PATENT DOCUMENT

Publication Number: US-10510224-B2
Application Number: US-201815945912-A
Country: US
Kind Code: B2

Title: Haptic actuator having movable bodies along an arcuate path of travel and related methods

Abstract:
A haptic actuator may include first and second bodies movable along an arcuate path of travel. The haptic actuator may also include a biasing member coupled between the first and second bodies. At least one electrical coil may be configured to move the first and second bodies to produce a haptic effect.

Claims:
That which is claimed is: 
     
       1. A haptic actuator comprising:
 an arcuate track; 
 first and second bodies mounted to the arcuate track and movable along an arcuate path of travel defined by the arcuate track; 
 a spring coupled between the first and second bodies and permitting biased relative movement between the first and second bodies so that the first and second bodies are movable along the arcuate track relative to each other; and 
 at least one electrical coil configured to move the first and second bodies along the arcuate track to produce a haptic effect. 
 
     
     
       2. The haptic actuator of  claim 1  wherein the arcuate path of travel comprises at least a portion of a circular path of travel. 
     
     
       3. The haptic actuator of  claim 1  further comprising a controller configured to operate the at least one electrical coil to move the first and second bodies in opposite directions. 
     
     
       4. The haptic actuator of  claim 1  further comprising a controller configured to operate the at least one electrical coil to move the first and second bodies in a common direction. 
     
     
       5. The haptic actuator of  claim 1  wherein the first and second bodies have a same mass. 
     
     
       6. The haptic actuator of  claim 1  wherein the first and second bodies each comprises magnetic material. 
     
     
       7. An electronic device comprising:
 a housing; 
 wireless communications circuitry carried by the housing; 
 a haptic actuator carried by the housing and comprising
 an arcuate track, 
 first and second bodies mounted to the arcuate track and movable along an arcuate path of travel defined by the arcuate track, 
 a spring coupled between the first and second bodies and permitting biased relative movement between the first and second bodies so that the first and second bodies are movable along the arcuate track relative to each other, 
 at least one electrical coil configured to move the first and second bodies along the arcuate track to produce a haptic effect; and 
 
 a controller coupled to the wireless communications circuitry and the haptic actuator and configured to perform at least one wireless communications function and operate the haptic actuator, respectively. 
 
     
     
       8. The electronic device of  claim 7  wherein the arcuate path of travel comprises at least a portion of a circular path of travel. 
     
     
       9. The electronic device of  claim 7  wherein the controller is configured to operate the at least one electrical coil to move the first and second bodies in opposite directions. 
     
     
       10. The electronic device of  claim 7  wherein the controller is configured to operate the at least one electrical coil to move the first and second bodies in a common direction. 
     
     
       11. A method of producing a haptic effect comprising:
 operating at least one electrical coil of a haptic actuator to move first and second bodies of the haptic actuator along an arcuate path of travel to produce the haptic effect, the haptic actuator comprising an arcuate track mounting the first and second bodies and defining the arcuate path of travel, and a spring coupled between the first and second bodies and permitting biased relative movement between the first and second bodies so that the first and second bodies are movable relative to each other along the arcuate track. 
 
     
     
       12. The method of  claim 11  wherein the arcuate path of travel comprises at least a portion of a circular path of travel. 
     
     
       13. The method of  claim 11  wherein operating the at least one coil comprises using a controller to operate the at least one coil to move the first and second bodies in opposite directions. 
     
     
       14. The method of  claim 11  wherein operating the at least one coil comprises using a controller to operate the at least one coil to move the first and second bodies in a common direction. 
     
     
       15. A haptic actuator comprising:
 a shaft defining a common pivot point; 
 first and second bodies coupled to the shaft and movable about the common pivot point along an arcuate path of travel; 
 a biasing member coupled between the first and second bodies and permitting biased relative movement between the first and second bodies so that the first and second bodies are movable about the common pivot point relative to each other; and 
 at least one electrical coil configured to move the first and second bodies about the common pivot point, the at least one electrical coil being configured to move the first and second bodies
 in opposite directions such that the first and second bodies move away from one another to produce a first haptic effect, and 
 in a same direction such that the first and second bodies move to produce a second haptic effect. 
 
 
     
     
       16. The haptic actuator of  claim 15  wherein the arcuate path of travel comprises at least a portion of a circular path of travel. 
     
     
       17. The haptic actuator of  claim 15  further comprising a controller configured to operate the at least one electrical coil to move the first and second bodies in the opposite directions. 
     
     
       18. The haptic actuator of  claim 15  further comprising a controller configured to operate the at least one electrical coil to move the first and second bodies in the same direction. 
     
     
       19. The haptic actuator of  claim 15  wherein the first and second bodies have a same mass. 
     
     
       20. The haptic actuator of  claim 15  wherein the first and second bodies each comprises magnetic material. 
     
     
       21. The haptic actuator of  claim 15  wherein the biasing member comprises a spring. 
     
     
       22. An electronic device comprising:
 a housing; 
 wireless communications circuitry carried by the housing; 
 a haptic actuator carried by the housing and comprising
 a shaft defining a common pivot point, 
 first and second bodies coupled to the shaft and movable about the common pivot point along an arcuate path of travel, 
 a biasing member coupled between the first and second bodies and permitting biased relative movement between the first and second bodies so that the first and second bodies are movable about the common pivot point relative to each other, and 
 
 at least one electrical coil configured to move the first and second bodies about the common pivot point, the at least one electrical coil being configured to move the first and second bodies
 in opposite directions such that the first and second bodies move away from one another to produce a first haptic effect, and 
 in a same direction such that the first and second bodies move to produce a second haptic effect; and 
 
 a controller coupled to the wireless communications circuitry and the haptic actuator and configured to perform at least one wireless communications function and operate the haptic actuator, respectively. 
 
     
     
       23. The electronic device of  claim 22  wherein the arcuate path of travel comprises at least a portion of a circular path of travel. 
     
     
       24. The electronic device of  claim 22  wherein the controller is configured to operate the at least one electrical coil to move the first and second bodies in the opposite directions. 
     
     
       25. The electronic device of  claim 22  wherein the controller is configured to operate the at least one electrical coil to move the first and second bodies in the same direction. 
     
     
       26. A method of producing a haptic effect comprising:
 operating at least one electrical coil of a haptic actuator to move first and second bodies of the haptic actuator along an arcuate path of travel, the haptic actuator comprising a shaft defining a common pivot point mounting the first and second bodies, and a biasing member coupled between the first and second bodies and permitting biased relative movement between the first and second bodies so that the first and second bodies are movable relative to each other about the common pivot point, the at least one electrical coil being operated to move the first and second bodies
 in opposite directions such that the first and second bodies move away from one another to produce a first haptic effect, and 
 in a same direction such that the first and second bodies move to produce a second haptic effect. 
 
 
     
     
       27. The method of  claim 26  wherein the arcuate path of travel comprises at least a portion of a circular path of travel. 
     
     
       28. The method of  claim 26  wherein operating the at least one electrical coil comprises using a controller to operate the at least one electrical coil to move the first and second bodies in the opposite directions. 
     
     
       29. The method of  claim 26  wherein operating the at least one electrical coil comprises using a controller to operate the at least one electrical coil to move the first and second bodies in the same direction. 
     
     
       30. The method of  claim 26  wherein the first and second bodies have a same mass. 
     
     
       31. The method of  claim 26  wherein the first and second bodies each comprises magnetic material.

Description:
TECHNICAL FIELD 
     The present disclosure relates to the field of electronics, and, more particularly, to the field of haptics. 
     BACKGROUND 
     Haptic technology is becoming a more popular way of conveying information to a user. Haptic technology, which may simply be referred to as haptics, is a tactile feedback based technology that stimulates a user&#39;s sense of touch by imparting relative amounts of force to the user. 
     A haptic device or haptic actuator is an example of a device that provides the tactile feedback to the user. In particular, the haptic device or actuator may apply relative amounts of force to a user through actuation of a mass that is part of the haptic device. Through various forms of tactile feedback, for example, generated relatively long and short bursts of force or vibrations, information may be conveyed to the user. 
     SUMMARY 
     A haptic actuator may include first and second bodies movable along an arcuate path of travel. The haptic actuator may also include a biasing member coupled between the first and second bodies. At least one electrical coil may be configured to move the first and second bodies to produce a haptic effect. 
     The haptic actuator may also include arcuate track mounting the first and second bodies, for example. The haptic actuator may also include a pivot point mounting the first and second bodies, for example. The arcuate path of travel may include at least a portion of a circular path of travel. 
     The haptic actuator may further include a controller configured to operate the at least one electrical coil to move the first and second bodies in opposite directions, for example. The haptic actuator may also include a controller configured to operate the at least one electrical coil to move the first and second bodies in a common direction, for example. The first and second bodies may each have a same mass. 
     The first and second bodies each may include magnetic material. The biasing member may include a spring, for example. 
     A method aspect is directed to a method of producing a haptic effect. The method may include operating at least one electrical coil of a haptic actuator to move first and second bodies of the haptic actuator along an arcuate path of travel to produce the haptic effect. The haptic actuator may include a biasing member coupled between the first and second bodies. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic diagram of an electronic device including a haptic actuator according to an embodiment. 
         FIG. 2  is another schematic diagram of the electronic device including the haptic actuator of  FIG. 1 . 
         FIG. 3  is a schematic diagram illustrating an operational mode of a haptic actuator in accordance with an embodiment. 
         FIG. 4  is a schematic diagram illustrating an operational mode of a haptic actuator in accordance with an embodiment. 
         FIG. 5  is a top schematic view of a haptic actuator in accordance with another embodiment. 
         FIG. 6  is a side schematic view of the haptic actuator of  FIG. 5 . 
     
    
    
     DETAILED DESCRIPTION 
     The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout, and prime notation is used to indicate similar elements in alternative embodiments. 
     Referring initially to  FIGS. 1-2 , an electronic device  20  illustratively includes a device housing  21  and a controller  22  carried by the device housing. The electronic device  20  is illustratively a mobile wireless communications device, for example, a cellular telephone or smartphone. The electronic device  20  may be another type of electronic device, for example, a wearable device (e.g., a watch), a tablet computer, a laptop computer, a gaming device, etc. 
     Wireless communications circuitry  25  (e.g. cellular, WLAN Bluetooth, etc.) is also carried within the device housing  21  and coupled to the controller  22 . The wireless communications circuitry  25  cooperates with the controller  22  to perform at least one wireless communications function, for example, for voice and/or data. In some embodiments, the electronic device  20  may not include wireless communications circuitry  25 . 
     A display  23  is also carried by the device housing  21  and is coupled to the controller  22 . The display  23  may be, for example, a light emitting diode (LED) display, a liquid crystal display (LCD), or may be another type of display, as will be appreciated by those skilled in the art. The display  23  may be a touch display and may cooperate with the controller  22  to perform a device function in response to operation thereof. For example, a device function may include a powering on or off of the electronic device  20 , initiating communication via the wireless communications circuitry  25 , and/or performing a menu function. 
     The electronic device  20  illustratively includes a haptic actuator  40 . The haptic actuator  40  is coupled to the controller  22  and provides haptic feedback or a haptic effect to the user in the form of relatively long and short vibrations. The vibrations may be indicative of a message received, and the duration and type of the vibration may be indicative of the type of message received. Of course, the vibrations may be indicative of or convey other types of information. 
     While a controller  22  is described, it should be understood that the controller  22  may include one or more of a processor and other circuitry to perform the functions described herein. For example, the controller  22  may include a class-D amplifier to drive the haptic actuator  40  and/or sensors for sensing voltage and current. 
     The haptic actuator  40  includes an actuator housing  46  and first and second bodies  41   a ,  41   b  (e.g., masses) carried by the actuator housing and that are spaced apart and movable along an arcuate path of travel. More particularly, the haptic actuator  40  includes an arcuate track  43  that mounts the first and second bodies  41   a ,  41   b . The arcuate path of travel illustratively includes a portion of a circular path of travel. Of course, the path of travel may be another shape, for example, oblong. 
     The first and second bodies  41   a ,  41   b  each includes magnetic material. The magnetic material may be interspersed within or throughout the first and second bodies  41   a ,  41   b . In some embodiments, the magnetic material may be defined by way of a respective permanent magnet that is part of the first and second bodies  41   a ,  41   b.    
     In some embodiments, the first and second bodies  41   a ,  41   b  may have a same mass. The first and second bodies  41   a ,  41   b  may each have a different mass, for example, where unbalanced operation or haptic effects from having different masses are desired. 
     A biasing member  44  is coupled between the first and second bodies  41   a ,  41   b . The biasing member  44  is illustratively in the form of a spring. The biasing member  44  may be in the form of another type of biasing member, for example, a flexure. More than one biasing member  44  may be coupled between the first and second bodies  41   a ,  41   b.    
     An electrical coil  45  moves the first and second bodies  41   a ,  41   b , through cooperation with the magnetic material, to produce the haptic effect. More particularly, the controller  22  is coupled to the electrical coil  45  and operates the electrical coil to move the first and second bodies  41   a ,  41   b  in opposite directions. Alternatively, the controller  22  may operate the electrical coil  45  to move the first and second bodies  41   a ,  41   b  in a common direction. As will be appreciated by those skilled in the art, there may be more than one electrical coil  45 . 
     Current linear resonator actuators (LRAs) or linear haptic actuators may provide a linear vibe/tap feeling in one fixed orientation along the longitudinal/traveling direction of the haptic actuator. In contrast to the present haptic actuator  40 , a typical LRA, for example, may not (1) provide linear haptic feeling in any other directions once installed; and (2) provide a rotational/torque-like experience. Accordingly, the haptic actuator  40 , which may be considered a hybrid haptic actuator, provides a linear haptic feeling in other directions once installed and/or a rotational/torque-like experience. 
     Operating principles of the haptic actuator  40  will now be described. The operating principles may be explained by analytical modeling for two cases. 
     Referring now additionally to  FIG. 3 , one operating principle is two moving masses (i.e., the first and second bodies  41   a ,  41   b ) in an opposite angular direction. When the first and second bodies  41   a ,  41   b  rotate in opposite angular direction, the centrifugal forces from both of the first and second bodies results in a net force 2×F Y , which is parallel to the angular motion line of symmetry  47 , as the force F x  from each of the first and second bodies is cancelled out. Assuming that w=angular speed of the mass, m=the weight of each moving mass or each of the first and second bodies  41   a ,  41   b , and R=the radius of the arcuate track  43  or ring shaped track, the magnitude of the net force 2×F Y , with the relation between the magnitude of the force and its angular speed shown below:
 
 F   x ( t )= mRw   2  cos( wt )− mRw   2  cos( wt )=0
 
 F   y ( t )=2× mRw   2  sin( wt )
 
θ( t )= wt  
 
     Note that since F Y (t) is the force from the haptic actuator  40  to the electronic device  20 , the force equation may be similar to a typical LRA. For the LRA, the linear force from the LRA (engine) to the electronic is: m×R 1 ×w 2 ×sin(wt), where R 1  is the magnitude of the displacement and w is the angular frequency of the linear vibration. In other words, despite a different architecture, the haptic actuator  40  of the present embodiments may provide the salience as an LRA. Assuming 2×m=2.5 grams, R=0.65 mm, w=2*pi*150 Hz, the resulting force 2×F Y  from haptic actuator  40 =1.44 N, delivering the same quality of salience as a traditional LRA. Since the symmetry line  47  of the haptic actuator  40  may be any angle, the direction of linear force from haptic actuator can be set in any angle, thereby enriching a broader haptic capability. 
     Referring now to  FIG. 4 , another operating principle is the first and second bodies  41   a ,  41   b  or two moving masses in the same angular direction. When the first and second bodies  41   a ,  41   b  move in the same direction, the system or haptic actuator  40  may be modeled as one lumped mass rotating around the origin. This pure rotation provides an equal torque with opposite direction to the electronic device  20 . In other words, by changing the direction of the moving mass or the first and second bodies  41   a ,  41   b , a pure torque-like haptic experience may be provided to the user. The feature may be particularly useful in gaming (e.g., car race games), and relatively hard to be emulated with one traditional LRA. 
     The torque delivered by haptic actuator  40  may be modeled differently between transient and steady states. During the transient state, assuming delta_t=time between zero speed and steady rotation, w=steady-state angular speed of the mass or first and second bodies  41   a ,  41   b, m =the weight of each of the first and second bodies, and R=radius of the ring track or arcuate track  43 , below is the equation of the torque M 1  from the haptic actuator  40  to an electronic device when the haptic actuator is being ramped up/down: 
     
       
         
           
             
               M 
               1 
             
             = 
             
               
                 2 
                 × 
                 m 
                 × 
                 
                   R 
                   2 
                 
                 × 
                 w 
               
               
                 Δ 
                 ⁢ 
                 
                     
                 
                 ⁢ 
                 t 
               
             
           
         
       
     
     On the other hand, the torque delivered during steady state depends on the friction force between the moving mass or first and second bodies  41   a ,  41   b  and the arcuate or circular track  43 . Assuming f=friction force between one body  41   a ,  41   b  and the arcuate track  43 , and R=radius of the arcuate track, the torque M 2  delivered during steady state:
 
 M   2 2=2× f×R  
 
     Referring now to  FIGS. 5-6 , in another embodiment, the haptic actuator  40 ′ may include an electric motor  51 ′. A pivot point  48 ′ mounts the first and second bodies  41   a ′,  41   b ′. The pivot point  48 ′ is illustratively in the form of a shaft. The pivot point  48 ′ may be in the form of another type of pivot point. The first and second bodies  41   a ′,  41   b ′ may be off-center with respect to the pivot point  48 ′ or may be eccentric rotating masses, for example. One of the first and second bodies  41   a ′,  41   b ′ may be fixed to the pivot point  48 ′ or shaft. 
     Similar to the embodiments above, a biasing member illustratively in the form of a spring  44 ′ is coupled between the first and second bodies  41   a ′,  41   b ′ to bias the first and second bodies in spaced apart relation. It should be understood that the first and second bodies  41   a ′,  41   b ′ being mounted to the pivot point  48 ′ or shaft, each of the first and second bodies is movable along an arcuate path of travel. That is, the arcuate path of travel may extend in different planes, for example, or in the same plane as described above. 
     A method aspect is directed to a method of producing a haptic effect. The method may include operating at least one electrical coil  45  of a haptic actuator  40  to move first and second bodies  41   a ,  41   b  of the haptic actuator along an arcuate path of travel to produce the haptic effect. The haptic actuator  40  may include a biasing member  44  coupled between the first and second bodies  41   a ,  41   b.    
     Many modifications and other embodiments of the invention will come to the mind of one skilled in the art having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is understood that the invention is not to be limited to the specific embodiments disclosed, and that modifications and embodiments are intended to be included within the scope of the appended claims.

Metadata:
Filing Date: 20180405
Publication Date: 20191217
Grant Date: 20191217
Priority Date: 20180405
Inventors: SEN, YI-HENG
HARRISON, JERE C.
SPELTZ, ALEX J.
Assignee: APPLE INC
CPC Classifications: [{"code": "A63F13/92", "inventive": true, "first": false, "tree": "[]"}, {"code": "A63F13/285", "inventive": true, "first": false, "tree": "[]"}, {"code": "G08B6/00", "inventive": true, "first": true, "tree": "[]"}, {"code": "H02K7/065", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/12", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K11/27", "inventive": false, "first": false, "tree": "[]"}, {"code": "H02K11/26", "inventive": false, "first": false, "tree": "[]"}, {"code": "H02K33/00", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/02", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K7/065", "inventive": true, "first": true, "tree": "[]"}, {"code": "B06B1/10", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/045", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/12", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/14", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/02", "inventive": true, "first": false, "tree": "[]"}, {"code": "A63F13/285", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/045", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K7/06", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/10", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K7/06", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/02", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/12", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/12", "inventive": true, "first": false, "tree": "[]"}, {"code": "G08B6/00", "inventive": true, "first": true, "tree": "[]"}, {"code": "B06B1/14", "inventive": true, "first": false, "tree": "[]"}, {"code": "A63F13/285", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/00", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/045", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K7/065", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 68097318