets 1740 may be magnetized toward theshuttle 1712, with thepermanent magnets 1740 on one side of theshuttle 1712 opposing thepermanent magnets 1740 on the other side of theshuttle 1712. Also by way of example, thecoils 1742 may be disposed on second opposite sides of theshuttle 1712 and wound in planes that bisect theaxis 1720 along which theshuttle 1712 translates. Thecoils 1742 may be electrically connected in series or in parallel. A parallel connection of thecoils 1742 may provide a reduction in the total resistance of thecoils 1742, and/or may enable the use of a thinner wire to achieve the same resistance as a series connection of thecoils 1742. In some alternative embodiments, permanent magnets may be positioned on two or four sides of theshuttle 1712. In the case of four permanent magnets, the sides that include the permanent magnets would not be used for the coils. In some alternative embodiments, the coils may be combined on one side of theshuttle 1712. The permanent magnets may be attached to the stator or the shuttle. When thecoils 1742 are stimulated by an electrical signal (e.g., a current), the flux of a magnetic bias field created by the permanent magnets may be selectively increased, and theshuttle 1712 may overcome the biasing forces of the constraints 1714 and translate along theaxis 1720. The flux is “selectively” increased in that it is increased on some faces of theshuttle 1712 and decreased on opposing faces, resulting in an increased net translational force that provides or increases a force along theaxis 1720 of theshuttle 1712. In alternative embodiments of thehaptic engine 1700, one or more permanent magnets and coils may be positioned about (or on) theshuttle 1712 in other ways. - As also shown in
FIG. 17A , a force sensor 1744 may be at least partially attached to thehaptic engine 1700 and configured to sense a force applied to the module (e.g., a force applied to a user interaction surface of thebutton 1722, which force is received by theshuttle 1712, thestator 1702, or a housing for the haptic engine 1700). In some embodiments, the force sensor 1744 may include one ormore strain sensors 1744 a attached to an exterior surface of thesecond component 1706 of thestator 1702, or to other surfaces of thestator 1702. In some embodiments, thestrain sensors 1744 a may be formed on aflex circuit 1746, and theflex circuit 1746 may be adhesively bonded or otherwise attached to a surface of thestator 1702. Alternatively, one or more strain sensors may be attached to theflexure 1714 a (e.g., at or near ashuttle attachment portion button 1722. In alternative embodiments, thestrain sensors 1744 a may be positioned elsewhere on thehaptic engine 1700, or on a housing of thehaptic engine 1700. In further alternative embodiments, the force sensor 1744 may additionally or alternatively include a capacitive force sensor or other type of force sensor, such as a capacitive force sensor having first and second spaced apart electrodes mounted in a gap between thefirst component 1704 of thestator 1702 and theshuttle 1712, or a capacitive force sensor having first and second spaced apart electrodes mounted between thebutton 1722 and thefirst component 1704 of thestator 1702. - In some embodiments, the
flex circuit 1746 may include a circuit such as thecircuit 1318 described with reference toFIG. 13A . In some embodiments, theflex circuit 1746 may be electrically coupled to an off-module processor, controller, or other circuit. In some embodiments, theflex circuit 1746, or another flex circuit that may or may not be coupled to theflex circuit 1746, may be electrically coupled to thecoils 1742. - As shown in
FIGS. 17A & 17C , thebutton 1722 may have a user interaction surface that extends parallel (or substantially parallel) to theaxis 1720 along which theshuttle 1712 translates. In alternative embodiments, thebutton 1722 may have a user interaction surface that extends transverse to (e.g., intersects) theaxis 1720 along which theshuttle 1712 translates, and theattachment member 1730 may extend through or around theflexure 1714 a andfourth housing component 1710 of thestator 1702. In the latter embodiments, thebutton 1722 may move in and out with respect to an exterior surface of a housing, instead of translating along an exterior surface of the housing. -
FIG. 18 illustrates anexample method 1800 of providing a haptic response to a user. Themethod 1800 may be performed by, or using, any of the modules or button assemblies described herein. Themethod 1800 may also be performed by, or using, other modules or button assemblies. - At
block 1802, themethod 1800 may include constraining relative motion between a stationary portion and a movable portion of a haptic engine, to bias the movable portion toward a rest position in which the movable portion is separated from the stationary portion by a gap, and to constrain closure of the gap. The movable portion may be mechanically coupled to a button. In some embodiments, the relative motion between the stationary portion and the movable portion may be constrained to a pivot of the movable portion with respect to the stationary portion. In other embodiments, the relative motion between the stationary portion and the movable portion is constrained to translation of the movable portion along an axis. The operation(s) atblock 1802 may be performed by one or more of the constrains described herein. - At
block 1804, themethod 1800 may include determining a force applied to the button using a force sensor (e.g., a capacitive force sensor, a strain sensor, a tactile switch, and so on). The operation(s) atblock 1804 may be performed by one or more of the force sensors described herein. - At
block 1806, themethod 1800 may include determining the determined force matches a predetermined force. The operation(s) atblock 1806 may be performed by one or more of the on-module or off-module circuits described herein. - At
block 1808, themethod 1800 may include identifying a haptic actuation waveform associated with the predetermined force. In some embodiments, different haptic actuation waveforms may have different amplitudes, different frequencies, and/or different patterns. The operation(s) atblock 1808 may be performed by one or more of the on-module or off-module circuits described herein. - At
block 1810, themethod 1800 may include applying the haptic actuation waveform to the haptic engine. The operation(s) atblock 1810 may be performed by one or more of the on-module or off-module circuits described herein. - In some embodiments of the
method 1800, the force sensor may include at least two force sensing elements positioned at different locations relative to a user interaction surface of the button, and the force may be determined using different outputs of the different force sensing elements, as described, for example, with reference toFIGS. 13A 14A. In some of these embodiments, the determined force may include a determined amount of force, and the predetermined force may include a predetermined amount of force. Additionally or alternatively, the determined force may include a determined force location, and the predetermined force may include a predetermined force location. - In some embodiments of the
method 1800, the determined force may include a determined force pattern, and the predetermined force may include a predetermined force pattern. - In some embodiments of the
method 1800, the relative motion between the stationary portion and the movable portion may be constrained to translation along an axis transverse to a direction of the force applied to the button. Alternatively, the relative motion may be constrained to translation along an axis parallel to the direction of the force applied to the button. - In some embodiments, the
method 1800 may include measuring the gap, between the movable and stationary portions of the haptic engine, and controlling the gap's width in a closed loop fashion (e.g., to provide haptic output, or to maintain the gap width when no haptic output is being provided). The gap width may be measured capacitively, optically, or by other means. - In some embodiments, the
method 1800 may not include the operations atblocks method 1800 may include providing an input to an application or utility running on a device, altering the output of a user interface (e.g., a display) of the device, providing an audible notification, etc. -
FIG. 19 shows a sample electrical block diagram of anelectronic device 1900, which may be the electronic device described with reference toFIGS. 1A-1C . Theelectronic device 1900 may include a display 1902 (e.g., a light-emitting display), aprocessor 1904, apower source 1906, amemory 1908 or storage device, asensor system 1910, and an input/output (I/O) mechanism 1912 (e.g., an input/output device and/or input/output port). Theprocessor 1904 may control some or all of the operations of theelectronic device 1900. Theprocessor 1904 may communicate, either directly or indirectly, with substantially all of the components of theelectronic device 1900. For example, a system bus orother communication mechanism 1914 may provide communication between theprocessor 1904, thepower source 1906, thememory 1908, thesensor system 1910, and/or the input/output mechanism 1912. - The
processor 1904 may be implemented as any electronic device capable of processing, receiving, or transmitting data or instructions. For example, theprocessor 1904 may be a microprocessor, a central processing unit (CPU), an application-specific integrated circuit (ASIC), a digital signal processor (DSP), or combinations of such devices. As described herein, the term “processor” is meant to encompass a single processor or processing unit, multiple processors, multiple processing units, or other suitably configured computing element or elements. In some embodiments, theprocessor 1904 may include or be an example of thecircuit 1318 described with reference toFIG. 13A . - In some embodiments, the components of the
electronic device 1900 may be controlled by multiple processors. For example, select components of theelectronic device 1900 may be controlled by a first processor and other components of theelectronic device 1900 may be controlled by a second processor, where the first and second processors may or may not be in communication with each other. - The
power source 1906 may be implemented with any device capable of providing energy to theelectronic device 1900. For example, thepower source 1906 may be one or more batteries or rechargeable batteries. Additionally or alternatively, thepower source 1906 may be a power connector or power cord that connects theelectronic device 1900 to another power source, such as a wall outlet. - The
memory 1908 may store electronic data that may be used by theelectronic device 1900. For example, thememory 1908 may store electrical data or content such as, for example, audio and video files, documents and applications, device settings and user preferences, timing signals, control signals, data structures or databases, image data, or focus settings. Thememory 1908 may be configured as any type of memory. By way of example only, thememory 1908 may be implemented as random access memory, read-only memory, Flash memory, removable memory, other types of storage elements, or combinations of such devices. - The
electronic device 1900 may also include one or more sensors defining thesensor system 1910. The sensors may be positioned substantially anywhere on theelectronic device 1900. The sensor(s) may be configured to sense substantially any type of characteristic, such as but not limited to, touch, force, pressure, light, heat, movement, relative motion, biometric data, and so on. For example, thesensor system 1910 may include a touch sensor, a force sensor, a heat sensor, a position sensor, a light or optical sensor, an accelerometer, a pressure sensor (e.g., a pressure transducer), a gyroscope, a magnetometer, a health monitoring sensor, and so on. Additionally, the one or more sensors may utilize any suitable sensing technology, including, but not limited to, capacitive, ultrasonic, resistive, optical, ultrasound, piezoelectric, and thermal sensing technology. In some embodiments, the sensor(s) may include the force sensor in any of the modules or button assemblies described herein. - The I/
O mechanism 1912 may transmit and/or receive data from a user or another electronic device. An I/O device may include a display, a touch sensing input surface such as a track pad, one or more buttons (e.g., a graphical user interface “home” button, or one of the buttons described herein), one or more cameras, one or more microphones or speakers, one or more ports such as a microphone port, and/or a keyboard. Additionally or alternatively, an I/O device or port may transmit electronic signals via a communications network, such as a wireless and/or wired network connection. Examples of wireless and wired network connections include, but are not limited to, cellular, Wi-Fi, Bluetooth, IR, and Ethernet connections. The I/O mechanism 1912 may also provide feedback (e.g., a haptic output) to a user, and may include the haptic engine of any of the modules or button assemblies described herein. - The foregoing description, for purposes of explanation, uses specific nomenclature to provide a thorough understanding of the described embodiments. However, it will be apparent to one skilled in the art, after reading this description, that the specific details are not required in order to practice the described embodiments. Thus, the foregoing descriptions of the specific embodiments described herein are presented for purposes of illustration and description. They are not targeted to be exhaustive or to limit the embodiments to the precise forms disclosed. It will be apparent to one of ordinary skill in the art, after reading this description, that many modifications and variations are possible in view of the above teachings.
Claims (20)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/146,384 US10599223B1 (en) | 2018-09-28 | 2018-09-28 | Button providing force sensing and/or haptic output |
CN201910810963.0A CN110968186B (en) | 2018-09-28 | 2019-08-30 | Button providing force sensing and/or tactile output |
CN201921424408.6U CN210155629U (en) | 2018-09-28 | 2019-08-30 | Module providing force sensing and haptic output |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/146,384 US10599223B1 (en) | 2018-09-28 | 2018-09-28 | Button providing force sensing and/or haptic output |
Publications (2)
Publication Number | Publication Date |
---|---|
US10599223B1 US10599223B1 (en) | 2020-03-24 |
US20200103969A1 true US20200103969A1 (en) | 2020-04-02 |
Family
ID=69902343
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/146,384 Active US10599223B1 (en) | 2018-09-28 | 2018-09-28 | Button providing force sensing and/or haptic output |
Country Status (1)
Country | Link |
---|---|
US (1) | US10599223B1 (en) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10585480B1 (en) | 2016-05-10 | 2020-03-10 | Apple Inc. | Electronic device with an input device having a haptic engine |
US10966007B1 (en) | 2018-09-25 | 2021-03-30 | Apple Inc. | Haptic output system |
US10976824B1 (en) * | 2019-09-26 | 2021-04-13 | Apple Inc. | Reluctance haptic engine for an electronic device |
WO2021137334A1 (en) * | 2020-01-02 | 2021-07-08 | 엘지전자 주식회사 | Mobile terminal |
US11024135B1 (en) | 2020-06-17 | 2021-06-01 | Apple Inc. | Portable electronic device having a haptic button assembly |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7158122B2 (en) * | 2002-05-17 | 2007-01-02 | 3M Innovative Properties Company | Calibration of force based touch panel systems |
US9928950B2 (en) * | 2013-09-27 | 2018-03-27 | Apple Inc. | Polarized magnetic actuators for haptic response |
US20180194229A1 (en) * | 2015-07-02 | 2018-07-12 | Audi Ag | Motor vehicle operating device with haptic feedback |
US20180365466A1 (en) * | 2017-06-20 | 2018-12-20 | Lg Electronics Inc. | Mobile terminal |
US20180369865A1 (en) * | 2015-12-28 | 2018-12-27 | Nippon Telegraph And Telephone Corporation | Pseudo force sense generation apparatus |
Family Cites Families (512)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3001049A (en) | 1959-11-30 | 1961-09-19 | Leach Corp | Magnetic latch |
CH429228A (en) | 1964-12-10 | 1967-01-31 | Kistler Instrumente Ag | Piezoelectric installation body for installation in a piezoelectric transducer |
US3419739A (en) | 1966-04-22 | 1968-12-31 | Warner W. Clements | Electromechanical actuator |
FR2411603A2 (en) | 1977-12-19 | 1979-07-13 | Zarudiansky Alain | DEVICE AND METHOD FOR RECORDING OF RESTITUTION AND SYNTHESIS OF TACTILE SENSATIONS |
US4236132A (en) | 1979-02-12 | 1980-11-25 | Baxter Travenol Laboratories, Inc. | Electromagnetic switch means for a flow control device and the like having reduced shock levels |
GB2089132B (en) | 1980-11-05 | 1984-07-18 | Hitachi Metals Ltd | Electromagnetic actuator |
US4412148A (en) | 1981-04-24 | 1983-10-25 | The United States Of America As Represented By The Secretary Of The Navy | PZT Composite and a fabrication method thereof |
JPS61218025A (en) | 1985-03-25 | 1986-09-27 | 松下電工株式会社 | Polar relay |
US5010772A (en) | 1986-04-11 | 1991-04-30 | Purdue Research Foundation | Pressure mapping system with capacitive measuring pad |
US4975616A (en) | 1988-08-18 | 1990-12-04 | Atochem North America, Inc. | Piezoelectric transducer array |
EP0427901B1 (en) | 1989-11-14 | 1996-04-03 | Battelle Memorial Institute | Method of manufacturing a multilayer piezoelectric actuator stack |
WO1991020136A1 (en) | 1990-06-18 | 1991-12-26 | Motorola, Inc. | Selective call receiver having a variable frequency vibrator |
US5305507A (en) | 1990-10-29 | 1994-04-26 | Trw Inc. | Method for encapsulating a ceramic device for embedding in composite structures |
JPH05301342A (en) | 1991-03-20 | 1993-11-16 | Fujitsu Ltd | Ink jet printing head |
US5317221A (en) | 1991-09-04 | 1994-05-31 | Canon Kabushiki Kaisha | Linear driving device |
US5999084A (en) | 1998-06-29 | 1999-12-07 | Armstrong; Brad A. | Variable-conductance sensor |
US6222525B1 (en) | 1992-03-05 | 2001-04-24 | Brad A. Armstrong | Image controllers with sheet connected sensors |
US6135886A (en) | 1997-10-01 | 2000-10-24 | Armstrong; Brad A. | Variable-conductance sensor with elastomeric dome-cap |
US6906700B1 (en) | 1992-03-05 | 2005-06-14 | Anascape | 3D controller with vibration |
US5510783A (en) | 1992-07-13 | 1996-04-23 | Interlink Electronics, Inc. | Adaptive keypad |
EP0580117A3 (en) | 1992-07-20 | 1994-08-24 | Tdk Corp | Moving magnet-type actuator |
US5283408A (en) | 1992-08-04 | 1994-02-01 | Silitek Corporation | Structure of key switch |
JP2586371B2 (en) | 1992-12-22 | 1997-02-26 | 日本電気株式会社 | Piezo actuator |
US5739759A (en) | 1993-02-04 | 1998-04-14 | Toshiba Corporation | Melody paging apparatus |
US5513100A (en) | 1993-06-10 | 1996-04-30 | The University Of British Columbia | Velocity controller with force feedback stiffness control |
US5436622A (en) | 1993-07-06 | 1995-07-25 | Motorola, Inc. | Variable frequency vibratory alert method and structure |
US5734373A (en) | 1993-07-16 | 1998-03-31 | Immersion Human Interface Corporation | Method and apparatus for controlling force feedback interface systems utilizing a host computer |
JP3355743B2 (en) | 1993-12-28 | 2002-12-09 | ヤマハ株式会社 | Electronic keyboard instrument |
US6420819B1 (en) | 1994-01-27 | 2002-07-16 | Active Control Experts, Inc. | Packaged strain actuator |
US5602715A (en) | 1994-06-30 | 1997-02-11 | Compaq Computer Corporation | Collapsible keyboard structure for a notebook computer, responsive to opening and closing of the computer's lid via relatively shiftable key support member and shift member |
US5587875A (en) | 1994-06-30 | 1996-12-24 | Compaq Computer Corporation | Collapsible notebook computer keyboard structure with horizontally and downwardly shiftable key return domes |
US5590020A (en) | 1994-06-30 | 1996-12-31 | Compaq Computer Corporation | Collapsible notebook computer keyboard structure with resiliently deflectable key cap skirts |
US5621610A (en) | 1994-06-30 | 1997-04-15 | Compaq Computer Corporation | Collapsible computer keyboard structure with associated collapsible pointing stick |
US5635928A (en) | 1994-12-23 | 1997-06-03 | Brother Kogyo Kabushiki Kaisha | Data processing device with a keyboard having pop-up keys |
US5510584A (en) | 1995-03-07 | 1996-04-23 | Itt Corporation | Sequentially operated snap action membrane switches |
US5629578A (en) | 1995-03-20 | 1997-05-13 | Martin Marietta Corp. | Integrated composite acoustic transducer array |
DE19517630C2 (en) | 1995-05-13 | 1997-10-09 | Metzeler Gimetall Ag | Active vibration absorber |
US5999168A (en) | 1995-09-27 | 1999-12-07 | Immersion Corporation | Haptic accelerator for force feedback computer peripherals |
US5959613A (en) | 1995-12-01 | 1999-09-28 | Immersion Corporation | Method and apparatus for shaping force signals for a force feedback device |
US5625532A (en) | 1995-10-10 | 1997-04-29 | Compaq Computer Corporation | Reduced height keyboard structure for a notebook computer |
WO1997016932A1 (en) | 1995-11-03 | 1997-05-09 | Elonex Technologies, Inc. | Selective notification method for portable electronic devices |
US6078308A (en) | 1995-12-13 | 2000-06-20 | Immersion Corporation | Graphical click surfaces for force feedback applications to provide user selection using cursor interaction with a trigger position within a boundary of a graphical object |
US5813142A (en) | 1996-02-09 | 1998-09-29 | Demon; Ronald S. | Shoe sole with an adjustable support pattern |
US5982612A (en) | 1996-02-15 | 1999-11-09 | Mallinckrodt & Mallinckrodt | Apparatus for automatically deploying a computer keyboard into an operative position from a storage position |
US5818149A (en) | 1996-03-25 | 1998-10-06 | Rutgers, The State University Of New Jersey | Ceramic composites and methods for producing same |
US5973441A (en) | 1996-05-15 | 1999-10-26 | American Research Corporation Of Virginia | Piezoceramic vibrotactile transducer based on pre-compressed arch |
US5812116A (en) | 1996-05-30 | 1998-09-22 | Texas Instruments Incorporated | Low profile keyboard |
US6351205B1 (en) | 1996-07-05 | 2002-02-26 | Brad A. Armstrong | Variable-conductance sensor |
US6411276B1 (en) | 1996-11-13 | 2002-06-25 | Immersion Corporation | Hybrid control of haptic feedback for host computer and interface device |
US5742242A (en) | 1996-12-19 | 1998-04-21 | Compaq Computer Corporation | Keyboard using pressurized fluid to generate key stroke characteristics |
US6809462B2 (en) | 2000-04-05 | 2004-10-26 | Sri International | Electroactive polymer sensors |
US5982304A (en) | 1997-03-24 | 1999-11-09 | International Business Machines Corporation | Piezoelectric switch with tactile response |
US5793605A (en) | 1997-04-01 | 1998-08-11 | Compaq Computer Corporation | Collapsible portable computer keyboard with resilient preload key stabilization |
US7091948B2 (en) | 1997-04-25 | 2006-08-15 | Immersion Corporation | Design of force sensations for haptic feedback computer interfaces |
US5783765A (en) | 1997-07-02 | 1998-07-21 | Yamaha Corporation | Keyboard musical instrument equipped with electromagnetic key touch generator for imparting piano key-touch to player |
US5907199A (en) | 1997-10-09 | 1999-05-25 | Ut Automotive Dearborn, Inc. | Electric motor providing multi-directional output |
US5995026A (en) | 1997-10-21 | 1999-11-30 | Compaq Computer Corporation | Programmable multiple output force-sensing keyboard |
US6211861B1 (en) | 1998-06-23 | 2001-04-03 | Immersion Corporation | Tactile mouse device |
US5896076A (en) | 1997-12-29 | 1999-04-20 | Motran Ind Inc | Force actuator with dual magnetic operation |
US5951908A (en) | 1998-01-07 | 1999-09-14 | Alliedsignal Inc. | Piezoelectrics and related devices from ceramics dispersed in polymers |
JP2000004557A (en) | 1998-03-04 | 2000-01-07 | Seiko Instruments Inc | Spindle motor providing aerodynamic pressure bearing and rotating device using the motor as drive source |
US6220550B1 (en) | 1998-03-31 | 2001-04-24 | Continuum Dynamics, Inc. | Actuating device with multiple stable positions |
US6184868B1 (en) | 1998-09-17 | 2001-02-06 | Immersion Corp. | Haptic feedback control devices |
US6717573B1 (en) | 1998-06-23 | 2004-04-06 | Immersion Corporation | Low-cost haptic mouse implementations |
US6707443B2 (en) | 1998-06-23 | 2004-03-16 | Immersion Corporation | Haptic trackball device |
FI981469A (en) | 1998-06-25 | 1999-12-26 | Nokia Mobile Phones Ltd | Integrated motion detector in a mobile telecommunications device |
US6218966B1 (en) | 1998-11-05 | 2001-04-17 | International Business Machines Corporation | Tactile feedback keyboard |
US6373465B2 (en) | 1998-11-10 | 2002-04-16 | Lord Corporation | Magnetically-controllable, semi-active haptic interface system and apparatus |
US6552471B1 (en) | 1999-01-28 | 2003-04-22 | Parallel Design, Inc. | Multi-piezoelectric layer ultrasonic transducer for medical imaging |
US6455973B1 (en) | 1999-01-29 | 2002-09-24 | Siemens Vdo Automotive Corp. | Magnetic device with flux return strip |
WO2000051190A1 (en) | 1999-02-26 | 2000-08-31 | Active Control Experts, Inc. | Packaged strain actuator |
US20020194284A1 (en) | 1999-03-02 | 2002-12-19 | Haynes Thomas Richard | Granular assignation of importance to multiple-recipient electronic communication |
US7334350B2 (en) | 1999-03-16 | 2008-02-26 | Anatomic Research, Inc | Removable rounded midsole structures and chambers with computer processor-controlled variable pressure |
US6363265B1 (en) | 1999-04-19 | 2002-03-26 | Lucent Technologies, Inc. | Volume control for an alert generator |
EP1196054A1 (en) | 1999-04-26 | 2002-04-17 | Ellis, Frampton E. III | Shoe sole orthotic structures and computer controlled compartments |
US6408187B1 (en) | 1999-05-14 | 2002-06-18 | Sun Microsystems, Inc. | Method and apparatus for determining the behavior of a communications device based upon environmental conditions |
US7561142B2 (en) | 1999-07-01 | 2009-07-14 | Immersion Corporation | Vibrotactile haptic feedback devices |
CN1197105C (en) | 1999-08-27 | 2005-04-13 | 三菱电机株式会社 | Push-button switch and switch device |
DE20080209U1 (en) | 1999-09-28 | 2001-08-09 | Immersion Corp | Control of haptic sensations for interface devices with vibrotactile feedback |
JP3344385B2 (en) | 1999-10-22 | 2002-11-11 | ヤマハ株式会社 | Vibration source drive |
US6252336B1 (en) | 1999-11-08 | 2001-06-26 | Cts Corporation | Combined piezoelectric silent alarm/battery charger |
US6693626B1 (en) | 1999-12-07 | 2004-02-17 | Immersion Corporation | Haptic feedback using a keyboard device |
US6822635B2 (en) | 2000-01-19 | 2004-11-23 | Immersion Corporation | Haptic interface for laptop computers and other portable devices |
US6642857B1 (en) | 2000-01-19 | 2003-11-04 | Synaptics Incorporated | Capacitive pointing stick |
KR100325381B1 (en) | 2000-02-11 | 2002-03-06 | 안준영 | A method of implementing touch pad using fingerprint reader and a touch pad apparatus for functioning as fingerprint scan |
US6429849B1 (en) | 2000-02-29 | 2002-08-06 | Microsoft Corporation | Haptic feedback joystick |
DE10023310A1 (en) | 2000-05-15 | 2001-11-29 | Festo Ag & Co | Piezo bending transducer and use of the same |
JP4042340B2 (en) | 2000-05-17 | 2008-02-06 | カシオ計算機株式会社 | Information equipment |
US7196688B2 (en) | 2000-05-24 | 2007-03-27 | Immersion Corporation | Haptic devices using electroactive polymers |
EP1212885B1 (en) | 2000-06-21 | 2009-04-29 | Seiko Epson Corporation | Mobile telephone and radio communication device cooperatively processing incoming call |
US6954657B2 (en) | 2000-06-30 | 2005-10-11 | Texas Instruments Incorporated | Wireless communication device having intelligent alerting system |
US6906697B2 (en) | 2000-08-11 | 2005-06-14 | Immersion Corporation | Haptic sensations for tactile feedback interface devices |
CA2355434A1 (en) | 2000-08-17 | 2002-02-17 | Dsi Datotech Systems Inc. | Multi-point touch pad |
AU2001294852A1 (en) | 2000-09-28 | 2002-04-08 | Immersion Corporation | Directional tactile feedback for haptic feedback interface devices |
US7182691B1 (en) | 2000-09-28 | 2007-02-27 | Immersion Corporation | Directional inertial tactile feedback using rotating masses |
JP3475949B2 (en) | 2000-09-29 | 2003-12-10 | 松下電工株式会社 | Linear oscillator |
JP2002102799A (en) | 2000-09-29 | 2002-04-09 | Namiki Precision Jewel Co Ltd | Vibrator with vibration transmitter and its fitting structure |
US20050110778A1 (en) | 2000-12-06 | 2005-05-26 | Mourad Ben Ayed | Wireless handwriting input device using grafitis and bluetooth |
US6906703B2 (en) | 2001-03-28 | 2005-06-14 | Microsoft Corporation | Electronic module for sensing pen motion |
US6552404B1 (en) | 2001-04-17 | 2003-04-22 | Analog Devices, Inc. | Integratable transducer structure |
US7176906B2 (en) | 2001-05-04 | 2007-02-13 | Microsoft Corporation | Method of generating digital ink thickness information |
US6557072B2 (en) | 2001-05-10 | 2003-04-29 | Palm, Inc. | Predictive temperature compensation for memory devices systems and method |
US6465921B1 (en) | 2001-05-10 | 2002-10-15 | Sunonwealth Electric Machine Industry Co., Ltd. | Assembling structure of a miniature vibration motor |
US6963762B2 (en) | 2001-05-23 | 2005-11-08 | Nokia Corporation | Mobile phone using tactile icons |
US7162928B2 (en) | 2004-12-06 | 2007-01-16 | Nartron Corporation | Anti-entrapment system |
US8169401B2 (en) | 2001-07-10 | 2012-05-01 | British Telecommunications Public Limited Company | Haptic interface |
US6809727B2 (en) | 2001-08-21 | 2004-10-26 | Logitech Europe S.A. | Roller with tactile feedback |
JP2003062525A (en) | 2001-08-23 | 2003-03-04 | Shicoh Eng Co Ltd | Electromagnetic actuator |
US20070287541A1 (en) | 2001-09-28 | 2007-12-13 | Jeffrey George | Tracking display with proximity button activation |
CN102609088B (en) | 2001-11-01 | 2015-12-16 | 意美森公司 | For providing the method and system of sense of touch |
US6995752B2 (en) | 2001-11-08 | 2006-02-07 | Koninklijke Philips Electronics N.V. | Multi-point touch pad |
US20030210259A1 (en) | 2001-11-14 | 2003-11-13 | Liu Alan V. | Multi-tactile display haptic interface device |
KR100401808B1 (en) | 2001-11-28 | 2003-10-17 | 학교법인 건국대학교 | Curved Shape Actuator Device Composed of Electro Active Layer and Fiber Composite Layers |
US6952203B2 (en) | 2002-01-08 | 2005-10-04 | International Business Machines Corporation | Touchscreen user interface: Bluetooth™ stylus for performing right mouse clicks |
JP2003220363A (en) | 2002-01-29 | 2003-08-05 | Citizen Electronics Co Ltd | Axially driven vibration body |
US7161580B2 (en) | 2002-04-25 | 2007-01-09 | Immersion Corporation | Haptic feedback using rotary harmonic moving mass |
JP2004070920A (en) | 2002-06-11 | 2004-03-04 | Sony Computer Entertainment Inc | Information processing program, computer readable recording medium recording information processing program, information processing method and information processor |
US7123948B2 (en) | 2002-07-16 | 2006-10-17 | Nokia Corporation | Microphone aided vibrator tuning |
JP3937982B2 (en) | 2002-08-29 | 2007-06-27 | ソニー株式会社 | INPUT / OUTPUT DEVICE AND ELECTRONIC DEVICE HAVING INPUT / OUTPUT DEVICE |
TWI230901B (en) | 2002-09-03 | 2005-04-11 | Via Tech Inc | System and method for executing hot key function |
WO2004038573A2 (en) | 2002-10-20 | 2004-05-06 | Immersion Corporation | System and method for providing rotational haptic feedback |
US7798982B2 (en) | 2002-11-08 | 2010-09-21 | Engineering Acoustics, Inc. | Method and apparatus for generating a vibrational stimulus |
WO2004047130A2 (en) | 2002-11-21 | 2004-06-03 | Showa Denko K.K. | Solid electrolytic capacitor and method for producing the same |
JP4065769B2 (en) | 2002-11-29 | 2008-03-26 | アルプス電気株式会社 | Vibration generator |
US20040127198A1 (en) | 2002-12-30 | 2004-07-01 | Roskind James A. | Automatically changing a mobile device configuration based on environmental condition |
JP2004236202A (en) | 2003-01-31 | 2004-08-19 | Nec Commun Syst Ltd | Portable phone, call arrival information control method to be used for the portable phone and call arrival information control program |
US7894177B2 (en) | 2005-12-29 | 2011-02-22 | Apple Inc. | Light activated hold switch |
JP4907050B2 (en) | 2003-03-31 | 2012-03-28 | 株式会社ワコー | Force detection device |
JP4387691B2 (en) | 2003-04-28 | 2009-12-16 | 株式会社ワコー | Force detection device |
US7130664B1 (en) | 2003-06-12 | 2006-10-31 | Williams Daniel P | User-based signal indicator for telecommunications device and method of remotely notifying a user of an incoming communications signal incorporating the same |
DE10330024A1 (en) | 2003-07-03 | 2005-01-27 | Siemens Ag | Charging a mobile terminal battery |
DE10340188A1 (en) | 2003-09-01 | 2005-04-07 | Siemens Ag | Screen with a touch-sensitive user interface for command input |
KR20050033909A (en) | 2003-10-07 | 2005-04-14 | 조영준 | Key switch using magnetic force |
US20050107129A1 (en) | 2003-11-13 | 2005-05-19 | Interdigital Technology Corporation | Environment-aware call annunciator |
WO2005050683A1 (en) | 2003-11-20 | 2005-06-02 | Preh Gmbh | Control element with programmable haptics |
JP4895482B2 (en) | 2003-11-27 | 2012-03-14 | 富士通コンポーネント株式会社 | Touch panel and manufacturing method thereof |
US7348968B2 (en) | 2003-12-02 | 2008-03-25 | Sony Corporation | Wireless force feedback input device |
US7742036B2 (en) | 2003-12-22 | 2010-06-22 | Immersion Corporation | System and method for controlling haptic devices having multiple operational modes |
US7961909B2 (en) | 2006-03-08 | 2011-06-14 | Electronic Scripting Products, Inc. | Computer interface employing a manipulated object with absolute pose detection component and a display |
WO2005084358A2 (en) | 2004-03-03 | 2005-09-15 | Metis Design Corporation | Damage detection device |
US20060209037A1 (en) | 2004-03-15 | 2006-09-21 | David Wang | Method and system for providing haptic effects |
US7180500B2 (en) | 2004-03-23 | 2007-02-20 | Fujitsu Limited | User definable gestures for motion controlled handheld devices |
JP4141426B2 (en) | 2004-03-29 | 2008-08-27 | 三洋電機株式会社 | Capacitive pressure sensor and heart rate / respiration measurement device using the same |
TWI246701B (en) | 2004-04-06 | 2006-01-01 | Darfon Electronics Corp | Keyboard with elevated key |
US20050237306A1 (en) | 2004-04-27 | 2005-10-27 | Udo Klein | Tactile feedback through a computer keyboard key |
US7508382B2 (en) | 2004-04-28 | 2009-03-24 | Fuji Xerox Co., Ltd. | Force-feedback stylus and applications to freeform ink |
US20050248549A1 (en) | 2004-05-06 | 2005-11-10 | Dietz Paul H | Hand-held haptic stylus |
US20050258715A1 (en) | 2004-05-19 | 2005-11-24 | Schlabach Roderic A | Piezoelectric actuator having minimal displacement drift with temperature and high durability |
US7392066B2 (en) | 2004-06-17 | 2008-06-24 | Ixi Mobile (R&D), Ltd. | Volume control system and method for a mobile communication device |
US20060014569A1 (en) | 2004-07-13 | 2006-01-19 | Broadcom Corporation | Mobile communication device with adaptive audible user notification |
GB0417069D0 (en) | 2004-07-30 | 2004-09-01 | Hewlett Packard Development Co | Methods, apparatus and software for validating entries made on a form |
US8082640B2 (en) | 2004-08-31 | 2011-12-27 | Canon Kabushiki Kaisha | Method for manufacturing a ferroelectric member element structure |
US7269484B2 (en) | 2004-09-09 | 2007-09-11 | Lear Corporation | Vehicular touch switches with adaptive tactile and audible feedback |
US8232969B2 (en) | 2004-10-08 | 2012-07-31 | Immersion Corporation | Haptic feedback for button and scrolling action simulation in touch input devices |
CN100524870C (en) | 2004-10-21 | 2009-08-05 | 米其林技术公司 | Energy harvester with adjustable resonant frequency |
WO2006058013A2 (en) | 2004-11-22 | 2006-06-01 | Ellis, Frampton, E. | Devices with internal flexibility sipes, including siped chambers for footwear |
US7469155B2 (en) | 2004-11-29 | 2008-12-23 | Cisco Technology, Inc. | Handheld communications device with automatic alert mode selection |
KR101179777B1 (en) | 2004-11-30 | 2012-09-04 | 임머숀 코퍼레이션 | Systems and methods for controlling a resonant device for generating vibrotactile haptic effects |
JP4560388B2 (en) | 2004-11-30 | 2010-10-13 | 株式会社リコー | Image forming apparatus |
US7683749B2 (en) | 2004-11-30 | 2010-03-23 | Smc Kabushiki Kaisha | Linear electromagnetic actuator |
US8069881B1 (en) | 2004-12-02 | 2011-12-06 | Barnes Group Inc. | Spring and spring processing method |
US7333604B2 (en) | 2005-01-10 | 2008-02-19 | Infone Tech, Ltd. | Adaptive notification of an incoming call in a mobile phone |
US20060154674A1 (en) | 2005-01-11 | 2006-07-13 | Agere Systems Incorporated | Mobile communication device having geographical device setting control and method of operation thereof |
JP4400463B2 (en) | 2005-01-19 | 2010-01-20 | パナソニック電工株式会社 | Vibration type linear actuator and electric toothbrush using the same |
ATE508577T1 (en) | 2005-01-31 | 2011-05-15 | Research In Motion Ltd | USER HAND DETECTION AND DISPLAY LIGHTING ADJUSTMENT FOR WIRELESS TERMINAL |
US7194645B2 (en) | 2005-02-09 | 2007-03-20 | International Business Machines Corporation | Method and apparatus for autonomic policy-based thermal management in a data processing system |
EP2620841A1 (en) | 2005-02-17 | 2013-07-31 | Advanced Input Devices, Inc. | Keyboard assembly |
ATE393417T1 (en) | 2005-02-18 | 2008-05-15 | Raymond Weil S A | DEVICE FOR FIXING AN INTERCHANGEABLE BRACELET ON A WATCH |
DE602005007705D1 (en) | 2005-03-21 | 2008-08-07 | Sony Ericsson Mobile Comm Ab | vibration tube |
JP4519696B2 (en) | 2005-03-29 | 2010-08-04 | 富士通コンポーネント株式会社 | Input device |
US20060239746A1 (en) | 2005-04-20 | 2006-10-26 | Ikeyinfinity Inc. | Systems and methods for computer input |
TWI260151B (en) | 2005-05-06 | 2006-08-11 | Benq Corp | Mobile phone |
US7919945B2 (en) | 2005-06-27 | 2011-04-05 | Coactive Drive Corporation | Synchronized vibration device for haptic feedback |
WO2015023670A1 (en) | 2013-08-13 | 2015-02-19 | Coactive Drive Corporation | Differential haptic guidance for personal navigation |
US20070043725A1 (en) | 2005-08-16 | 2007-02-22 | Steve Hotelling | Feedback responsive input arrangements |
US7217891B2 (en) | 2005-09-29 | 2007-05-15 | Delphi Technologies, Inc. | Capacitive sensing apparatus for a vehicle seat |
US7633076B2 (en) | 2005-09-30 | 2009-12-15 | Apple Inc. | Automated response to and sensing of user activity in portable devices |
TWI293000B (en) | 2005-11-03 | 2008-01-21 | Benq Corp | Electronic device capable of operating a function according to detection of environmental light |
US20070168430A1 (en) | 2005-11-23 | 2007-07-19 | Xerox Corporation | Content-based dynamic email prioritizer |
GB2433351B (en) | 2005-12-16 | 2009-03-25 | Dale Mcphee Purcocks | Keyboard |
KR100877067B1 (en) | 2006-01-03 | 2009-01-07 | 삼성전자주식회사 | Haptic button, and haptic device using it |
WO2007086426A1 (en) | 2006-01-24 | 2007-08-02 | Nippon Telegraph And Telephone Corporation | Acceleration generating apparatus and pseudo tactile-force generating apparatus |
US20070178942A1 (en) | 2006-01-30 | 2007-08-02 | Sadler Daniel J | Method for abruptly stopping a linear vibration motor in portable communication device |
US20070188450A1 (en) | 2006-02-14 | 2007-08-16 | International Business Machines Corporation | Method and system for a reversible display interface mechanism |
US8210942B2 (en) | 2006-03-31 | 2012-07-03 | Wms Gaming Inc. | Portable wagering game with vibrational cues and feedback mechanism |
WO2007114631A2 (en) | 2006-04-03 | 2007-10-11 | Young-Jun Cho | Key switch using magnetic force |
JP2007275776A (en) | 2006-04-06 | 2007-10-25 | Citizen Electronics Co Ltd | Vibrator |
US8398570B2 (en) | 2006-04-14 | 2013-03-19 | Engineering Acoustics, Inc. | Wide band vibrational stimulus device |
US7569086B2 (en) | 2006-04-24 | 2009-08-04 | Thermochem Recovery International, Inc. | Fluid bed reactor having vertically spaced apart clusters of heating conduits |
JP2008033739A (en) | 2006-07-31 | 2008-02-14 | Sony Corp | Touch screen interaction method and apparatus based on tactile force feedback and pressure measurement |
US7675414B2 (en) | 2006-08-10 | 2010-03-09 | Qualcomm Incorporated | Methods and apparatus for an environmental and behavioral adaptive wireless communication device |
US20080074002A1 (en) | 2006-09-26 | 2008-03-27 | Shashank Priya | Piezoelectric energy harvester |
US20080084384A1 (en) | 2006-10-05 | 2008-04-10 | Immersion Corporation | Multiple Mode Haptic Feedback System |
US20080255794A1 (en) | 2006-10-11 | 2008-10-16 | Levine James A | Physical activity monitoring and prompting system |
US7675253B2 (en) | 2006-11-15 | 2010-03-09 | Schlumberger Technology Corporation | Linear actuator using magnetostrictive power element |
US7992431B2 (en) | 2006-11-28 | 2011-08-09 | Drexel University | Piezoelectric microcantilevers and uses in atomic force microscopy |
WO2008075082A1 (en) | 2006-12-21 | 2008-06-26 | Symbian Software Limited | Mobile device and method of operation thereof |
KR101533465B1 (en) | 2006-12-27 | 2015-07-02 | 임머숀 코퍼레이션 | Virtual detents through vibrotactile feedback |
US20080165148A1 (en) | 2007-01-07 | 2008-07-10 | Richard Williamson | Portable Electronic Device, Method, and Graphical User Interface for Displaying Inline Multimedia Content |
US7893922B2 (en) | 2007-01-15 | 2011-02-22 | Sony Ericsson Mobile Communications Ab | Touch sensor with tactile feedback |
US20080181706A1 (en) | 2007-01-25 | 2008-07-31 | Jackson Johnny J | Tactile Force Sensor and Hybrid Stenotype Keyboards and Method of Use |
US20080192014A1 (en) | 2007-02-08 | 2008-08-14 | Tyco Electronics Corporation | Touch screen using carbon nanotube electrodes |
US7929382B2 (en) | 2007-02-14 | 2011-04-19 | Seiko Epson Corporation | Piezoelectric transducer, piezoelectric actuator, and portable device |
US8179202B2 (en) | 2007-02-16 | 2012-05-15 | Immersion Corporation | Multiple pulse width modulation |
US8098234B2 (en) | 2007-02-20 | 2012-01-17 | Immersion Corporation | Haptic feedback system with stored effects |
US20080204417A1 (en) | 2007-02-27 | 2008-08-28 | Pierce Paul M | Multimodal Adaptive User Interface for a Portable Electronic Device |
US7946483B2 (en) | 2007-03-01 | 2011-05-24 | Deadman Technologies, Llc | Biometric control of equipment |
JP5292707B2 (en) | 2007-03-06 | 2013-09-18 | 株式会社ジェイテクト | Moving magnet type linear motor |
US8378965B2 (en) | 2007-04-10 | 2013-02-19 | Immersion Corporation | Vibration actuator with a unidirectional drive |
GB2439411B (en) | 2007-04-27 | 2008-07-23 | Perpetuum Ltd | An electromechanical generator for converting mechanical vibrational energy into electrical energy |
US8587955B2 (en) | 2007-05-23 | 2013-11-19 | Apple Inc. | Electronic device with a ceramic component |
US8621348B2 (en) | 2007-05-25 | 2013-12-31 | Immersion Corporation | Customizing haptic effects on an end user device |
US8072418B2 (en) | 2007-05-31 | 2011-12-06 | Disney Enterprises, Inc. | Tactile feedback mechanism using magnets to provide trigger or release sensations |
US9823833B2 (en) | 2007-06-05 | 2017-11-21 | Immersion Corporation | Method and apparatus for haptic enabled flexible touch sensitive surface |
US20090002328A1 (en) | 2007-06-26 | 2009-01-01 | Immersion Corporation, A Delaware Corporation | Method and apparatus for multi-touch tactile touch panel actuator mechanisms |
US7956770B2 (en) | 2007-06-28 | 2011-06-07 | Sony Ericsson Mobile Communications Ab | Data input device and portable electronic device |
WO2009006318A1 (en) | 2007-06-29 | 2009-01-08 | Artificial Muscle, Inc. | Electroactive polymer transducers for sensory feedback applications |
KR100901359B1 (en) | 2007-07-03 | 2009-06-05 | 한국과학기술원 | Tactile feedback device |
US8248277B2 (en) | 2007-07-06 | 2012-08-21 | Pacinian Corporation | Haptic keyboard systems and methods |
US7741979B2 (en) | 2007-07-06 | 2010-06-22 | Pacinian Corporation | Haptic keyboard systems and methods |
US7888892B2 (en) | 2007-07-18 | 2011-02-15 | Hewlett-Packard Development Company, L.P. | Mobile electronic apparatus having a rechargeable storage device |
US7788032B2 (en) | 2007-09-14 | 2010-08-31 | Palm, Inc. | Targeting location through haptic feedback signals |
US8084968B2 (en) | 2007-09-17 | 2011-12-27 | Sony Ericsson Mobile Communications Ab | Use of an accelerometer to control vibrator performance |
CN101409164A (en) | 2007-10-10 | 2009-04-15 | 唐艺华 | Key-press and keyboard using the same |
US8031172B2 (en) | 2007-10-12 | 2011-10-04 | Immersion Corporation | Method and apparatus for wearable remote interface device |
WO2009050812A1 (en) | 2007-10-18 | 2009-04-23 | Fujitsu Limited | Display unit and display system |
US20130217491A1 (en) | 2007-11-02 | 2013-08-22 | Bally Gaming, Inc. | Virtual button deck with sensory feedback |
US20090115734A1 (en) | 2007-11-02 | 2009-05-07 | Sony Ericsson Mobile Communications Ab | Perceivable feedback |
EP2060967B1 (en) | 2007-11-02 | 2009-07-08 | Research In Motion Limited | Electronic device and tactile touch screen |
US20090120105A1 (en) | 2007-11-08 | 2009-05-14 | Immersion Corporation | Thermal Haptic Effects |
US10488926B2 (en) | 2007-11-21 | 2019-11-26 | Immersion Corporation | Method and apparatus for providing a fixed relief touch screen with locating features using deformable haptic surfaces |
KR20100122896A (en) | 2007-11-21 | 2010-11-23 | 아트피셜 머슬, 인코퍼레이션 | Electroactive polymer transducers for tactile feedback devices |
US8253686B2 (en) | 2007-11-26 | 2012-08-28 | Electronics And Telecommunications Research Institute | Pointing apparatus capable of providing haptic feedback, and haptic interaction system and method using the same |
US20090135142A1 (en) | 2007-11-27 | 2009-05-28 | Motorola, Inc. | Data entry device and method |
JP4442683B2 (en) | 2007-11-27 | 2010-03-31 | セイコーエプソン株式会社 | Display system, display device, and program |
US20090140853A1 (en) | 2007-11-30 | 2009-06-04 | Nokia Corporation | Method and Apparatus for Alert Control |
US8395587B2 (en) | 2007-12-21 | 2013-03-12 | Motorola Mobility Llc | Haptic response apparatus for an electronic device |
JP2009151684A (en) | 2007-12-21 | 2009-07-09 | Sony Corp | Touch-sensitive sheet member, input device and electronic equipment |
US8123660B2 (en) | 2007-12-28 | 2012-02-28 | Immersion Corporation | Method and apparatus for providing communications with haptic cues |
US8836502B2 (en) | 2007-12-28 | 2014-09-16 | Apple Inc. | Personal media device input and output control based on associated conditions |
US9857872B2 (en) | 2007-12-31 | 2018-01-02 | Apple Inc. | Multi-touch display screen with localized tactile feedback |
US20090167702A1 (en) | 2008-01-02 | 2009-07-02 | Nokia Corporation | Pointing device detection |
US8947383B2 (en) | 2008-01-04 | 2015-02-03 | Tactus Technology, Inc. | User interface system and method |
US8928621B2 (en) | 2008-01-04 | 2015-01-06 | Tactus Technology, Inc. | User interface system and method |
EP2245612B1 (en) | 2008-02-04 | 2013-07-17 | Nokia Corporation | Device and method for providing tactile information |
US8270114B2 (en) | 2008-02-08 | 2012-09-18 | International Business Machines Corporation | Magnetically biased tilting roller bearing tape guidance |
US8294600B2 (en) | 2008-02-15 | 2012-10-23 | Cody George Peterson | Keyboard adaptive haptic response |
US20090218148A1 (en) | 2008-02-28 | 2009-09-03 | Angela Beth Hugeback | Detection of Attack Velocity Features in Capacitive Touch Sensor Data |
KR100952698B1 (en) | 2008-03-10 | 2010-04-13 | 한국표준과학연구원 | Tactile transmission method using tactile feedback apparatus and the system thereof |
US8270148B2 (en) | 2008-03-14 | 2012-09-18 | David Griffith | Suspension for a pressure sensitive touch display or panel |
US8156809B2 (en) | 2008-03-27 | 2012-04-17 | Immersion Corporation | Systems and methods for resonance detection |
US8816961B2 (en) | 2008-04-01 | 2014-08-26 | Koninklijke Philips N.V. | Pointing device for use on an interactive surface |
US20100089735A1 (en) | 2008-04-17 | 2010-04-15 | Minebea Co., Ltd. | Haptic keyboard apparatus and method |
US9274601B2 (en) | 2008-04-24 | 2016-03-01 | Blackberry Limited | System and method for generating a feedback signal in response to an input signal provided to an electronic device |
US20090267892A1 (en) | 2008-04-24 | 2009-10-29 | Research In Motion Limited | System and method for generating energy from activation of an input device in an electronic device |
US20090291670A1 (en) | 2008-05-22 | 2009-11-26 | At&T Mobility Ii Llc | Device behavior for cmas alert to idle mobile device |
US8315746B2 (en) | 2008-05-30 | 2012-11-20 | Apple Inc. | Thermal management techniques in an electronic device |
US9357052B2 (en) | 2008-06-09 | 2016-05-31 | Immersion Corporation | Developing a notification framework for electronic device events |
US20090312049A1 (en) | 2008-06-12 | 2009-12-17 | Nokia Corporation | Context determination of an electronic device |
US9733704B2 (en) | 2008-06-12 | 2017-08-15 | Immersion Corporation | User interface impact actuator |
US8174372B2 (en) | 2008-06-26 | 2012-05-08 | Immersion Corporation | Providing haptic feedback on a touch surface |
KR100975868B1 (en) | 2008-07-23 | 2010-08-13 | 삼성모바일디스플레이주식회사 | Flat panel display device |
US20100020036A1 (en) | 2008-07-23 | 2010-01-28 | Edward Hui | Portable electronic device and method of controlling same |
US9477342B2 (en) | 2008-08-26 | 2016-10-25 | Google Technology Holdings LLC | Multi-touch force sensing touch-screen devices and methods |
US20100053087A1 (en) | 2008-08-26 | 2010-03-04 | Motorola, Inc. | Touch sensors with tactile feedback |
US10289199B2 (en) | 2008-09-29 | 2019-05-14 | Apple Inc. | Haptic feedback system |
KR101571562B1 (en) | 2008-10-22 | 2015-11-25 | 삼성전자주식회사 | Vibration Motor |
KR100985905B1 (en) | 2008-10-27 | 2010-10-08 | 이인호 | Linear Vibrator |
JP5551076B2 (en) | 2008-10-29 | 2014-07-16 | 京セラ株式会社 | Portable electronic devices |
US20120126959A1 (en) | 2008-11-04 | 2012-05-24 | Bayer Materialscience Ag | Electroactive polymer transducers for tactile feedback devices |
US20100141408A1 (en) | 2008-12-05 | 2010-06-10 | Anthony Stephen Doy | Audio amplifier apparatus to drive a panel to produce both an audio signal and haptic feedback |
EP2374430B1 (en) | 2008-12-08 | 2016-10-12 | Sunstar Inc. | Linear actuator |
KR20100065640A (en) | 2008-12-08 | 2010-06-17 | 삼성전자주식회사 | Method for providing haptic feedback in a touchscreen |
US20100152620A1 (en) | 2008-12-12 | 2010-06-17 | Immersion Corporation | Method and Apparatus for Providing A Haptic Monitoring System Using Multiple Sensors |
US8760273B2 (en) | 2008-12-16 | 2014-06-24 | Dell Products, Lp | Apparatus and methods for mounting haptics actuation circuitry in keyboards |
US8674941B2 (en) | 2008-12-16 | 2014-03-18 | Dell Products, Lp | Systems and methods for implementing haptics for pressure sensitive keyboards |
KR101030389B1 (en) | 2008-12-17 | 2011-04-20 | 삼성전자주식회사 | Haptic function control method for portable terminal |
US8384679B2 (en) | 2008-12-23 | 2013-02-26 | Todd Robert Paleczny | Piezoelectric actuator arrangement |
US8686952B2 (en) | 2008-12-23 | 2014-04-01 | Apple Inc. | Multi touch with multi haptics |
EP2202619A1 (en) | 2008-12-23 | 2010-06-30 | Research In Motion Limited | Portable electronic device including tactile touch-sensitive input device and method of controlling same |
KR20100078294A (en) | 2008-12-30 | 2010-07-08 | 삼성전자주식회사 | Method for generating vibration and mobile terminal using the same |
JP2012515987A (en) | 2009-01-21 | 2012-07-12 | バイヤー・マテリアルサイエンス・アーゲー | Electroactive polymer transducer for haptic feedback devices |
US9468846B2 (en) | 2009-01-30 | 2016-10-18 | Performance Designed Products Llc | Tactile feedback apparatus and method |
CN102388354A (en) | 2009-02-17 | 2012-03-21 | 诺亚·安格林 | Floating plane touch detection system |
US8255004B2 (en) | 2009-02-18 | 2012-08-28 | Qualcomm Incorporated | Methods and systems for communicating using variable temperature control |
US7886621B2 (en) | 2009-03-06 | 2011-02-15 | University Of South Australia | Digital foam |
US10564721B2 (en) | 2009-03-12 | 2020-02-18 | Immersion Corporation | Systems and methods for using multiple actuators to realize textures |
US9696803B2 (en) | 2009-03-12 | 2017-07-04 | Immersion Corporation | Systems and methods for friction displays and additional haptic effects |
DE102009015991A1 (en) | 2009-04-02 | 2010-10-07 | Pi Ceramic Gmbh Keramische Technologien Und Bauelemente | Device for generating a haptic feedback of a keyless input unit |
US20100265197A1 (en) | 2009-04-16 | 2010-10-21 | Research In Motion Limited | Electronic device and touch screen display with force sensor |
KR101553842B1 (en) | 2009-04-21 | 2015-09-17 | 엘지전자 주식회사 | Mobile terminal providing multi haptic effect and control method thereof |
JP5398346B2 (en) | 2009-05-19 | 2014-01-29 | キヤノン株式会社 | Imaging apparatus and signal processing apparatus |
WO2010134349A1 (en) | 2009-05-21 | 2010-11-25 | パナソニック株式会社 | Tactile sensation processing device |
FR2946427B1 (en) | 2009-06-05 | 2011-09-30 | Hill Rom Ind Sa | PRESSURE SENSOR COMPRISING A CAPACITIVE CELL AND SUPPORT DEVICE HAVING THE SAME. |
US9891708B2 (en) | 2009-06-09 | 2018-02-13 | Immersion Corporation | Method and apparatus for generating haptic effects using actuators |
US20100328229A1 (en) | 2009-06-30 | 2010-12-30 | Research In Motion Limited | Method and apparatus for providing tactile feedback |
KR101059599B1 (en) | 2009-07-01 | 2011-08-25 | 삼성전기주식회사 | Linear vibration motor |
US20110007023A1 (en) | 2009-07-09 | 2011-01-13 | Sony Ericsson Mobile Communications Ab | Display device, touch screen device comprising the display device, mobile device and method for sensing a force on a display device |
US9035887B1 (en) | 2009-07-10 | 2015-05-19 | Lexcycle, Inc | Interactive user interface |
US8378797B2 (en) | 2009-07-17 | 2013-02-19 | Apple Inc. | Method and apparatus for localization of haptic feedback |
US20110011712A1 (en) | 2009-07-17 | 2011-01-20 | Sony Ericsson Mobile Communications Ab | Adjustable input device |
WO2011011025A1 (en) | 2009-07-24 | 2011-01-27 | Research In Motion Limited | Method and apparatus for a touch-sensitive display |
US8390594B2 (en) | 2009-08-18 | 2013-03-05 | Immersion Corporation | Haptic feedback using composite piezoelectric actuator |
DE102009038103A1 (en) | 2009-08-19 | 2011-02-24 | Moeller Gmbh | Electromagnet assembly for hydraulic gate, is provided with fixed, magnetic yoke and anchor, where plastic layers are placed between one of pole faces of magnetic yoke and pole surfaces of anchor |
US8515398B2 (en) | 2009-08-25 | 2013-08-20 | Lg Electronics Inc. | Mobile terminal and method for managing phone book data thereof |
US20110053577A1 (en) | 2009-08-31 | 2011-03-03 | Lee Changkee | Methods and apparatus for communicating by vibrating or moving mobile devices |
US9317116B2 (en) | 2009-09-09 | 2016-04-19 | Immersion Corporation | Systems and methods for haptically-enhanced text interfaces |
KR101069997B1 (en) | 2009-09-11 | 2011-10-04 | 삼성전기주식회사 | Linear vibration motor |
US8487759B2 (en) | 2009-09-30 | 2013-07-16 | Apple Inc. | Self adapting haptic device |
US8552859B2 (en) | 2009-09-30 | 2013-10-08 | Apple Inc. | Self adapting alert device |
US8629843B2 (en) | 2009-10-01 | 2014-01-14 | Blackberry Limited | Piezoelectric assembly |
US8717309B2 (en) | 2009-10-13 | 2014-05-06 | Blackberry Limited | Portable electronic device including a touch-sensitive display and method of controlling same |
US20120092263A1 (en) | 2009-10-15 | 2012-04-19 | Pacinian Corporation | Haptic keyboard featuring a satisfying tactile keypress experience |
EP2491475A4 (en) | 2009-10-19 | 2015-03-11 | Bayer Ip Gmbh | Flexure assemblies and fixtures for haptic feedback |
EP2315186B1 (en) | 2009-10-26 | 2016-09-21 | Lg Electronics Inc. | Mobile terminal with flexible body for inputting a signal upon bending said body |
US20110107958A1 (en) | 2009-11-12 | 2011-05-12 | Apple Inc. | Input devices and methods of operation |
US20110121765A1 (en) | 2009-11-24 | 2011-05-26 | World Properties, Inc. | Driver for piezoelectric actuator |
KR101364888B1 (en) | 2009-11-26 | 2014-02-19 | 아사히 가세이 일렉트로닉스 가부시끼가이샤 | Touch panel device and touch input point spacing distance detection method of touch panel |
US8633916B2 (en) | 2009-12-10 | 2014-01-21 | Apple, Inc. | Touch pad with force sensors and actuator feedback |
US20110148608A1 (en) | 2009-12-18 | 2011-06-23 | Research In Motion Limited | Portable electronic device and method of control |
KR20110074333A (en) | 2009-12-24 | 2011-06-30 | 삼성전자주식회사 | Method and apparatus for generating vibration in potable terminal |
KR101642149B1 (en) | 2010-01-05 | 2016-07-25 | 삼성전자주식회사 | Method and apparatus for controlling haptic feedback in portable terminal having touch-screen |
JP5385165B2 (en) | 2010-01-15 | 2014-01-08 | ホシデン株式会社 | Input device |
US20110260988A1 (en) | 2010-01-20 | 2011-10-27 | Northwestern University | Method and apparatus for increasing magnitude and frequency of forces applied to a bare finger on a haptic surface |
US9870053B2 (en) | 2010-02-08 | 2018-01-16 | Immersion Corporation | Systems and methods for haptic feedback using laterally driven piezoelectric actuators |
US20110199321A1 (en) | 2010-02-12 | 2011-08-18 | Electronics And Telecommunications Research Institute | Apparatus for providing self-morphable haptic and visual information and method thereof |
US9012795B2 (en) | 2010-02-24 | 2015-04-21 | Apple Inc. | Stacked metal and elastomeric dome for key switch |
KR20110101516A (en) | 2010-03-08 | 2011-09-16 | 엘지이노텍 주식회사 | Vibration motor |
US9092129B2 (en) | 2010-03-17 | 2015-07-28 | Logitech Europe S.A. | System and method for capturing hand annotations |
IT1399082B1 (en) | 2010-03-25 | 2013-04-05 | Claudio Lastrucci | MOBILE MAGNETIC ELECTRO-MECHANICAL CONVERSION SYSTEM; ACOUSTIC DIFFUSER INCLUDING THIS SYSTEM AND A MOBILE ORGAN GENERATING ACOUSTIC WAVES. |
US9417695B2 (en) | 2010-04-08 | 2016-08-16 | Blackberry Limited | Tactile feedback method and apparatus |
US20110248948A1 (en) | 2010-04-08 | 2011-10-13 | Research In Motion Limited | Touch-sensitive device and method of control |
DE102010017874B4 (en) | 2010-04-21 | 2013-09-05 | Saia-Burgess Dresden Gmbh | Bistable magnetic actuator |
US20110263200A1 (en) | 2010-04-26 | 2011-10-27 | Sony Ericsson Mobile Communications Ab | Vibrating motor disposed external to electronic device |
US8466889B2 (en) | 2010-05-14 | 2013-06-18 | Research In Motion Limited | Method of providing tactile feedback and electronic device |
US8451255B2 (en) | 2010-05-14 | 2013-05-28 | Arnett Ryan Weber | Method of providing tactile feedback and electronic device |
US20120327006A1 (en) | 2010-05-21 | 2012-12-27 | Disney Enterprises, Inc. | Using tactile feedback to provide spatial awareness |
US20110291950A1 (en) | 2010-05-28 | 2011-12-01 | Research In Motion Limited | Electronic device including touch-sensitive display and method of controlling same |
US20110304559A1 (en) | 2010-06-11 | 2011-12-15 | Research In Motion Limited | Portable electronic device including touch-sensitive display and method of changing tactile feedback |
EP2395414B1 (en) | 2010-06-11 | 2014-08-13 | BlackBerry Limited | Portable electronic device including touch-sensitive display and method of changing tactile feedback |
SG186204A1 (en) | 2010-06-11 | 2013-01-30 | 3M Innovative Properties Co | Positional touch sensor with force measurement |
US8599152B1 (en) | 2010-06-25 | 2013-12-03 | Sprint Communications Company L.P. | Intelligent touch screen keyboard |
KR101101506B1 (en) | 2010-06-29 | 2012-01-03 | 삼성전기주식회사 | Horizontal linear vibrator |
US8798534B2 (en) | 2010-07-09 | 2014-08-05 | Digimarc Corporation | Mobile devices and methods employing haptics |
US8446264B2 (en) | 2010-07-21 | 2013-05-21 | Research In Motion Limited | Portable electronic device having a waterproof keypad |
US8411058B2 (en) | 2010-08-26 | 2013-04-02 | Sony Corporation | Method and system for tactile display |
US10013058B2 (en) | 2010-09-21 | 2018-07-03 | Apple Inc. | Touch-based user interface with haptic feedback |
EP2528125B1 (en) | 2010-09-24 | 2014-11-26 | BlackBerry Limited | Piezoelectric actuator assembly |
US10429929B2 (en) | 2010-09-24 | 2019-10-01 | Blackberry Limited | Piezoelectric actuator apparatus and methods |
US9360959B2 (en) | 2010-10-12 | 2016-06-07 | Tactonic Technologies, Llc | Fusing depth and pressure imaging to provide object identification for multi-touch surfaces |
FR2966613B1 (en) | 2010-10-20 | 2012-12-28 | Dav | TOUCH INTERFACE MODULE WITH HAPTIC RETURN |
CN201829004U (en) | 2010-10-20 | 2011-05-11 | 陈雅超 | Vibrating wrist strap |
KR101805473B1 (en) | 2010-10-22 | 2017-12-08 | 한국과학기술원 | Vibration module for portable terminal |
US8780060B2 (en) | 2010-11-02 | 2014-07-15 | Apple Inc. | Methods and systems for providing haptic control |
US9380145B2 (en) | 2010-11-05 | 2016-06-28 | Qualcomm Incorporated | Dynamic tapping force feedback for mobile devices |
US10120446B2 (en) | 2010-11-19 | 2018-11-06 | Apple Inc. | Haptic input device |
US20120133494A1 (en) | 2010-11-29 | 2012-05-31 | Immersion Corporation | Systems and Methods for Providing Programmable Deformable Surfaces |
US10503255B2 (en) | 2010-12-02 | 2019-12-10 | Immersion Corporation | Haptic feedback assisted text manipulation |
JP5887830B2 (en) | 2010-12-10 | 2016-03-16 | 株式会社ニコン | Electronic device and vibration method |
DE102011017250B4 (en) | 2011-01-07 | 2022-12-01 | Maxim Integrated Products, Inc. | Touch feedback system, haptic feedback system, and method for providing haptic feedback |
CA2824865A1 (en) | 2011-01-18 | 2012-07-26 | Bayer Intellectual Property Gmbh | Flexure apparatus, system, and method |
US8918215B2 (en) | 2011-01-19 | 2014-12-23 | Harris Corporation | Telematic interface with control signal scaling based on force sensor feedback |
TWI530818B (en) | 2011-01-20 | 2016-04-21 | 宏達國際電子股份有限公司 | Electronic apparatus with haptic feedback and method for providing haptic feedback |
US8787006B2 (en) | 2011-01-31 | 2014-07-22 | Apple Inc. | Wrist-worn electronic device and methods therefor |
US8710966B2 (en) | 2011-02-28 | 2014-04-29 | Blackberry Limited | Methods and apparatus to provide haptic feedback |
US8735755B2 (en) | 2011-03-07 | 2014-05-27 | Synaptics Incorporated | Capacitive keyswitch technologies |
CN102684445B (en) | 2011-03-07 | 2016-08-10 | 德昌电机(深圳)有限公司 | Electric shearing tool and driver thereof |
KR20140053849A (en) | 2011-03-09 | 2014-05-08 | 바이엘 인텔렉쳐 프로퍼티 게엠베하 | Electroactive polymer actuator feedback apparatus system, and method |
WO2012129247A2 (en) | 2011-03-21 | 2012-09-27 | Apple Inc. | Electronic devices with flexible displays |
US20120256848A1 (en) | 2011-04-08 | 2012-10-11 | Research In Motion Limited | Tactile feedback method and apparatus |
US9448713B2 (en) | 2011-04-22 | 2016-09-20 | Immersion Corporation | Electro-vibrotactile display |
CN103608749B (en) | 2011-04-26 | 2016-12-07 | 加利福尼亚大学董事会 | The system felt for record and reproduction and device |
US20120274578A1 (en) | 2011-04-26 | 2012-11-01 | Research In Motion Limited | Electronic device and method of controlling same |
US10198097B2 (en) | 2011-04-26 | 2019-02-05 | Sentons Inc. | Detecting touch input force |
TWI453649B (en) | 2011-05-02 | 2014-09-21 | Shih Hua Technology Ltd | Display device with touch panel |
US20120280927A1 (en) | 2011-05-04 | 2012-11-08 | Ludwig Lester F | Simple touch interface and hdtp grammars for rapid operation of physical computer aided design (cad) systems |
WO2012153631A1 (en) | 2011-05-10 | 2012-11-15 | 日本電産セイミツ株式会社 | Vibration generating device |
WO2012154960A2 (en) | 2011-05-10 | 2012-11-15 | Northwestern University | A touch interface device and method for applying controllable shear forces to a human appendage |
US9083821B2 (en) | 2011-06-03 | 2015-07-14 | Apple Inc. | Converting audio to haptic feedback in an electronic device |
US20120319987A1 (en) | 2011-06-15 | 2012-12-20 | Synaptics Incorporated | System and method for calibrating an input device |
US9710061B2 (en) | 2011-06-17 | 2017-07-18 | Apple Inc. | Haptic feedback device |
US8797152B2 (en) | 2011-06-28 | 2014-08-05 | New Scale Technologies, Inc. | Haptic actuator apparatuses and methods thereof |
US20130027345A1 (en) | 2011-07-29 | 2013-01-31 | Motorola Mobility, Inc. | User computer device with a thermal energy generating user interface and method of operating user interface and method of operating same |
TW201308866A (en) | 2011-08-04 | 2013-02-16 | Chief Land Electronic Co Ltd | Transducer module |
KR20130024420A (en) | 2011-08-31 | 2013-03-08 | 엘지전자 주식회사 | Method and apparatus for generating haptic feedback |
JP5750340B2 (en) | 2011-09-05 | 2015-07-22 | 山洋電気株式会社 | Electric machine |
KR101860340B1 (en) | 2011-09-06 | 2018-05-23 | 엘지전자 주식회사 | Reciprocating compressor |
US9785251B2 (en) | 2011-09-14 | 2017-10-10 | Apple Inc. | Actuation lock for a touch sensitive mechanical keyboard |
US9454239B2 (en) | 2011-09-14 | 2016-09-27 | Apple Inc. | Enabling touch events on a touch sensitive mechanical keyboard |
US8723824B2 (en) | 2011-09-27 | 2014-05-13 | Apple Inc. | Electronic devices with sidewall displays |
DE102011115762A1 (en) | 2011-10-12 | 2013-04-18 | Volkswagen Ag | Retention device for holding i.e. mobile phone in inner space of motor car, has control unit for receiving actuating signal and controlling function of actuator according to received actuating signal for effecting tactile feedback |
JP5343179B1 (en) | 2011-10-19 | 2013-11-13 | パナソニック株式会社 | Electronics |
US20130106699A1 (en) | 2011-10-26 | 2013-05-02 | Research In Motion Limited | Portable electronic device and method of character entry |
JP5957739B2 (en) | 2011-11-11 | 2016-07-27 | パナソニックIpマネジメント株式会社 | Electronics |
JP5680216B2 (en) | 2011-11-11 | 2015-03-04 | 三菱電機株式会社 | Cylindrical linear motor |
US9293054B2 (en) | 2011-11-11 | 2016-03-22 | Aptima, Inc. | Systems and methods to react to environmental input |
KR101318385B1 (en) | 2011-11-17 | 2013-10-15 | 주식회사 포스코 | Device and method for removal bird nest of raceway in blast furnace |
KR101652744B1 (en) | 2011-11-18 | 2016-09-09 | 센톤스 아이엔씨. | Localized haptic feedback |
KR101750300B1 (en) | 2011-11-18 | 2017-06-23 | 센톤스 아이엔씨. | Detecting touch input force |
US9746945B2 (en) | 2011-12-19 | 2017-08-29 | Qualcomm Incorporated | Integrating sensation functionalities into a mobile device using a haptic sleeve |
US9131039B2 (en) | 2011-12-22 | 2015-09-08 | Nokia Technologies Oy | Piezoelectric actuator interface and method |
EP2613223A1 (en) | 2012-01-09 | 2013-07-10 | Softkinetic Software | System and method for enhanced gesture-based interaction |
US9013426B2 (en) | 2012-01-12 | 2015-04-21 | International Business Machines Corporation | Providing a sense of touch in a mobile device using vibration |
CN103218104B (en) | 2012-01-19 | 2018-06-01 | 联想(北京)有限公司 | A kind of electric terminal and the method in control electric terminal vibrations direction |
US20130191741A1 (en) | 2012-01-24 | 2013-07-25 | Motorola Mobility, Inc. | Methods and Apparatus for Providing Feedback from an Electronic Device |
US9467033B2 (en) | 2012-02-07 | 2016-10-11 | Lg Electronics Inc. | Vibration motor and mobile terminal having the same |
US9411423B2 (en) | 2012-02-08 | 2016-08-09 | Immersion Corporation | Method and apparatus for haptic flex gesturing |
EP2631746A1 (en) | 2012-02-24 | 2013-08-28 | Research In Motion Limited | Portable electronic device including touch-sensitive display and method of controlling same |
US9460029B2 (en) | 2012-03-02 | 2016-10-04 | Microsoft Technology Licensing, Llc | Pressure sensitive keys |
KR101886287B1 (en) | 2012-03-23 | 2018-09-11 | 엘지이노텍 주식회사 | Touch panel |
DE102012006438A1 (en) | 2012-03-30 | 2013-10-02 | Phoenix Contact Gmbh & Co. Kg | Relay with two counter-operable switches |
CN104247459B (en) | 2012-04-05 | 2017-07-21 | 株式会社东金 | Piezoelectric element, piezo vibration module and their manufacture method |
CN102915111B (en) | 2012-04-06 | 2017-05-31 | 寇传阳 | A kind of wrist gesture control system and method |
KR101943435B1 (en) | 2012-04-08 | 2019-04-17 | 삼성전자주식회사 | Flexible display apparatus and operating method thereof |
WO2013156815A1 (en) | 2012-04-18 | 2013-10-24 | Nokia Corporation | A display apparatus with haptic feedback |
WO2013163943A1 (en) | 2012-05-03 | 2013-11-07 | Made in Sense Limited | Wristband having user interface and method of using thereof |
CN104395860B (en) | 2012-05-09 | 2018-06-22 | 苹果公司 | For determining the threshold value of the feedback in computing device |
US20130300590A1 (en) | 2012-05-14 | 2013-11-14 | Paul Henry Dietz | Audio Feedback |
CN111176516B (en) | 2012-05-18 | 2023-10-20 | 苹果公司 | Apparatus, method and graphical user interface for manipulating a user interface |
US8948821B2 (en) | 2012-05-27 | 2015-02-03 | Qualcomm Incorporated | Notification based on user context |
JP5962757B2 (en) | 2012-06-11 | 2016-08-03 | 富士通株式会社 | Programs and electronic devices |
JP5831635B2 (en) | 2012-06-11 | 2015-12-09 | 富士通株式会社 | DRIVE DEVICE, ELECTRONIC DEVICE, AND DRIVE CONTROL PROGRAM |
US8860563B2 (en) | 2012-06-14 | 2014-10-14 | Immersion Corporation | Haptic effect conversion system using granular synthesis |
US9019088B2 (en) | 2012-06-29 | 2015-04-28 | Lenovo (Singapore) Pte. Ltd. | Modulation of haptic feedback |
WO2014018086A1 (en) | 2012-07-26 | 2014-01-30 | Changello Enterprise Llc | Force correction on multiple sense elements |
JP5622808B2 (en) | 2012-07-31 | 2014-11-12 | 日本電産コパル株式会社 | Vibration actuator |
US9201458B2 (en) | 2012-08-14 | 2015-12-01 | Lenovo (Singapore) Pte. Ltd. | Nudge notification via shifting device battery |
KR20140036846A (en) | 2012-09-18 | 2014-03-26 | 삼성전자주식회사 | User terminal device for providing local feedback and method thereof |
US9178509B2 (en) | 2012-09-28 | 2015-11-03 | Apple Inc. | Ultra low travel keyboard |
US9274602B2 (en) | 2012-10-30 | 2016-03-01 | Texas Instruments Incorporated | Haptic actuator controller |
US10423214B2 (en) | 2012-11-20 | 2019-09-24 | Samsung Electronics Company, Ltd | Delegating processing from wearable electronic device |
FR2999740B1 (en) | 2012-12-13 | 2018-03-30 | Dav | ACTUATOR FOR TOUCH INTERFACE MODULE WITH HAPTIC RETURN |
US9899591B2 (en) | 2012-12-17 | 2018-02-20 | Kyocera Corporation | Piezoelectric actuator, piezoelectric vibration apparatus, and portable terminal |
US20140168153A1 (en) | 2012-12-17 | 2014-06-19 | Corning Incorporated | Touch screen systems and methods based on touch location and touch force |
US9285923B2 (en) | 2012-12-19 | 2016-03-15 | Sharp Laboratories Of America, Inc. | Touch sensitive display system |
JP6098923B2 (en) | 2012-12-27 | 2017-03-22 | シンフォニアテクノロジー株式会社 | Transport device |
CN103019569A (en) | 2012-12-28 | 2013-04-03 | 西安Tcl软件开发有限公司 | Interactive device and interactive method thereof |
US20140197963A1 (en) | 2013-01-15 | 2014-07-17 | Fitbit, Inc. | Portable monitoring devices and methods of operating the same |
KR20140096507A (en) | 2013-01-28 | 2014-08-06 | 삼성디스플레이 주식회사 | Display Device integrated Touch Screen Panel |
WO2014119476A1 (en) | 2013-02-01 | 2014-08-07 | 株式会社村田製作所 | Display panel with pressing sensor, and electronic device with pressing input function |
US9024738B2 (en) | 2013-02-01 | 2015-05-05 | Blackberry Limited | Apparatus, systems and methods for mitigating vibration of an electronic device |
US10504339B2 (en) | 2013-02-21 | 2019-12-10 | Immersion Corporation | Mobile device with instinctive alerts |
US9117347B2 (en) | 2013-02-25 | 2015-08-25 | Nokia Technologies Oy | Method and apparatus for a flexible housing |
US9471172B2 (en) | 2013-03-15 | 2016-10-18 | Google Technology Holdings LLC | Display for mobile device with abrasion resistant siloxane coating |
US20140267076A1 (en) | 2013-03-15 | 2014-09-18 | Immersion Corporation | Systems and Methods for Parameter Modification of Haptic Effects |
JP6469963B2 (en) | 2013-04-22 | 2019-02-13 | イマージョン コーポレーションImmersion Corporation | Gaming device with tactile trigger |
JP6276385B2 (en) | 2013-04-26 | 2018-02-07 | イマージョン コーポレーションImmersion Corporation | Passive stiffness and active deformation haptic output device for flexible displays |
CN103278173A (en) | 2013-05-23 | 2013-09-04 | 倪晓旺 | Healthy type wearable intelligent electronic product |
US9274603B2 (en) | 2013-05-24 | 2016-03-01 | Immersion Corporation | Method and apparatus to provide haptic feedback based on media content and one or more external parameters |
US9141225B2 (en) | 2013-05-31 | 2015-09-22 | Eastman Kodak Company | Capacitive touch screen with force detection |
JP5797692B2 (en) | 2013-06-04 | 2015-10-21 | 日本写真印刷株式会社 | Piezoelectric sensor and pressure detection device |
JP6155872B2 (en) | 2013-06-12 | 2017-07-05 | 富士通株式会社 | Terminal device, input correction program, and input correction method |
WO2014209405A1 (en) | 2013-06-29 | 2014-12-31 | Intel Corporation | System and method for adaptive haptic effects |
US9480947B2 (en) | 2013-07-02 | 2016-11-01 | Saudi Arabian Oil Company | Variable capacity multiple-leg packed separation column |
US20150040005A1 (en) | 2013-07-30 | 2015-02-05 | Google Inc. | Mobile computing device configured to output haptic indication of task progress |
US9652040B2 (en) | 2013-08-08 | 2017-05-16 | Apple Inc. | Sculpted waveforms with no or reduced unforced response |
JP5616557B1 (en) | 2013-08-08 | 2014-10-29 | パナソニック インテレクチュアル プロパティ コーポレーション オブアメリカPanasonic Intellectual Property Corporation of America | Electronic device and coordinate detection method |
US20150098309A1 (en) | 2013-08-15 | 2015-04-09 | I.Am.Plus, Llc | Multi-media wireless watch |
CN103440076B (en) | 2013-08-18 | 2016-02-10 | 江苏物联网研究发展中心 | The three-dimensional multi-point type touch screen of based thin film pressure transducer and three axis accelerometer |
US9576445B2 (en) | 2013-09-06 | 2017-02-21 | Immersion Corp. | Systems and methods for generating haptic effects associated with an envelope in audio signals |
US9158379B2 (en) | 2013-09-06 | 2015-10-13 | Immersion Corporation | Haptic warping system that transforms a haptic signal into a collection of vibrotactile haptic effect patterns |
US9779592B1 (en) | 2013-09-26 | 2017-10-03 | Apple Inc. | Geared haptic feedback element |
CN105579928A (en) | 2013-09-27 | 2016-05-11 | 苹果公司 | Band with haptic actuators |
WO2015047309A1 (en) | 2013-09-27 | 2015-04-02 | Pearl Capital Developments Llc | Vibration component that harvests energy for electronic devices |
WO2015047364A1 (en) | 2013-09-29 | 2015-04-02 | Pearl Capital Developments Llc | Devices and methods for creating haptic effects |
CN105683865B (en) | 2013-09-30 | 2018-11-09 | 苹果公司 | Magnetic actuator for haptic response |
EP3035022B1 (en) | 2013-10-07 | 2018-05-09 | Mitsui Chemicals, Inc. | Pressing-force detection device, and pressing-force-detecting touch panel |
US9317118B2 (en) | 2013-10-22 | 2016-04-19 | Apple Inc. | Touch surface for simulating materials |
US10456622B2 (en) | 2013-11-04 | 2019-10-29 | Intel Corporation | Detection of biking, walking, and running |
US9189932B2 (en) | 2013-11-06 | 2015-11-17 | Andrew Kerdemelidis | Haptic notification apparatus and method |
US9213409B2 (en) | 2013-11-25 | 2015-12-15 | Immersion Corporation | Dual stiffness suspension system |
WO2015080696A1 (en) | 2013-11-26 | 2015-06-04 | Rinand Solutions Llc | Self-calibration of force sensors and inertial compensation |
WO2015088491A1 (en) | 2013-12-10 | 2015-06-18 | Bodhi Technology Ventures Llc | Band attachment mechanism with haptic response |
US9970757B2 (en) | 2014-01-08 | 2018-05-15 | Qualcomm Incorporated | Method and apparatus for positioning with always on barometer |
US9037455B1 (en) | 2014-01-08 | 2015-05-19 | Google Inc. | Limiting notification interruptions |
AU2015100011B4 (en) | 2014-01-13 | 2015-07-16 | Apple Inc. | Temperature compensating transparent force sensor |
US9501912B1 (en) | 2014-01-27 | 2016-11-22 | Apple Inc. | Haptic feedback device with a rotating mass of variable eccentricity |
AU2015217268B2 (en) | 2014-02-12 | 2018-03-01 | Apple Inc. | Force determination employing sheet sensor and capacitive array |
US9836123B2 (en) | 2014-02-13 | 2017-12-05 | Mide Technology Corporation | Bussed haptic actuator system and method |
WO2015157705A1 (en) | 2014-04-10 | 2015-10-15 | Silverplus, Inc. | Systems and methods for configuring vibration patterns for notifications received at a wearable communication device |
WO2015163842A1 (en) | 2014-04-21 | 2015-10-29 | Yknots Industries Llc | Apportionment of forces for multi-touch input devices of electronic devices |
US9665198B2 (en) | 2014-05-06 | 2017-05-30 | Qualcomm Incorporated | System and method for optimizing haptic feedback |
US9390599B2 (en) | 2014-05-19 | 2016-07-12 | Microsoft Technology Licensing, Llc | Noise-sensitive alert presentation |
US9622214B2 (en) | 2014-05-23 | 2017-04-11 | Samsung Electronics Co., Ltd. | Method and apparatus for providing notification |
DE102015209639A1 (en) | 2014-06-03 | 2015-12-03 | Apple Inc. | Linear actuator |
US10139907B2 (en) | 2014-06-16 | 2018-11-27 | Immersion Corporation | Systems and methods for foley-style haptic content creation |
US9659482B2 (en) | 2014-09-02 | 2017-05-23 | Apple Inc. | Context-based alerts for an electronic device |
KR102019505B1 (en) | 2014-09-02 | 2019-09-06 | 애플 인크. | Haptic notifications |
JP2016095552A (en) | 2014-11-12 | 2016-05-26 | 株式会社東海理化電機製作所 | Haptic feedback device |
US9846484B2 (en) | 2014-12-04 | 2017-12-19 | Immersion Corporation | Systems and methods for controlling haptic signals |
EP3035158B1 (en) | 2014-12-18 | 2020-04-15 | LG Display Co., Ltd. | Touch sensitive device and display device comprising the same |
US10353467B2 (en) | 2015-03-06 | 2019-07-16 | Apple Inc. | Calibration of haptic devices |
AU2016100399B4 (en) | 2015-04-17 | 2017-02-02 | Apple Inc. | Contracting and elongating materials for providing input and output for an electronic device |
CN107615213A (en) | 2015-04-21 | 2018-01-19 | 意美森公司 | The dynamic of etching input is presented |
WO2017044618A1 (en) | 2015-09-08 | 2017-03-16 | Apple Inc. | Linear actuators for use in electronic devices |
US10038361B2 (en) | 2015-09-18 | 2018-07-31 | Apple Inc. | Haptic actuator including flexible flexure bearings having a wishbone shape and related methods |
US10127778B2 (en) | 2015-09-18 | 2018-11-13 | Apple Inc. | Haptic actuator including flexure bearing having flexible arm including a bend coupling anchor members and related methods |
US10416811B2 (en) | 2015-09-24 | 2019-09-17 | Apple Inc. | Automatic field calibration of force input sensors |
US10067585B2 (en) | 2015-12-28 | 2018-09-04 | Lg Display Co., Ltd. | Display device with multilayered capacitor |
KR102489956B1 (en) | 2015-12-30 | 2023-01-17 | 엘지디스플레이 주식회사 | Display device and method of driving the same |
KR102489827B1 (en) | 2015-12-31 | 2023-01-17 | 엘지디스플레이 주식회사 | Display device |
KR102463757B1 (en) | 2015-12-31 | 2022-11-03 | 엘지디스플레이 주식회사 | Contact sensitive device, display device including the same and method for manufacturing the display device |
CN105739762A (en) | 2016-01-25 | 2016-07-06 | 京东方科技集团股份有限公司 | Haptic feedback apparatus and method, touch display panel, and touch display apparatus |
JP6526584B2 (en) | 2016-02-19 | 2019-06-05 | 株式会社ジャパンディスプレイ | Touch detection device, display device with touch detection function, and control method |
US10540043B2 (en) | 2016-03-02 | 2020-01-21 | Synaptics Incorporated | Hybrid in-cell sensor topology |
US10039080B2 (en) | 2016-03-04 | 2018-07-31 | Apple Inc. | Situationally-aware alerts |
US10268272B2 (en) | 2016-03-31 | 2019-04-23 | Apple Inc. | Dampening mechanical modes of a haptic actuator using a delay |
US20170357325A1 (en) | 2016-06-14 | 2017-12-14 | Apple Inc. | Localized Deflection Using a Bending Haptic Actuator |
US20170364158A1 (en) | 2016-06-20 | 2017-12-21 | Apple Inc. | Localized and/or Encapsulated Haptic Actuators and Elements |
US20180060941A1 (en) | 2016-08-30 | 2018-03-01 | Phoenix Silicon International Corp. | Sectionalized apparatus and method for battery manufacturing process |
US20180081441A1 (en) | 2016-09-20 | 2018-03-22 | Apple Inc. | Integrated Haptic Output and Touch Input System |
US10496172B2 (en) | 2017-09-27 | 2019-12-03 | Qualcomm Incorporated | Method and apparatus for haptic feedback |
-
2018
- 2018-09-28 US US16/146,384 patent/US10599223B1/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7158122B2 (en) * | 2002-05-17 | 2007-01-02 | 3M Innovative Properties Company | Calibration of force based touch panel systems |
US9928950B2 (en) * | 2013-09-27 | 2018-03-27 | Apple Inc. | Polarized magnetic actuators for haptic response |
US20180194229A1 (en) * | 2015-07-02 | 2018-07-12 | Audi Ag | Motor vehicle operating device with haptic feedback |
US20180369865A1 (en) * | 2015-12-28 | 2018-12-27 | Nippon Telegraph And Telephone Corporation | Pseudo force sense generation apparatus |
US20180365466A1 (en) * | 2017-06-20 | 2018-12-20 | Lg Electronics Inc. | Mobile terminal |
Also Published As
Publication number | Publication date |
---|---|
US10599223B1 (en) | 2020-03-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10691211B2 (en) | Button providing force sensing and/or haptic output | |
US10599223B1 (en) | Button providing force sensing and/or haptic output | |
US11637956B2 (en) | Lens moving apparatus, camera module and mobile device including the same | |
JP4305454B2 (en) | Actuator, touch panel display device and electronic device | |
US11460926B2 (en) | Human-computer interface system | |
US10312039B2 (en) | Generator button for electronic devices | |
CN105940362B (en) | Position indicator and position detecting device | |
US11496034B2 (en) | Haptic actuator having a double-wound driving coil for temperature-independent velocity sensing | |
US11539279B2 (en) | Gap-closing actuator having a double-wound driving coil | |
US11333846B2 (en) | Lens driving apparatus, and camera module and optical device comprising same | |
US11422631B2 (en) | Human-computer interface system | |
US20220334645A1 (en) | Human-computer interface system | |
US20200412223A1 (en) | Haptic actuator having a double-wound driving coil for temperature- and driving current-independent velocity sensing | |
CN110968186B (en) | Button providing force sensing and/or tactile output | |
WO2019150960A1 (en) | Housing-cum-switch, and input device | |
WO2024041144A1 (en) | Non-contact switch and electronic device | |
KR20130019114A (en) | Vibration module and haptic device using the same | |
JP5394175B2 (en) | Multi-directional input device | |
KR20230010742A (en) | Human-Computer Interface System | |
US20240103624A1 (en) | Gap Sensing Via Engine Coil | |
CN111345049B (en) | Loudspeaker, terminal and loudspeaker control method | |
TWI451069B (en) | Portable electronic apparatus and motion sensor | |
CN113891220B (en) | Vibration system, loudspeaker and terminal | |
JP2009009805A (en) | Non-contact type switch device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: APPLE INC., CALIFORNIA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:AMIN-SHAHIDI, DARYA;LEE, ALEX M.;REEL/FRAME:047009/0387 Effective date: 20180927 |
|
FEPP | Fee payment procedure |
Free format text: ENTITY STATUS SET TO UNDISCOUNTED (ORIGINAL EVENT CODE: BIG.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY |
|
STCF | Information on status: patent grant |
Free format text: PATENTED CASE |
|
MAFP | Maintenance fee payment |
Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1551); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY Year of fee payment: 4 |