PATENT DOCUMENT

Publication Number: US-10671167-B2
Application Number: US-201715659291-A
Country: US
Kind Code: B2

Title: Electronic device including sensed location based driving of haptic actuators and related methods

Abstract:
An electronic device may include a device housing, a touch display carried by the device housing and configured to sense a user input at a location thereon, and haptic actuators spaced apart within the device housing. The electronic device may also include a controller coupled to the touch display and the haptic actuators. The controller may be configured to cooperate with the touch display to determine a sensed location of the user input on the touch display, and drive the haptic actuators to focus a haptic sensation at the sensed location on the touch display.

Claims:
That which is claimed is: 
     
       1. An electronic device comprising:
 a device housing; 
 wireless communications circuitry carried by the device housing; 
 a plurality of haptic actuators spaced apart within the device housing, each haptic actuator comprising a coil and a field member movable within the housing responsive to the coil, and each haptic actuator having a respective physical characteristic that changes during aging; 
 at least one accelerometer carried by the device housing; 
 a proximity sensor carried by the device housing; and 
 a controller coupled to the wireless communications circuitry and the plurality of haptic actuators, the controller configured to
 sense a back electromotive force (EMF) of respective coils of the plurality of haptic actuators, 
 determine changes in the respective physical characteristic, 
 cooperate with the at least one accelerometer to determine sensed motion of the device housing, 
 cooperate with the proximity sensor to determine relative proximity of the electronic device to a given object, 
 cooperate with the wireless communications circuitry to receive an electronic message notification from among a plurality of different types of electronic message notifications and determine the type of electronic message notification received, and 
 drive each of the field members of the plurality of haptic actuators to focus a haptic sensation based upon the type of electronic message notification, changes in the respective physical characteristic, the sensed motion, the relative proximity, and the sensed back EMF. 
 
 
     
     
       2. The electronic device of  claim 1  wherein the controller is configured to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     
     
       3. The electronic device of  claim 1  wherein the plurality of haptic actuators comprises a pair of opposing haptic actuators. 
     
     
       4. The electronic device of  claim 1  wherein the plurality of haptic actuators is carried along a periphery of the device housing. 
     
     
       5. The electronic device of  claim 1  wherein the controller is configured to drive the plurality of haptic actuators with different phase waveforms. 
     
     
       6. The electronic device of  claim 1  wherein the controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     
     
       7. The electronic device of  claim 1  wherein the controller is configured to drive the plurality of haptic actuators with a same waveform. 
     
     
       8. The electronic device of  claim 1  wherein each of the plurality of haptic actuators further comprises a haptic actuator housing carrying the field member and the coil. 
     
     
       9. The electronic device of  claim 1  wherein the plurality of different types of electronic message notifications comprises a plurality of any of an email notification, social media notification, short messaging service (SMS) notification, and voice message notification. 
     
     
       10. An electronic device comprising:
 a device housing; 
 wireless communications circuitry carried by the device housing; 
 a touch display carried by the device housing and configured to sense an amount of force corresponding to a user input at a location thereon; 
 a plurality of haptic actuators spaced apart within and carried along a periphery of the device housing, each haptic actuator comprising a coil and a field member movable within the housing responsive to the coil, and each haptic actuator having a respective physical characteristic that changes during aging; 
 at least one accelerometer carried by the device housing; 
 a proximity sensor carried by the device housing; and 
 a controller coupled to the touch display, wireless communications circuitry, and the plurality of haptic actuators, the controller configured to
 sense a back electromotive force (EMF) of respective coils of the plurality of haptic actuators, 
 determine changes in the respective physical characteristic, 
 cooperate with the at least one accelerometer to determine sensed motion of the device housing, 
 cooperate with the proximity sensor to determine relative proximity of the electronic device to a given object, 
 cooperate with the touch display to determine a sensed location of the user input on the touch display, 
 cooperate with the wireless communications circuitry to receive an electronic message notification from among a plurality of different types of electronic message notifications and determine the type of electronic message notification received, and 
 drive each of the field members of the plurality of haptic actuators based upon the sensed amount of force to focus a haptic sensation at the sensed location on the touch display and based upon the type of electronic message notification, changes in the respective physical characteristic, the sensed motion, the relative proximity, and the sensed back EMF. 
 
 
     
     
       11. The electronic device of  claim 10  wherein the controller is configured to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     
     
       12. The electronic device of  claim 10  wherein the plurality of haptic actuators comprises a pair of opposing haptic actuators. 
     
     
       13. The electronic device of  claim 10  wherein the controller is configured to drive the plurality of haptic actuators with different phase waveforms. 
     
     
       14. The electronic device of  claim 10  wherein the controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     
     
       15. The electronic device of  claim 10  wherein the controller is configured to drive the plurality of haptic actuators with a same waveform. 
     
     
       16. A method of driving a plurality of haptic actuators spaced apart within a device housing of an electronic device comprising wireless communications circuitry carried by the device housing, each haptic actuator comprising a coil and a field member movable within the housing responsive to the coil, and each haptic actuator having a respective physical characteristic that changes during aging, the method comprising:
 using a controller coupled to the touch display and the plurality of haptic actuators to
 sense a back electromotive force (EMF) of respective coils of the plurality of haptic actuators, 
 determine changes in the respective physical characteristic, 
 cooperate with at least one accelerometer carried by the device housing to determine sensed motion of the device housing, 
 cooperate with a proximity sensor carried by the device housing to determine relative proximity of the electronic device to a given object, 
 cooperate with the wireless communications circuitry to receive an electronic message notification from among a plurality of different types of electronic message notifications and determine the type of electronic message notification received, and 
 drive each of the plurality of haptic actuators to focus a haptic sensation based upon the type of electronic message notification, changes in the respective physical characteristic, the sensed motion, the relative proximity and the sensed back EMF. 
 
 
     
     
       17. The method of  claim 16  wherein the controller is used to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     
     
       18. The method of  claim 16  wherein the controller is used to drive the plurality of haptic actuators with different phase waveforms. 
     
     
       19. The method of  claim 16  wherein the controller is used to drive the plurality of haptic actuators with different amplitude waveforms. 
     
     
       20. The method of  claim 16  wherein the controller is used to drive the plurality of haptic actuators with a same waveform. 
     
     
       21. The method of  claim 16  wherein the plurality of different types of electronic message notifications comprises a plurality of any of an email notification, social media notification, short messaging service (SMS) notification, and voice message notification.

Description:
RELATED APPLICATION 
     The present application claims the priority benefit of provisional application Ser. No. 62/382,338 filed on Sep. 1, 2016, the entire contents of which are herein incorporated in its entirety by reference. 
    
    
     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 
     An electronic device may include a device housing, a touch display carried by the device housing and configured to sense a user input at a location thereon, and a plurality of haptic actuators spaced apart within the device housing. The electronic device may also include a controller coupled to the touch display and the plurality of haptic actuators. The controller may be configured to cooperate with the touch display to determine a sensed location of the user input on the touch display, and drive the plurality of haptic actuators to focus a haptic sensation at the sensed location on the touch display. 
     The touch display may be configured to sense an amount of force corresponding to the input at the sensed location. The controller may be configured to drive the plurality of haptic actuators based upon the sensed amount of force at the sensed location, for example. 
     The controller may be configured to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. The plurality of haptic actuators may include a pair of opposing haptic actuators, for example. 
     The plurality of haptic actuators may be carried along a periphery of the device housing, for example. The controller may be configured to drive the plurality of haptic actuators with different phase waveforms. 
     The controller may be configured to drive the plurality of haptic actuators with different amplitude waveforms. The controller may be configured to drive the plurality of haptic actuators with a same waveform, for example. 
     The controller may be configured to sense at least one of a drive voltage and current and drive the plurality of haptic actuators based thereon. Each of the plurality of haptic actuators may include a haptic actuator housing, a field member movable with the haptic actuator housing, and a coil cooperating with the field member, for example. 
     A method aspect is directed to a method of driving a plurality of haptic actuators spaced apart within a device housing of an electronic device that includes a touch display carried by the device housing and configured to sense a user input at a location thereon. The method may include using a controller coupled to the touch display and the plurality of haptic actuators to cooperate with the touch display to determine a sensed location of the user input on the touch display, and drive the plurality of haptic actuators to focus a haptic sensation at the sensed location on the touch display. 
     Another aspect is directed to an electronic device that may include a device housing, a display carried by the device housing, and a plurality of haptic actuators spaced apart within the device housing. The electronic device may also include a controller coupled to the display and the plurality of haptic actuators. The controller may be configured to cooperate with the display to determine a location of at least one object displayed on the display, and drive the plurality of haptic actuators to focus a haptic sensation at the location of the at least one object on the display. 
     Another aspect is directed to an electronic device that includes a device housing, a plurality of audio output transducers carried by the housing, and a plurality of haptic actuators spaced apart within the device housing. The electronic device also includes a controller coupled to the plurality of audio output transducers and the plurality of haptic actuators. The controller may be configured to cooperate with the plurality of audio output transducers to determine a location of audio output focus, and drive the plurality of haptic actuators to focus a haptic sensation at the location of audio output focus. 
     Another aspect is directed an electronic device that may include a device housing, wireless communications circuitry carried by the device housing, and a plurality of haptic actuators spaced apart within the device housing. The electronic device may also include a controller coupled to the wireless communications circuitry and the plurality of haptic actuators. The controller may be configured to cooperate with the wireless communications circuitry to receive a notification, and drive the plurality of haptic actuators to focus a haptic sensation based upon the notification. 
     Another aspect is directed to an electronic device that may include a device housing, at least one device orientation sensor carried by the housing, a plurality of haptic actuators spaced apart within the device housing, and a controller coupled to the device orientation sensor and the plurality of haptic actuators. The controller may be configured to cooperate with the at least one device orientation sensor to determine a sensed orientation of the device, and drive the plurality of haptic actuators to focus a haptic sensation based upon the sensed orientation of the device. 
     In another embodiment, an electronic device may include a device housing, at least one device proximity sensor carried by the device housing, and a plurality of haptic actuators spaced apart within the device housing. The electronic device may also include a controller coupled to the at least one device proximity sensor and the plurality of haptic actuators, the controller configured to cooperate with the at least one device proximity sensor to determine a sensed proximity of the electronic device to a given object, and drive the plurality of haptic actuators to focus a haptic sensation based upon the sensed proximity of the electronic device to the given object. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view of an electronic device including haptic actuators according to an embodiment. 
         FIG. 2  is a schematic block diagram of the electronic device of  FIG. 1 . 
         FIG. 3  is a more detailed schematic diagram of a haptic actuator of  FIG. 1 . 
         FIGS. 4 a -4 d    are schematic diagrams illustrating different driving configurations of the haptic actuators of  FIG. 2 . 
         FIG. 5  is a schematic diagram of an electronic device illustrating a driving configuration of haptic actuators in accordance with another embodiment. 
         FIG. 6  is a perspective view of an electronic device including haptic actuators according to another embodiment. 
         FIG. 7  is a schematic block diagram of the electronic device of  FIG. 6 . 
         FIG. 8  is a perspective view of an electronic device including haptic actuators according to another embodiment. 
         FIG. 9  is a schematic block diagram of the electronic device of  FIG. 8 . 
         FIG. 10  is a perspective view of an electronic device including haptic actuators according to another embodiment. 
         FIG. 11  is a schematic block diagram of the electronic device of  FIG. 10 . 
         FIG. 12  is a perspective view of an electronic device including haptic actuators according to another embodiment. 
         FIG. 13  is a schematic block diagram of the electronic device of  FIG. 12 . 
         FIG. 14  is a perspective view of an electronic device including haptic actuators according to another embodiment. 
         FIG. 15  is a schematic block diagram of the electronic device of  FIG. 14 . 
         FIG. 16  is a schematic block diagram of an exemplary multi-haptic actuator architecture according to an embodiment. 
     
    
    
     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 and numbers in increments of 100 are used to indicate similar elements in alternative embodiments. 
     Referring initially to  FIGS. 1-3 , 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 mobile telephone. The electronic device  20  may be another type of electronic device, for example, a wearable wireless communications device, and includes a band or strap for securing it to a user, a tablet computer, a laptop computer, 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 touch display  23  is also carried by the device housing  21  and is coupled to the controller  22 . The touch display  23  may be a light emitting diode (LED) touch display, for example, or may be another type of display, for example, a liquid crystal display (LCD) as will be appreciated by those skilled in the art. The touch display  23 , as an input device, senses user input at a location thereon. More particularly, the touch display  23  senses contact with or an amount of force that corresponds to the user input at the sensed location. 
     A finger-operated user input device  24  illustratively in the form of a pushbutton switch is also carried by the device housing  21  and is coupled to the controller  22 . The pushbutton switch  24  cooperates 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. In some embodiments, the electronic device  20  may not include a pushbutton switch  24 , as the finger-operated input device may be in another form, as will be appreciated by those skilled in the art. 
     The electronic device  20  illustratively includes haptic actuators  40   a ,  40   b . The haptic actuators  40   a ,  40   b  are each coupled to the controller  22 , which determines user indications and operates the haptic actuators by way of applying power, current, or a voltage to a coil  44  to move a field member  50  based upon the user indication. More particularly, the haptic actuators  40   a ,  40   b  each cooperate with the controller  22  to provide haptic feedback to the user. The haptic feedback may be in the form of relatively long and short vibrations or “taps”, particularly, for example, when the electronic device  20  is in the form of a wearable device and the user is wearing the electronic device. The vibrations may be indicative of a message received, and the duration 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. Further details of how haptic feedback is provided to the user from the haptic actuators  40   a ,  40   b  will be described in further detail below. 
     Additionally, 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, and some or all of the circuitry may be carried by an actuator housing and/or by the device housing  21 . 
     With particular respect to  FIG. 3 , further details of an exemplary haptic actuator  40   a  are now described. The haptic actuator  40   a  includes an actuator housing  41 . The coil  44  is carried by the actuator housing  41 . Of course, there may be more than one coil carried by the housing  41 . 
     The field member  50  is movable within the housing  41  responsive to the coil  44 . The movement of the field member  50  creates the haptic feedback, or tapping, as will be appreciated by those skilled in the art. While the movement of the field member  50  may be described as being moveable in one direction, i.e., a linear haptic actuator, it should be understood that in some embodiments, the field member may be movable in other directions, i.e., an angular haptic actuator, or may be a combination of both a linear and an angular haptic actuator. 
     The field member  50  may include one or more masses  51  and may be shaped for a particular application or operation. The field member  50  may also include one or more permanent magnets  52 , i.e. magnetic bodies, cooperating with the coil  44  to provide movement of the field member  50 . The field member  50  has a shaft receiving passageway  57  therein. In some embodiments, the field member  50  may include the coil  44 , and the permanent magnets may be carried by the actuator housing  41 . 
     The haptic actuator  40   a  also includes biasing members  54   a ,  54   b  between the actuator housing  41  and the field member  50 . The biasing members  54   a ,  54   b  are illustratively in the form of springs for maintaining the field member suspended in the housing  41 . The springs  54   a ,  54   b  may be mechanical springs, such as, for example, coil springs, leaf springs, and flexures. The springs  54   a ,  54   b  may also or additionally be magnetic springs that, through interaction with the permanent magnets and/or ferritic parts of the actuator housing  41 , if any, store and amplify the energy in the form of elastic/magnetic energy. 
     Additionally, the haptic actuator  40   a  includes a pair of bearings within the shaft receiving passageway  57 . A shaft  56  extends through the bearings  55   a ,  55   b  and is coupled to the actuator housing  41  to permit reciprocal movement of the field member  50  along the shaft and within the housing responsive to the coil  44 . Other and/or additional components, such as shafts, linear/angular bearings, sliding bearings, flexures, multi-bar linkage mechanisms, and springs, may enable motion of the field member  50  in the desired direction (e.g. X axis in a linear actuator or around a certain axis in an angular actuator) while constraining motion in other degrees of freedom. 
     The haptic actuator  40   a  also includes mechanical limit stops  45   a ,  45   b  between the housing  41  and the field member  50 . The mechanical limit stops  45   a ,  45   b  limit the movement of the field member to a desired range and/or stop the field member from crashing or banging into the housing  41 . While mechanical stops  45   a ,  45   b  are described, it will be appreciated that the mechanical stops may be part of or a portion of the housing  41 . 
     Typically, circuitry, for example, the controller  22 , generates a sinusoidal drive waveform that drives the field member  50  to move from an initial at-rest position, and thus generate haptic feedback. It should be appreciated by those skilled in the art that while a particular configuration of a haptic actuator  40   a  including certain components is illustrated, other haptic actuator configurations may be used, which may include other and/or additional components in different configurations. Moreover, each haptic actuator  40   a ,  40   b  may be configured differently, for example, have different springs for flexures. 
     The controller  22  cooperates with the touch display  23  to determine a sensed location of the user input on the touch display, for example, the user&#39;s finger  35 , and more particularly, an amount of force at the sensed location. Based upon the amount of sensed force on the touch display  23 , the controller  22  drives the haptic actuators  40   a ,  40   b  to focus a haptic sensation at the sensed location. 
     Referring now to  FIGS. 4 a -4 d   , to focus the haptic sensation and to drive the haptic actuators  40   a ,  40   b  to achieve a desired type of haptic actuation, for example, a sensation of rotation about the sensed location ( FIG. 4 a   ), the controller  22  may generate and drive each haptic actuator with a respective different waveform from among a plurality of different waveforms. More particularly, to achieve a rotation sensation, a second haptic actuator  40   b  of a pair thereof adjacent a periphery of the device housing  21  may be driven with a waveform having an amplitude in a given direction that is greater than an amplitude of the waveform driving the first haptic actuator  40   a  in a direction opposite that of the second haptic actuator (i.e. driven with different phase waveforms) ( FIG. 4 a   ). 
     To achieve, a haptic sensation across an entire length of the device housing  21 , both first and second haptic actuators  40   a ,  40   b  may be operated in a synchronized manner in a given direction (i.e., driven with the same waveform) ( FIG. 4 b   ). In other embodiments, the controller  22  may drive one haptic actuator  40   a  with a “vibe” waveform while the other haptic actuator is driven with a “tap” waveform (i.e., driven with different waveforms) ( FIG. 4 c   ). 
     Still further, as noted above, each haptic actuator  40   a ,  40   b  may be a different type of haptic actuator, for example, different size, shape, bandwidth, and/or internal components. Accordingly, different types of haptic actuators generate different types of haptic feedback ( FIG. 4 d   ). 
     Referring now briefly to  FIG. 5 , two pairs of opposing haptic actuators  40   a ′,  40   b ′ and  40   c ′,  40   d ′ are positioned along a periphery of the housing  21 ′ of the electronic device  20 ′. Each pair may be driven by the controller  22 ′ at different waveforms, whether “tab” or “vibe”, different amplitudes, and/or different phases, achieve a desired haptic sensation at the sensed location. 
     While the controller  22  generates or drives the haptic actuator with different waveforms, for example, having a different amplitude, phase, or waveform type, it should be understood that the controller may generate waveforms having any or all of different types, amplitudes, and/or phases for driving each haptic actuator  40   a ,  40   b . Furthermore, to focus the haptic sensation, for example, at the sensed location, the controller  22  may determine where the given location is relative to the overall touch display  23  (e.g. location in a grid or array). The controller may adjust the waveforms accordingly. For example, the haptic actuators  40   a ,  40   b  may each be driven with a respective waveform having parameters to increase the haptic sensation at the sensed location. This may be determined based upon the construction, type, age, and/or other physical characteristic of the haptic actuators  40   a ,  40   b , which may be known from manufacturing. 
     The controller  22  may also generate a respective waveform based upon the amounts of force detected. For example, if the amount of force at the sensed location is greater than a threshold force, the controller may generate a waveform that corresponds to driving the haptic actuators with a more pronounced haptic sensation and/or a different type of waveform. Of course, different waveforms may be generated to drive the haptic actuators  40   a ,  40   b  based upon the force at the sensed location, as may be desired. 
     To further achieve a more focused haptic sensation, it may be particularly desirable to sense any or both of the voltage and current (e.g., back EMF) of the haptic actuators  40   a ,  40   b  and drive the haptic actuators based thereon. The sensed current and/or voltage may provide the relative motion information that may be used by the controller  22  for driving the haptic actuators  40   a ,  40   b . Additional sensing, for example, via one or more magnetic sensors to sense movement of the field member  50  may be used to determine the relative location or motion information. Further details of generating respective waveforms based upon the sensed voltage and/or current information and/or based upon magnetic sensor are explained in U.S. patent application Ser. No. 15/096,379 and U.S. Application Ser. No. 62/347,760 the entire contents of each of which are hereby incorporated in their entirety by reference. 
     A method aspect is directed to a method of driving a plurality of haptic actuators  40   a ,  40   b  spaced apart within a device housing  21  of an electronic device  20  that includes a touch display  23  carried by the device housing and configured to sense a user input at a location thereon. The method includes using a controller  22  coupled to the touch display  23  and the plurality of haptic actuators  40   a ,  40   b  to cooperate with the touch display to determine a sensed location of the user input on the touch display, and drive the plurality of haptic actuators to focus a haptic sensation at the sensed location on the touch display. 
     Referring now to  FIGS. 6 and 7 , in another embodiment, the haptic sensation may be focused based upon objects displayed on the display  23 ″. For example, a user may be playing a game that displays an object  61 ″, for example, a symbol or character on the display  23 ″. The controller  22 ″ cooperates with the display  23 ″ to determine a location of the object displayed on the display. The controller  22 ″ drives the haptic actuators  40   a ″,  40   b ″ to focus a haptic sensation at the location of the object  61 ″ or character on the display  23 ″. While a character is an example of an object, it should be understood that the object may be a displayed location of an event on the display  23 ″. For example, if, in a block game, a block is destroyed, the controller  22 ″ may focus the haptic sensation at the location of the block being destroyed. Moreover, while two haptic actuators  40   a ″,  40   b ″ are illustrated, it will be appreciated that there may be more than two haptic actuators, which may be spaced within the device housing  21 ″ in a different configuration than illustrated. Elements illustrated but not specifically described herein are similar to those described in the embodiments described above and need no further discussion herein. 
     A method aspect is directed to a method of driving a plurality of haptic actuators  40   a ″,  40   b ″ spaced apart within a device housing  21 ″ of an electronic device  20 ″ that includes a display  23 ″ carried by the device housing, and a controller  22 ″ coupled to the display and the plurality of haptic actuators. The method includes using the controller  22 ″ to cooperate with the display  23 ″ to determine a location of at least one object displayed on the display, and drive the plurality of haptic actuators  40   a ″,  40   b ″ to focus a haptic sensation at the location of the at least one object on the display. 
     Referring now to  FIGS. 8 and 9  in another embodiment, the electronic device  20 ′″ includes audio output transducers  26   a ′″,  26   b ′″ carried by the device housing  21 ′″. The controller  22 ′″ may drive the audio output transducers  26   a ′″,  26   b ′″ in a stereo configuration (e.g., left and right channels). The controller  22 ′″ operating in a stereo configuration, for example, may focus audio output to a desired location. The controller  22 ′″ cooperates with the audio output transducers  26   a ′″,  26   b ′″, for example, to determine the location of audio output focus, and drives the haptic actuators to focus a haptic sensation at the location of audio output focus. For example, if audio is directed to a particular location in a game, the haptic sensation may also be directed to that location. Moreover, while two haptic actuators  40   a ′″,  40   b ′″ are illustrated, it will be appreciated that there may be more than two haptic actuators, which may be spaced within the device housing  21 ′″ in a different configuration than illustrated. 
     The controller  22 ′″ may alternatively or additionally drive the haptic actuators  40   a ′″,  40   b ′″ based upon the content of or the signals output by the audio output transducers  26   a ′″,  26   b ′″. The content may include signal levels, left or right channel data, etc., as will be appreciated by those skilled in the art. Elements illustrated but not specifically described herein are similar to those described in the embodiments described above and need no further discussion herein. 
     A method aspect is directed to driving haptic actuators  40   a ′″,  40   b ′″ spaced apart within a device housing  21 ′″ of an electronic device  20 ′″ that includes an audio output transducers  26   a ′″,  26   b ′″ carried by the device housing and a controller  22 ′″ coupled to the audio output transducers and the haptic actuators. The method includes using the controller  22 ′″ to cooperate with the audio output transducers  26   a ′″,  26   b ′″ to determine a location of audio output focus, and drive the haptic actuators  40   a ′″,  40   b ′″ to focus a haptic sensation at the location of audio output focus. 
     Referring now to  FIGS. 10 and 11 , in another embodiment, the controller  122  of the electronic device  120  cooperates with the wireless communications circuitry  125  to receive a notification  162 . The wireless communications circuitry  125  is similar to the wireless communications circuitry described above. The notification  162  may include one of an email notification, social media notification, short messaging service (SMS) notification, and voice message notification. 
     The controller  122  drives the haptic actuators  140   a ,  140   b  to focus a haptic sensation based upon the notification  162 . For example, if the notification is an SMS notification, the controller  122  may focus the haptic sensation to a particular area or in a particular pattern that may be identifiable as an SMS notification. If the notification  162  is an email notification, for example, the controller  122  may focus the haptic sensation to another particular area or in another particular pattern so that it is identifiable as an email notification. The notification  162  may be another type of notification, for example, and/or haptic sensations may be grouped by type of notification. Elements illustrated but not specifically described herein are similar to those described in the embodiments described above and need no further discussion herein. 
     A method aspect is directed to a method of driving haptic actuators  140   a ,  140   b  within a device housing  121  of an electronic device  120  that includes wireless communications circuitry  125  carried by the device housing and a controller  122  coupled to the wireless communications circuitry and the haptic actuators. The method includes using the controller  122  to cooperate with the wireless communications circuitry  125  to receive a notification  162 , and drive the haptic actuators  140   a ,  140   b  to focus a haptic sensation based upon the notification. 
     Referring now to  FIGS. 12 and 13 , in another embodiment, the haptic sensation is focused based upon a sensed orientation of the electronic device  120 ′. Illustratively, the electronic device  120 ′ includes device orientation sensors  127   a ′,  127   b ′ carried by the device housing  121 ′. The device orientation sensors  127   a ′,  127   b ′ may each include an accelerometer, for example. In some embodiments, there may be a single device orientation sensor or more than two device orientation sensors. The controller  122 ′ cooperates with the device orientation sensors  127   a ′,  127   b ′ to determine a sensed orientation of the electronic device  120 ′. The controller  120 ′ drives the haptic actuators  140   a ′,  140   b ′ to focus a haptic sensation based upon the sensed orientation of the electronic device  120 ′. For example, if the electronic device  120 ′ is on a table, the controller  122 ′ may provide an associated haptic sensation. The haptic sensation may be focused, for example, to reduce vibration noise. If the electronic device  120 ′ is carried in a pocket of a user, for example, the controller  122 ′ may focus the haptic sensation so that the haptic sensation or feedback is more easily felt by the user. In some embodiments, the orientation sensors, for example, when in the form of accelerometers, may focus the haptic sensation based upon motion. Elements illustrated but not specifically described herein are similar to those described in the embodiments described above and need no further discussion herein. 
     A method aspect is directed to a method of driving haptic actuators  140   a ′,  140   b ′ spaced apart within a device housing  121 ′ of an electronic device  120 ′ that includes at least one device orientation sensor  127   a ′,  127   b ′ carried by the device housing and a controller  122 ′ coupled to the device orientation sensor and the haptic actuators. The method includes using the controller  122 ′ to cooperate with the at least one device orientation sensor  127   a ′,  127   b ′ to determine a sensed orientation of the electronic device  120 ′, and drive the haptic actuators  140   e ,  140   b ′ to focus a haptic sensation based upon the sensed orientation of the electronic device. 
     Referring now to  FIGS. 14 and 15 , in yet another other embodiment, the electronic device  120 ″ may include a proximity sensor  128 ″ carried by the device housing  121 ″. The controller  122 ″ may cooperate with the proximity sensor  128 ″ to determine a relative proximity of the electronic device  120 ″ to a given object, for example, a cover panel of a carrying case. The controller  122 ″ drives the haptic actuators  140   a ″,  140   b ″ to focus a haptic sensation based upon the sensed proximity of the electronic device  120 ″ to the given object. Of course, there may be more than one proximity sensor  128 ″. For example, where the given object is a cover panel, the controller  122 ″ may focus the haptic sensation to account for the cover panel. Elements illustrated but not specifically described herein are similar to those described in the embodiments described above and need no further discussion herein. 
     A method aspect is directed to a method of driving haptic actuators  140   a ″,  140   b ″ spaced apart within a device housing  121 ″ of an electronic device  120 ″ that includes at least one proximity sensor  128 ″ carried by the device housing and a controller  122 ″ coupled to the proximity sensor and the actuators. The method includes using the controller  122 ″ to cooperate with the at least one proximity sensor  128 ″ to sense a proximity of a given object to the electronic device  120 ″, and drive the haptic actuators  140   a ″,  140   b ″ to focus a haptic sensation based upon the sensed proximity of the given object to the electronic device. 
     While several different embodiments have been described individually, it should be noted that any of the embodiments described herein can be used with other embodiments. In other words, elements described herein in the different embodiments are interchangeable among the different embodiments. Moreover, while a controller has been described herein, it should be noted that the controller may include circuitry that performs electronic device operations or functions. For example, the controller may include circuitry of a device central processing unit (CPU) and/or circuitry for controlling the haptic actuators. Of course, the controller may include other and/or additional circuitry. 
     Referring now to  FIG. 16 , an exemplary architecture including multiple haptic actuators  240   a ,  240   b  will now be described. In the example architecture, the controller  222  may include both a device processor  231  or CPU, which may include an all-purpose processor  232  and an always-on processor  233 , as will be appreciated by those skilled in the art. The controller  222  may also include a haptics controller  234  coupled to the device processor. The device processor  231  or CPU may cooperate with or gather sensor data from any one or more sensors  242 , for example, a touch screen display  223 , an audio input transducer  229 , a motion sensor  227  or orientation sensor (e.g., an accelerometer), a pressure sensor  236 , a finger biometric sensor  237 , and an input device  224  (e.g. home button or pushbutton switch). Input may also be provided to the device processor  231  from software  238  or an application stored on the electronic device  220 , for example, operating system software  239  and/or third party applications  243 . Of course, input may be provided to the device processor  231  from other and/or additional sources/sensors. The device processor  231  may, based upon the gathered or sensed data from the software  238  and/or sensors  242 , cooperate with or command the haptics controller  234  so that the haptics controller may generate respective waveforms (e.g., multi-channel current/voltage data), via a multi-channel driver/amplifier circuit  267 . The haptics controller  234  may also receive multi-channel control signals from the multi-channel driver/amplifier circuit  267 . 
     The driver/amplifier circuit  267  amplifiers the output of the haptics controller  234  to drive the haptic actuators  240   a ,  240   b , for example, via a class DG amplifier  268 . The driver/amplifier circuit  267  monitors and senses the electrical input (current and voltage) to the haptic actuators  240   a ,  240   b  via I/V sensing circuitry  269  that senses or estimates both velocity and position (e.g., by sensing the back EMF). The driver/amplifier circuit  267  also includes a boost converter  270 . Motion of the haptic actuators  240   a ,  240   b  may also sensed by motion sensing circuitry  271 . The motion sensing circuitry  271  may include capacitive, magnetic, and/or optical motion sensing circuitry. Of course, the motion sensing circuitry  271  may include other and/or additional types of sensing circuitry. In some embodiments, the haptic controller  234  may communicate directly with the sensors  242 , for example, to provide lower latency. Moreover, while two haptic actuators  240   a ,  240   b  are illustrated, it should be noted that any number of haptic actuators may be included. 
     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. 
     An electronic device comprises a device housing, a display carried by the device housing, and a plurality of haptic actuators spaced apart within the device housing. The electronic device comprises a controller coupled to the display and the plurality of haptic actuators. The controller is configured to cooperate with the display to determine a location of at least one object displayed on the display, and drive the plurality of haptic actuators to focus a haptic sensation at the location of the at least one object on the display. 
     The controller is configured to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The plurality of haptic actuators comprises a pair of opposing haptic actuators. 
     The plurality of haptic actuators are carried along a periphery of the device housing. 
     The controller is configured to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is configured to drive the plurality of haptic actuators with a same waveform. 
     The controller is configured to sense at least one of voltage and current and drive the plurality of haptic actuators based thereon. 
     Each of the plurality of haptic actuators comprises a haptic actuator housing, a field member movable within the haptic actuator housing, and a coil cooperating with the field member. 
     An electronic device comprises a device housing, a display carried by the device housing, and a plurality of haptic actuators spaced apart within and carried along a periphery of the device housing. The electronic device comprises a controller coupled to the display and the plurality of haptic actuators. The controller is configured to cooperate with the display to determine a location of at least one object displayed on the display, and drive each of the plurality of haptic actuators with respective different waveforms to focus a haptic sensation at the location of the at least one object on the display. 
     The plurality of haptic actuators comprises a pair of opposing haptic actuators. 
     The controller is configured to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     A method of driving a plurality of haptic actuators spaced apart within a device housing of an electronic device comprising a display carried by the device housing, and a controller coupled to the display and the plurality of haptic actuators comprises using the controller to cooperate with the display to determine a location of at least one object displayed on the display, and drive the plurality of haptic actuators to focus a haptic sensation at the location of the at least one object on the display. 
     The controller is used to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The controller is used to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is used to drive the plurality of haptic actuators with a same waveform. 
     An electronic device comprises a device housing, a plurality of audio output transducers carried by the device housing, and a plurality of haptic actuators spaced apart within the device housing. The electronic device comprises a controller coupled to the plurality of audio output transducers and the plurality of haptic actuators. The controller is configured to cooperate with the plurality of audio output transducers to determine a location of audio output focus, and drive the plurality of haptic actuators to focus a haptic sensation at the location of audio output focus. 
     The controller is configured to cooperate with the plurality of audio output transducers to focus audio output. 
     The controller is configured to drive the plurality of audio output transducers in a stereo configuration. 
     The controller is configured to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The plurality of haptic actuators comprises a pair of opposing haptic actuators. 
     The plurality of haptic actuators are carried along a periphery of the device housing. 
     The controller is configured to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is configured to drive the plurality of haptic actuators with a same waveform. 
     The controller is configured to sense at least one of voltage and current and drive the plurality of haptic actuators based thereon. 
     Each of the plurality of haptic actuators comprises a haptic actuator housing, a field member movable within the haptic actuator housing, and a coil cooperating with the field member. 
     An electronic device comprises a device housing, a plurality of audio output transducers carried by the device housing, and a plurality of haptic actuators spaced apart within and carried along a periphery of the device housing. The electronic device comprises a controller coupled to the plurality of audio output transducers and the plurality of haptic actuators. The controller is configured to cooperate with the plurality of audio output transducers to focus audio output, cooperate with the plurality of audio output transducers to determine a location of the focused audio output, and drive the plurality of haptic actuators to focus a haptic sensation at the location of focused audio output. 
     The controller is configured to drive the plurality of audio output transducers in a stereo configuration. 
     The controller is configured to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The plurality of haptic actuators comprises a pair of opposing haptic actuators. 
     The controller is configured to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is configured to drive the plurality of haptic actuators with a same waveform. 
     A method of driving a plurality of haptic actuators spaced apart within a device housing of an electronic device comprising a plurality of audio output transducers carried by the device housing and a controller coupled to the plurality of audio output transducers and the plurality of haptic actuators comprises using the controller to cooperate with the plurality of audio output transducers to determine a location of audio output focus, and drive the plurality of haptic actuators to focus a haptic sensation at the location of audio output focus. 
     The controller is used to cooperate with the plurality of audio output transducers to focus audio output. 
     The controller is used to drive the plurality of audio output transducers in a stereo configuration. 
     The controller is used to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The controller is used to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is used to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is used to drive the plurality of haptic actuators with a same waveform. 
     An electronic device comprises a device housing, wireless communications circuitry carried by the device housing, and a plurality of haptic actuators spaced apart within the device housing. The electronic device comprises a controller coupled to the wireless communications circuitry and the plurality of haptic actuators. The controller is configured to cooperate with the wireless communications circuitry to receive a notification, and drive the plurality of haptic actuators to focus a haptic sensation based upon the notification. 
     The notification comprises one of an email notification, social media notification, short messaging service (SMS) notification, and voice message notification. 
     The controller is configured to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The plurality of haptic actuators comprises a pair of opposing haptic actuators. 
     The plurality of haptic actuators are carried along a periphery of the device housing. 
     The controller is configured to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is configured to drive the plurality of haptic actuators with a same waveform. 
     The controller is configured to sense at least one of voltage and current and drive the plurality of haptic actuators based thereon. 
     Each of the plurality of haptic actuators comprises a haptic actuator housing, a field member movable within the haptic actuator housing, and a coil cooperating with the field member. 
     An electronic device comprises a device housing, wireless communications circuitry carried by the device housing, and a plurality of haptic actuators spaced apart within and carried along a periphery of the device housing. The electronic device comprises a controller coupled to the wireless communications circuitry and the plurality of haptic actuators. The controller is configured to cooperate with the wireless communications circuitry to receive a notification comprising one of an email notification, social media notification, short messaging service (SMS) notification, and voice message notification, and drive the plurality of haptic actuators to focus a haptic sensation based upon the notification. 
     The controller is configured to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is configured to drive the plurality of haptic actuators with a same waveform. 
     A method of driving a plurality of haptic actuators within a device housing of an electronic device comprising wireless communications circuitry carried by the device housing and a controller coupled to the wireless communications circuitry and the plurality of haptic actuators comprises using the controller to cooperate with the wireless communications circuitry to receive a notification, and drive the plurality of haptic actuators to focus a haptic sensation based upon the notification. 
     The notification comprises one of an email notification, social media notification, short messaging service (SMS) notification, and voice message notification. 
     The controller is used to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The controller is used to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is used to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is used to drive the plurality of haptic actuators with a same waveform. 
     The controller is used to sense at least one of voltage and current and drive the plurality of haptic actuators based thereon. 
     An electronic device comprises a device housing, at least one device orientation sensor carried by the device housing, and a plurality of haptic actuators spaced apart within the device housing. The electronic device comprises a controller coupled to the at least one device orientation sensor and the plurality of haptic actuators. The controller is configured to cooperate with the at least one device orientation sensor to determine a sensed orientation of the device, and drive the plurality of haptic actuators to focus a haptic sensation based upon the sensed orientation of the device. 
     The at least one device orientation sensor comprises at least one accelerometer. 
     The at least one device orientation sensor comprises a plurality of device orientation sensors. 
     The controller is configured to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The plurality of haptic actuators comprises a pair of opposing haptic actuators. 
     The plurality of haptic actuators are carried along a periphery of the device housing. 
     The controller is configured to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is configured to drive the plurality of haptic actuators with a same waveform. 
     The controller is configured to sense at least one of voltage and current and drive the plurality of haptic actuators based thereon. 
     Each of the plurality of haptic actuators comprises a haptic actuator housing, a field member movable within the haptic actuator housing, and a coil cooperating with the field member. 
     An electronic device comprises a device housing, at least one accelerometer carried by the device housing, and a plurality of haptic actuators spaced apart within and carried by a periphery of the device housing. The electronic device comprises a controller coupled to the at least one accelerometer and the plurality of haptic actuators. The controller is configured to cooperate with the at least one accelerometer to determine a sensed orientation of the device, and drive the plurality of haptic actuators to focus a haptic sensation based upon the sensed orientation of the device. 
     The at least one accelerometer comprises a plurality of accelerometers. 
     The controller is configured to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is configured to drive the plurality of haptic actuators with a same waveform. 
     The controller is configured to sense at least one of voltage and current and drive the plurality of haptic actuators based thereon. 
     A method of driving a plurality of haptic actuators spaced apart within a device housing of an electronic device comprising at least one device orientation sensor carried by the device housing and a controller coupled to the device orientation sensor and the plurality of haptic actuators comprises using the controller to cooperate with the at least one device orientation sensor to determine a sensed orientation of the device, and drive the plurality of haptic actuators to focus a haptic sensation based upon the sensed orientation of the device. 
     The at least one device orientation sensor comprises at least one accelerometer. 
     The at least one device orientation sensor comprises a plurality of device orientation sensors. 
     The controller is used to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The controller is used to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is used to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is used to drive the plurality of haptic actuators with a same waveform. 
     The controller is used to sense at least one of voltage and current and drive the plurality of haptic actuators based thereon. 
     An electronic device comprises a device housing, at least one device proximity sensor carried by the device housing, and a plurality of haptic actuators spaced apart within the device housing. The electronic device comprises a controller coupled to the at least one device proximity sensor and the plurality of haptic actuators. The controller is configured to cooperate with the at least one proximity sensor to determine a sensed proximity of the electronic device to a given object, and drive the plurality of haptic actuators to focus a haptic sensation based upon the sensed proximity of the electronic device to the given object. 
     The controller is configured to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The plurality of haptic actuators comprises a pair of opposing haptic actuators. 
     The plurality of haptic actuators are carried along a periphery of the device housing. 
     The controller is configured to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is configured to drive the plurality of haptic actuators with a same waveform. 
     The controller is configured to sense at least one of voltage and current and drive the plurality of haptic actuators based thereon. 
     Each of the plurality of haptic actuators comprises a haptic actuator housing, a field member movable within the haptic actuator housing, and a coil cooperating with the field member. 
     An electronic device comprises a device housing, at least one proximity sensor carried by the device housing, and a plurality of haptic actuators spaced apart within and carried by a periphery of the device housing. The electronic device comprises a controller coupled to the at least one proximity sensor and the plurality of haptic actuators. The controller is configured to cooperate with the at least one proximity detector to determine a sensed proximity of the electronic device to a given object, and drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms to focus a haptic sensation based upon the sensed proximity of the given object to the electronic device. 
     The controller is configured to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is configured to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is configured to drive the plurality of haptic actuators with a same waveform. 
     The controller is configured to sense at least one of voltage and current and drive the plurality of haptic actuators based thereon. 
     A method of driving a plurality of haptic actuators spaced apart within a device housing of an electronic device comprising at least one proximity sensor carried by the device housing and a controller coupled to the proximity sensor and the plurality of haptic actuators comprises using the controller to cooperate with the at least one proximity sensor to sense a proximity of a given object to the electronic device, and drive the plurality of haptic actuators to focus a haptic sensation based upon the sensed proximity of the given object to the electronic device. 
     The controller is used to drive each of the plurality of haptic actuators with a respective one of a plurality of different waveforms. 
     The controller is used to drive the plurality of haptic actuators with different phase waveforms. 
     The controller is used to drive the plurality of haptic actuators with different amplitude waveforms. 
     The controller is used to drive the plurality of haptic actuators with a same waveform. 
     The controller is used to sense at least one of voltage and current and drive the plurality of haptic actuators based thereon.

Metadata:
Filing Date: 20170725
Publication Date: 20200602
Grant Date: 20200602
Priority Date: 20160901
Inventors: HAJATI, ARMAN
Assignee: APPLE INC
CPC Classifications: [{"code": "G06F3/041", "inventive": true, "first": false, "tree": "[]"}, {"code": "G08B6/00", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F3/04886", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F2203/014", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F2203/014", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F2203/014", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F3/04886", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "G08B6/00", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F2203/014", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/041", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F3/0488", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 59649552