PATENT DOCUMENT

Publication Number: US-9977498-B2
Application Number: US-201414331006-A
Country: US
Kind Code: B2

Title: Methods and systems for providing haptic control

Abstract:
Haptic systems are disclosed which may provide increased resolution in tactile feedback. A tiered haptic system may be formed by stacking of haptic elements. One or more arrays of shape change elements such as, for example, piezoelectric elements may be used to actuate a screen surface. Arrays may also be used to sense tactile interactions and stimuli on a screen surface. An embedded haptic system may be formed by inserting haptic elements into a contoured elastic sheet. The embedded haptic system may provide tactile interactions to a user. In some embodiments, both tiered and embedded haptic arrangements may be used.

Claims:
What is claimed is: 
     
       1. An electronic device comprising:
 an input surface; and 
 a haptic control system positioned below the input surface, the haptic control system comprising:
 a first elastic sheet in contact with the input surface; 
 a first array of shape-change elements embedded within the first elastic sheet and configured to provide a high-resolution physical response to a first electric signal; 
 a second elastic sheet positioned below, and coupled to, the first elastic sheet; 
 and 
 a second array of shape-change elements embedded within the first elastic sheet, the second array of shape-change elements configured to provide a low-resolution physical response to a second electric signal. 
 
 
     
     
       2. The electronic device of  claim 1 , wherein the first array of shape-change elements is configured to deform a first region of the input surface. 
     
     
       3. The electronic device of  claim 2 , wherein the second array of shape-change elements is configured to deform a second region of the input surface, the second region comprising the first region. 
     
     
       4. The electronic device of  claim 3 , wherein the first region is a subregion of the second region. 
     
     
       5. The electronic device of  claim 1 , further comprising control circuitry coupled to the first array and the second array and configured to deform at least one shape-change element of the first array and at least one shape-change element of the second array in response to receiving the first and second electrical signals. 
     
     
       6. The electronic device of  claim 1 , further comprising a display positioned below the second elastic sheet. 
     
     
       7. The electronic device of  claim 6 , wherein the display comprises an organic light emitting diode display sheet. 
     
     
       8. The electronic device of  claim 1 , wherein the first elastic screen sheet comprises a flexible organic light emitting diode display sheet. 
     
     
       9. The electronic device of  claim 1 , wherein at least one of the shape-change elements of the first array of shape-change elements comprises a piezoelectric element. 
     
     
       10. The electronic device of  claim 1 , wherein at least one of the shape-change elements of the second array of shape-change elements comprises a piezoelectric element. 
     
     
       11. The electronic device of  claim 1 , wherein at least one of the shape-change elements of the first array of shape-change elements comprises a memory polymer. 
     
     
       12. The electronic device of  claim 1 , wherein at least one of the shape-change elements of the second array of shape-change elements comprises a memory polymer. 
     
     
       13. A haptic input device comprising:
 an input surface configured to elastically deform; 
 an elastic sheet positioned below the input surface and comprising:
 a first plurality of shape-changed elements arranged in a first grid pattern, positioned below the input surface, embedded in the elastic sheet, and configured to withdraw a first region of the input surface in response to a first signal; and 
 a second plurality of shape-change elements embedded in the elastic sheet and positioned below and aligned with the first plurality of shape-change elements and configured to withdraw a second region of the input surface comprising the first region of the input surface in response to a second signal. 
 
 
     
     
       14. The haptic input device of  claim 13 , wherein at least one of the shape-change elements of the first plurality of shape-change elements comprises one of a piezoelectric element and a memory polymer. 
     
     
       15. The haptic input device of  claim 13 , wherein the low-resolution shape-change element comprises one of a piezoelectric element and a memory polymer. 
     
     
       16. A method for providing haptic feedback using a haptic input device comprising an elastic sheet embedding a first array of shape-change elements of a first size stacked upon a second array of shape-change elements of a second size greater than the first size, the method comprising:
 identifying a first shape-change element of the first array of shape-change elements; 
 identifying a second shape-change element of the second array of shape-change elements positioned below the first shape-change element and separated from the first shape-change element by an elastic sheet comprising an electrical trace; 
 causing a first control signal to be applied to the first shape-change element corresponding a high-resolution physical response; and 
 causing a second signal to be applied to the second shape-change element via the electrical trace, the second signal corresponding to a low-resolution physical response; wherein 
 the high-resolution physical response and the low-resolution physical response cooperate to define a topological feature on an input surface of the haptic input device. 
 
     
     
       17. The method of  claim 16 , further comprising displaying content on an elastic display disposed atop the first array. 
     
     
       18. The method of  claim 16 , wherein the first control signal and the second control signal are applied at substantially the same time.

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is a continuation of U.S. patent application Ser. No. 12/938,305, filed on Nov. 2, 2010, issued as U.S. Pat. No. 8,780,060 on Jul. 15, 2014 and entitled “Methods and Systems for Providing Haptic Control,” which is incorporated by reference as if fully disclosed herein. 
    
    
     The present disclosure is directed towards haptic controls. More particularly, the present disclosure is directed, in some embodiments, towards multi-tiered haptic controls. 
     BACKGROUND 
     Tactile feedback systems provide a user with the ability to interact with a subsystem through touch or contact. Haptic systems facilitate these tactile interactions by using actuators, sensors, or both. Haptic systems are commonly used in robotics, video games (e.g., “rumbling” as used in some video game controllers), and other interactive systems which allow interaction via touch. An array of haptic elements is commonly used to provide touchscreen technology to users. 
     The scale of the haptic elements used affects tactile feedback. Large elements may be capable of achieving larger displacements and forces relative to smaller elements while sacrificing resolution. Small elements may be able to provide finer resolution for haptic response, relative to larger elements, but may sacrifice displacement and force. It would be desirable to provide a haptic system that is capable of providing sufficient displacements and forces at acceptable resolutions for haptic response. 
     SUMMARY 
     This disclosure relates to systems and methods for providing haptic response. The disclosed haptic response approaches may be implemented using any suitable software, hardware, or both. In some embodiments, the disclosed haptic response approach may use one or more arrays of shape change elements to provide a wide range of tactile feedback. Each shape change element, in each array, may be coupled to a control circuit, which may use any suitable type of control signal for actuation, sensing, feedback, or suitable combinations thereof. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a diagram of illustrative shape change elements in accordance with some embodiments of the present disclosure; 
         FIG. 2  is a diagram of an illustrative un-activated shape change element in accordance with some embodiments of the present disclosure; 
         FIG. 3  is a diagram of an illustrative activated shape change element in accordance with some embodiments of the present disclosure; 
         FIG. 4  is a diagram of an illustrative shape change element affixed at each end in accordance with some embodiments of the present disclosure; 
         FIG. 5  is a diagram of an illustrative activated shape change element in a bending mode in accordance with some embodiments of the present disclosure; 
         FIG. 6  is a schematic diagram of illustrative shape change elements and a control system in accordance with some embodiments of the present disclosure; 
         FIG. 7  is a diagram of an illustrative elastic sheet in accordance with some embodiments of the present disclosure; 
         FIG. 8  is a schematic diagram of an illustrative user device in accordance with some embodiments of the present disclosure; 
         FIG. 9  is a diagram of an illustrative portable user device in accordance with some embodiments of the present disclosure; 
         FIG. 10  shows an illustrative top plan view of a tiered haptic system in accordance with some embodiments of the present disclosure; 
         FIG. 11  shows an illustrative cross-sectional view of the elements of  FIG. 10 , taken from line XI-XI, in accordance with some embodiments of the present disclosure; 
         FIG. 12  shows an illustrative cross-sectional view of a tiered haptic system with similar arrays in accordance with some embodiments of the present disclosure; 
         FIG. 13  shows an illustrative cross-sectional view of a tiered haptic system with varied haptic element orientation in accordance with some embodiments of the present disclosure; 
         FIG. 14  shows an illustrative cross-sectional view of a tiered haptic system with multiple arrays in accordance with some embodiments of the present disclosure; 
         FIG. 15  shows an illustrative cross-sectional view of a tiered haptic system with a contoured display in accordance with some embodiments of the present disclosure; 
         FIG. 16  shows an illustrative cross-sectional view of a tiered haptic system with a flat display receiving tactile stimuli in accordance with some embodiments of the present disclosure; 
         FIG. 17  shows an illustrative cross-sectional view of a tiered haptic system with contoured display receiving tactile stimuli in accordance with some embodiments of the present disclosure; 
         FIG. 18  shows an illustrative cross-sectional view of an embedded haptic system with a flat display in accordance with some embodiments of the present disclosure; 
         FIG. 19  shows an illustrative cross-sectional view of an embedded haptic system with a contoured display in accordance with some embodiments of the present disclosure; 
         FIG. 20  shows an illustrative cross-sectional view of an embedded-tiered haptic system with a flat display in accordance with some embodiments of the present disclosure; 
         FIG. 21  shows an illustrative cross-sectional view of an embedded-tiered haptic system with a contoured display in accordance with some embodiments of the present disclosure; 
         FIG. 22  is a flow diagram of illustrative steps for providing haptic feedback in accordance with some embodiments of the present disclosure; and 
         FIG. 23  is a flow diagram of illustrative steps for altering displayed content in accordance with some embodiments of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     The present disclosure is directed to systems and methods for providing layered haptic controls. Haptic systems may be used for actuation such as vibration, shape change (e.g., contouring a flat surface), or other suitable actuations or combination of actuations which may provide tactile feedback to a user. Haptic systems may also be used for sensing stimuli such as, for example, contact on a display screen, patterns of contact on a screen, shape changes, physical changes of a system or component, or other suitable stimuli or combinations of stimuli which may be received. Haptic systems may sense particular stimuli, change one or more characteristics of a shape change element, or both. Haptic systems may perform sensing functions and actuating functions at the same time. In some embodiments, haptic systems may be coupled to a display screen, audio system, device software, device hardware or other system to provide for any combination of tactile, visual, and audio interactions. Actuation may occur, in some embodiments, substantially normal to a substantially planar surface, which may allow for three dimensional contouring of the planar surface. 
     In some embodiments, shape change elements may have different properties which may provide for relatively different responses. For example, shape change elements of a particular size may provide for a particular range of displacement, force, sensing any other suitable physical response, or any combinations thereof. Shape change elements of relatively smaller size may provide finer resolution in displacement, force, sensing any other suitable physical response, or any combinations thereof. Shape change elements of relatively larger size may provide coarser resolution in displacement, force, sensing any other suitable physical response, or any combinations thereof. Various scales of haptic response may be used to provide diverse tactile interaction. For example, large displacements may be achieved by using one or more arrays of relatively large shape change elements. One or more arrays of relatively small shape change elements may be stacked with the one or more arrays of larger elements to provide for finer haptic response while allowing for large displacements. In some embodiments, multiple layers of arrays may be used, which each may have a particular size of shape change elements. Such arrangements may allow for varied response over large temporal and spatial ranges of tactile response and interaction. 
     In some embodiments, a tiered haptic response approach may be used in which one or more arrays of shape change elements may provide tactile interaction via an elastic screen interface. A suitable display screen may be included in the elastic screen interface. For example, stacked, planar arrays of piezoelectric elements may be used to provide variable actuation, sensing, or both. In some arrangements, each array may include, for example, piezoelectric elements of a particular size, providing multi-scale control in actuation and sensing. In some arrangements, a particular type of shape change element may be included in each array. In some embodiments, different types of shape change elements may be included within a particular array. Shape change elements may provide any type of actuation such as, for example, vibration, net displacement, bending, deforming, any other suitable actuation mode, or any suitable combinations thereof. 
     For example, a stacked haptic arrangement may include a particular array, which may include electromechanical elements (e.g., solenoids). Another array in the stacked haptic arrangement may include electroactive polymer elements. The shape change elements of the arrays of this illustrative stacked haptic arrangement may be controlled by any suitable control system, which may include circuitry for activating electromechanical actuators, electroactive polymers, or both. Stacked arrays may be used to create a contoured screen surface such as, for example, contour maps, shaped buttons, moving contours or shapes, or other surfaces with multi-scale features. In some embodiments, the stacked haptic arrangement may receive tactile stimuli on the screen surface. This stimuli may be received at any suitable time, including times when one or more shape changes elements of one or more arrays are activated. 
     For example, a stacked haptic arrangement may include one or more shape change elements of one or more arrays that may be activated to produce one or more screen surface features. The stacked haptic arrangement may receive a stimulus from software (e.g., software command), hardware (e.g., a stylus), a user (e.g., finger contact), any other suitable source, or any suitable combinations thereof. In some embodiments, a tactile interaction between a user and a device may be detected, processed, or both. The stacked haptic arrangement may receive a stimulus such as, for example, a touch by a user on some portion of the surface feature. The haptic arrangement may, in response to the tactile stimulus, execute one or more functions associated with the surface feature. For example, a stacked haptic arrangement may form a raised button corresponding to a particular media selection (e.g., a song in an iTunes® library) on the screen surface. In response to receiving a user selection of the button (e.g., touching the raised button), the stacked haptic arrangement may play the media selection. In a further example, a stacked haptic arrangement may form a contour map of a particular geological location on the screen surface. The stacked haptic arrangement may receive a particular tactile stimulus (e.g., user contact) to a particular region of the screen surface corresponding to a particular geographic region. In response to the tactile stimulus, the stacked haptic arrangement may reconfigure the screen surface to, for example, form a scaled contour map of the particular geographic region. The stacked haptic arrangement may form any suitable surface feature or contour on the screen surface, and may receive any suitable stimuli on the screen surface. 
     In some embodiments, an embedded haptic arrangement may be used in which one or more arrays of shape change elements may be embedded or inserted in an elastic screen interface. For example, an array of shape change elements embedded within an elastic screen sheet may be used to provide variable actuation, sensing, or both. In some embodiments, the elastic screen sheet may include one or more sunken reliefs (e.g., blind holes, patterned grooves, etched surfaces) or cavities (e.g., etched cavities, internal cavities), in which shape change elements may be positioned. In some arrangements, an elastic screen sheet may include one or more arrays of shape change elements, which may vary in size and shape. In some arrangements, in which more than one array is used, a particular type of shape change element may be included in each array. In some arrangements, within a particular array there may be different types of shape change elements of any suitable size or shape. 
     In some embodiments, an embedded haptic arrangement may be combined with a stacked haptic arrangement. For example, a stacked haptic arrangement may include one or more arrays of shape change elements and an elastic screen sheet that may include embedded shape change elements. The disclosed haptic arrangements may include any suitable combination of shape change elements and elastic sheets to provide tactile interaction. 
     Although piezoelectric elements may be referred to herein in examples and discussion for purposes of brevity and clarity, it will be understood that any suitable shape change element or combination of elements may be used in accordance with the present disclosure. Shape change elements may include piezoelectrics, shape memory alloys, shape memory polymers, electroactive polymers, electromechanical actuators (e.g., rotary motors, linear motors), mechanical actuators, pneumatic actuators, any other suitable actuators, or any suitable combinations thereof. Shape change elements may be controlled by any suitable control approach including, for example, direct-current (DC) actuation, alternating-current (AC) actuation, biased AC actuation (e.g., AC-DC coupling), pulsed DC actuation (e.g., pulsed width modulation), any other suitable electronic signal or waveform, optic actuation (e.g., ultraviolet activation), thermal actuation (e.g., temperature control), hydraulic actuation (e.g., liquid pressure control), pneumatic actuation (e.g., gas pressure control), any other suitable control approach or any suitable combinations or super-positions thereof. Shape change elements may be used as sensors which may send suitable signals to control circuitry such as, for example, modulated waveforms. In some embodiments, signals may include voltages (e.g., DC, AC, biased AC), changes in voltage, forces, pressures, changes in pressure, stresses, changes in stress, strain, changes in strain, any other suitable signal or output, or any suitable combinations thereof. 
     The present disclosure is described more fully in the context of  FIGS. 1-21  below. 
       FIG. 1  is a schematic diagram of illustrative shape change elements  100 ,  110 ,  120 , an  130 , in accordance with some embodiments of the present disclosure. The shape change elements of  FIGS. 1-5  are illustrative, and are not meant to limit the scope of the present disclosure. The phrase “shape change element” as used herein describes materials, components or assemblies which may undergo a change in shape or one or more spatial dimensions in response to a control stimulus. The term “activation” as used herein describes the process of applying a control stimulus to a shape change element causing a shape change, vibration (e.g., periodic shape change), force, or other suitable physical response. Shape change elements, when not activated, may be in an un-activated state, which may or may not include one or more control stimuli. 
     Shape change element  100  with initial shape  102  may undergo activation to final shape  104 . Shape change element  100  may undergo an isochoric process, in which the volume of element  100  remains substantially constant while the shape of element  100  may change. In some arrangements, shape change element  100  may change spatial dimension in several directions when activated. For example, in some embodiments, shape change element  100  may be cylindrical, and upon activation may grow in axial dimension and reduce in diametric dimension. Shape change element  100  may vibrate in any direction or combination of directions in response to suitable activation such as, for example, an AC electronic signal. For example, shape change element  100  may be a piezoelectric element. 
     Shape change element  110  with initial shape  112  may undergo activation to final shape  114 . Shape change element  110  may undergo an non-isochoric process, in which the volume of element  110  changes during activation. In some arrangements, shape change element  110  may change spatial dimension substantially in only one direction when activated. For example, in some embodiments, shape change element  110  may be cylindrical, and upon activation may grow in axial dimension and maintain a fixed diametric dimension. In some embodiments, shape change element  110  may vibrate in a particular direction in response to suitable activation such as, for example, an AC electronic signal or pulsating pressure drive. For example, shape change element  110  may be a electromechanical element such as a linear solenoid, or a mechanical element such as a piston/cylinder arrangement. 
     Shape change element  120  with initial shape  122  may undergo activation to final shape  124 . In some arrangements, shape change element  120  may change spatial dimension substantially in one or more directions. For example, in some embodiments, shape change element  120  may have spherical shape  122 , and upon activation may deform to ellipsoidal shape  124 . In some embodiments, shape change element  120  may vibrate in any direction or combination of directions in response to suitable activation such as, for example, an AC electronic signal. For example, shape change element  120  may be an electroactive polymer or shape memory polymer. 
     Shape change element  130  with initial shape  132  may undergo activation to final shape  134 . In some arrangements, shape change element  130  may change spatial dimension substantially in one or more directions. For example, in some embodiments, shape change element  130  may have rectangular bar shape  132 , and upon activation may deform to curved bar shape  134 . In some embodiments, shape change element  130  may vibrate as a cantilever in response to suitable activation such as, for example, an AC electronic signal. For example, shape change element  130  may be an electroactive polymer or shape memory polymer. In a further example, shape change element  130  may be a piezoelectric element with rigidly fixed ends (e.g., similar to the shape change elements of  FIGS. 4-5 ). 
       FIG. 2  is a diagram of illustrative un-activated shape change component  200  in accordance with some embodiments of the present disclosure. Shape change component  200  may include shape change element  202 , leads  206  and  208 , and control leads  216  and  218 . Control leads  216  and  218 , and leads  206  and  208 , may correspond to any suitable control system including, for example, electrodes for electronic signals or waveforms, fiber optics (e.g., ultraviolet activation), electrodes for heating elements (e.g., temperature control), pressure lines (e.g., liquid pressure control, gas pressure control), any other suitable control system or any suitable combinations or superpositions thereof. In some embodiments, shape change component  200  may include only one control lead, although any suitable number of control leads may be used. Shape change element  202  may include preferred direction  204  which may point along any suitable axis or direction. In some embodiments, preferred direction  204  may correspond substantially to a direction of polarization (e.g., axis of dipole alignment in a piezoelectric material). In some embodiments, preferred direction  204  may correspond to an axis of linear movement such as, for example, the motion of a piston-cylinder device or linear actuator. In the illustrative example of  FIG. 2 , shape change component  200  may be cylindrical with axial length “H 1 ” and diameter “D 1 ”. A base control signal “V 0 ” may be applied to shape change component  200 . In some embodiments, “V 0 ” may correspond to the un-activated state, and have a value of zero in suitable units (e.g., zero potential difference between leads  206  and  208 , zero pressure difference between leads  206  and  208 ). In some embodiments, “V 0 ” may correspond to an un-activated state, and have a nonzero value in suitable units (e.g., nonzero potential difference between leads  206  and  208 , nonzero pressure difference between leads  206  and  208 ). For example, in some embodiments, shape change element  200  may be a piezoelectric element, and “V 0 ” may represent a nonzero polarization voltage (e.g., 1000 VDC), which may be applied to maintain polarization of, but not substantially activate, element  202 . In a further example, in some embodiments, shape change component  200  may be a pneumatic piston-cylinder arrangement, and “V 0 ” may represent a gage pressure (e.g., psig) of zero, which may be applied to maintain an un-activated state of element  202 . Base control signal “V 0 ” may be any suitable value, in any suitable units, for maintaining shape change element  202  in a substantially un-activated state. In some embodiments, shape change component  200  may be rigidly affixed to a rigid frame or substrate at one or more points or regions of contact. 
       FIG. 3  is a diagram of illustrative activated shape change component  300  in accordance with some embodiments of the present disclosure. Shape change component  300  may include shape change element  302 , leads  306  and  308 , and control leads  316  and  318 . Leads  306  and  308 , and control leads  316  and  318 , may correspond to any suitable control system. In some embodiments, the activated state of shape change element  302  may correspond to an activated state of un-activated shape change element  202 , as shown by dotted outline  322  corresponding to the dimensions of element  202 . 
     Activation direction  304  may correspond substantially with preferred direction  204  of  FIG. 2 . In the illustrative example of  FIG. 3 , shape change component  300  may be substantially cylindrical with axial length “H 2 ” and diameter “D 2 ”. 
     An activation control signal “V 1 ” may be applied to shape change element  302 . Activation control signal “V 1 ” may activate shape change element  302  to form the illustrative cylindrical shape with axial length “H 2 ” and diameter “D 2 ”. In some embodiments, “V 1 ” may correspond to an activated state, and have a nonzero value in suitable units relative to the un-activated state. In some embodiments, “V 1 ” may correspond to an activated state, and have a fluctuating value in suitable units (e.g., biased AC potential difference between control leads  306  and  308 ). 
     In some embodiments, shape change element  302  may have more than one activated state, which may correspond to one or more types of control signal. For example, a piezoelectric shape change element may be activated in a vibration state by the application of, for example, AC voltage, with suitable amplitude and frequency, to leads  306  and  308 . The piezoelectric shape change element may also be activated in a net-displacement vibration state by the application of, for example, biased AC (e.g., coupled AC and DC) voltage, with suitable amplitude, frequency and DC offset, to leads  306  and  308 . Any suitable control stimuli or signal may be used to activate shape change element  302  in any suitable activation mode. Shape change element  302  may undergo shape change, relative to an un-activated state, in activation direction  304 . Shape change element  302  may undergo shape change, relative to an un-activated state, in directions other than activation direction  304  such as during, for example, isochoric shape changes. In some embodiments, shape change component  300  may be rigidly affixed to a rigid frame or substrate at one or more points or regions of contact. 
       FIG. 4  is a diagram of illustrative un-activated shape change component  400  in accordance with some embodiments of the present disclosure. Shape change component  400  may include shape change element  402 , rigid base  410 , and one or more rigid mounts  412 . Although not shown, shape change component  400  may include one or more control leads positioned in contact with shape change element  402  such as, for example, on surface  420  and the surface opposite to surface  420 . In some embodiments, shape change element  402  may have preferred direction  404 , which may be oriented along any suitable direction. For example, illustrative shape change element  402  may be a piezoelectric bar element, polarized in direction  404 , which may be directed along the length of element  402 . Shape change element  402  may be rigidly fixed at both ends by rigid mounts  412 . Rigid mounts  412  may include mechanical clamps (e.g., wedged components, screw-down clamps, sleeves), adhesive bonds (e.g., glued connections), any other suitable mounting technique or any suitable combination thereof. 
       FIG. 5  is a diagram of illustrative activated shape change element  500  in accordance with some embodiments of the present disclosure. Shape change component  500  may include shape change element  502 , rigid base  510 , and one or more rigid mounts  512 . Although not shown, shape change component  500  may include one or more leads positioned in contact with shape change element  502  such as, for example, on surface  520  and the surface opposite to surface  520 . In some embodiments, the activated state of shape change element  502  may correspond to an activated state of un-activated shape change element  402 , as shown by dotted outline  522  corresponding to the dimensions of element  402 . Activated shape change element  500  may have increased length relative to un-activated state, which may cause bending of element  500  in the activated state due to rigid mounts  512 . 
     Activation direction  504  may be different than preferred direction  404  of  FIG. 4 , as shown in  FIG. 5 . Shape change elements may be constrained in any suitable way to control motion or shape when activated or un-activated. For example, shape change elements may be fixed at a single point, multiple points, or may remain unfixed at all points. In a further example, shape change elements may be constrained by a normal force that does not fix position but restricts movement such as, for example, clamping in one direction while allowing two dimensional translation. Any suitable techniques, components, or arrangements for fixing or constraining shape change elements may be used in accordance with the present disclosure. 
       FIG. 6  is a diagram of illustrative haptic system  600  which may include shape change elements  610 ,  620 ,  630 , and  640 , which may be controlled by control system  650  in accordance with some embodiments of the present disclosure. In some embodiments, shape change elements  610 ,  620 ,  630 , and  640  may form one or more arrays. Although four exemplary shape change elements are shown in  FIG. 6 , control system  650  may control any suitable number of shape change elements, arranged in any suitable number of arrays. The term “array” as used herein shall refer to collections of one or more shape change elements that may be grouped for convenience. For example, an array may include a five by five planar grid of twenty five shape change elements. An array may include collections of elements grouped in any suitable manner, which may be random, patterned, or some combination of random and patterned arrangements. Haptic system  600  may be included in any suitable device or system such as, for example, a personal communications device, a personal media device, a computer, an automatic teller machine (ATM), an industrial process control interface, automated interfaces (e.g., automated airline boarding pass systems, automated movie ticket kiosks), any other suitable device, system or interface which may use haptic response, or any suitable combination thereof. 
     Shape change elements  610 ,  620 ,  630 , and  640  may include piezoelectrics, shape memory alloys, shape memory polymers, electroactive polymers, electromechanical actuators (e.g., rotary motors, linear motors), mechanical actuators, pneumatic actuators, hydraulic actuators, any other suitable actuators, or any suitable combinations thereof. 
     Shape change elements  610 ,  620 ,  630 , and  640  may be coupled to control system  650  by control leads  612  and  614 ,  622  and  624 ,  632  and  634 , and  642  and  644 , respectively. Shape change elements may be controlled by any suitable control approach including DC control, AC control (e.g., sinusoidal voltage, summed sinusoidal voltages), biased AC control (e.g., AC-DC coupling), pulsed DC control (e.g., PWM), any other suitable electronic signal or waveform, optic control (e.g., ultraviolet activation), thermal control (e.g., temperature control), hydraulic control (e.g., liquid pressure control), pneumatic control (e.g., gas pressure control), any other suitable control approach or any suitable combinations or super-positions thereof. 
     Control leads  612 ,  614 ,  622 ,  624 ,  632 ,  634 ,  642  and  644  may correspond to coupling leads for any suitable control system including, for example, wires and electrodes for electronic signals or waveforms, fiber optics for optical control (e.g., ultraviolet activation), wires and electrodes for heating elements (e.g., for temperature control), pressure lines and fittings (e.g., for liquid pressure control, gas pressure control), any other suitable control system or any suitable combinations or super-positions thereof. In some embodiments, shape change elements  610 ,  620 ,  630 , and  640  may each include only one control lead, although any suitable number of control leads may be used by each shape change element. For example, in some embodiments, shape change element  620  may be a piezoelectric element, and control leads  622  and  624  may include wires and electrodes, which contact element  620 . In a further example, in some embodiments, shape change element  630  may be a pneumatic piston-cylinder assembly, control lead  622  may be a gas-filled pressure control tube, and control lead  624  may be a gas vent tube. Any suitable type of control lead may be used to couple one or more shape change elements and one or more control systems. 
     Control system  650  may be used to form, condition, alter, send and receive control signals, sensory signals, response signals, or any other suitable signals or stimuli, or any combinations thereof, of any suitable type. Control system  650  may be used for actuating, sensing, or otherwise interacting with one or more shape change elements. Control system  650  may include and use control components such as, for example, power supply  654 , leads  664 , mechanics  666 , processing equipment  652  which may include AC source  656 , DC source  658 , demodulator  660 , and signal input  662 , and any other suitable component or subsystem, or any suitable combinations of components or subsystems thereof. 
     Processing equipment  652  may include one or more central processing units, microprocessors, collection of processors (e.g., parallel processors), CPU cache, random access memory (RAM), memory hardware, I/O communications interfaces, multiplexer, de-multiplexer, suitable circuitry, any other hardware components, any suitable software, or suitable combinations thereof. In some embodiments processing equipment  652  may be included in a computer, server, processing facility, personal communications device, personal media device, any other suitable processing device or any suitable combinations thereof. Processing equipment  652  may include hardware and software which may perform logic operations, control other components (e.g., control components  654 ,  656 ,  658 ,  660 ,  662 ,  664 ,  666 ), execute software commands, coordinate input and output signals (e.g., scanning multiple channels), any other control task or any combinations thereof. Processing equipment  652  may include modules such as AC source  656 , DC source  658 , demodulator  660 , and signal input  662 , any other suitable module, or any suitable combinations thereof. 
     Control system  650  may include power supply  654 , which may supply, receive, transmit, limit, or otherwise manage power input and output. Power supply  654  may include one or more energy storage devices (e.g., lithium-ion batteries, nickel-metal hydride batteries, super-capacitors), DC power devices (e.g., solar panels, fuel cells), AC power supplies (e.g., 120 VAC residential power) with or without a DC transformers, any other suitable power source, or any suitable combinations thereof. Power supply  654  may include, for example, components such as rectifiers, inverters, fuses, breakers, contactors, capacitors, any other suitable electronics used to manage power distribution among devices. In some embodiments, power supply  654  may supply power for activating or de-activating shape change elements  610 ,  620 ,  630 , and  640 . 
     In some embodiments, shape change elements  610 ,  620 ,  630 , and  640  may supply power, from external stimuli, to power supply  654 , via suitable control leads. For example, in some embodiments, shape change element  640  may be a piezoelectric element activated by control system  650 , and may receive a stimulus such as, for example, a touch from a user. Shape change element  640  may provide electrical power (e.g., from the piezoelectric effect), converted from mechanical work from the user touch, to power supply  654 . Power supply  654  may store, transmit, redirect, or otherwise manage power generated by shape change elements. Any suitable type of “regenerative” haptic control may be used with any suitable type of shape change element. 
     Although discussed above in terms of electric power, power supply  654  may supply, receive, transmit, limit, or otherwise manage power or energy sources and reservoirs of any type such as, for example, pressurized gas (e.g., gas tank), pressurized liquid (e.g., liquid tank), mechanical loadings (e.g., spring energy), thermal reservoirs, gravitational reservoirs (e.g., elevated fluid tanks), or any other type of power or energy source or combinations thereof. 
     In some embodiments, processing equipment  652  may include AC source  656  and DC source  658 . In some embodiments, AC source  656  and DC source  658  may be used to form suitable electronic signals for controlling one or more shape change elements. In some embodiments, AC source  656  and DC source  658  may be coupled to form a biased AC signal. Any suitable combination of AC signals may be outputted by AC source  656  such as, for example, super-positions of sinusoidal voltages of varying amplitude, frequency and phase. The output signal of AC source  656  may be any suitable waveform such as, for example, sinusoidal, sawtooth, square, rectified AC, or any other suitable waveform or combination of waveforms with alternating or periodic character. The output of DC source  658  may be any type of DC signal such as, for example, a constant voltage, a pulsed voltage of constant amplitude (e.g., PWM signal), stepped voltage, any other suitable DC signal or combinations thereof. 
     In some embodiments, piezoelectric shape change elements may be controlled using combined AC-DC signals to facilitate both actuation and sensing. For example, control system  650  may use DC source  658  and AC source  656  to output a superposition of a low frequency AC signal, high frequency AC signal, and DC signal, such that a compound signal is produced, to control one or piezoelectric elements. In some embodiments, control system  650  may use AC source  656  to output periodic signals with frequencies having corresponding time scales substantially smaller than time scales of stimuli. For example, in some embodiments, a user may not be able to resolve interactions having time scales less than order 1 millisecond. Control system  650  may use AC source  656  to output AC signal components that have characteristic time scales (e.g., inverse of frequency) shorter than 1 millisecond such that the AC component of the signal is not detected by the user. Control system  650  may use AC source to output one or more signals, or components of signals, with any suitable frequency or characteristic time scale. 
     In some embodiments, processing equipment  652  may include demodulator  660 . Demodulator  660  may be used to detect changes in signal patterns from one or more shape change elements, which may be caused by one or more stimuli. For example, control system  650  may use AC source  656  to provide a control signal to a first shape change element, which may cause vibration of the shape change element. Vibration of the first shape change element may induce a vibration in, and corresponding signal output from, a second shape change element. Control system  650  may monitor both the supplied control signal to the first element and the received signal from the second element. In the event that a tactile stimulus (e.g., user touch) acts upon the second shape change element, demodulator  660  may detect a change in relative properties between the control signal and the received signal, thereby detecting the stimulus. Any suitable interaction among shape change elements may be detected by control system  650 , using demodulator  660 . 
     In some embodiments, processing equipment  652  may include signal input  662 . Signal input  662  may include signal conditioning hardware, software, or both. Signal input  662  may perform any suitable conditioning process on received signals such as, for example, filtering, amplifying, isolating, combining (e.g., multiplexing and de-multiplexing), extracting, converting (e.g., converting analog to digital, converting frequency to voltage), inverting, counting, any other suitable conditioning process, or any suitable combinations thereof. In some embodiments, processing equipment  652  may couple signal input  662  to power supply  654  (e.g., to store energy from stimuli), demodulator  660  (e.g., to detect stimuli), any other suitable control component, or any suitable combination thereof. In some embodiments, processing equipment  652  may scan across multiple channels of signal input  662  corresponding to multiple shape change elements. 
     In some embodiments, control system  650  may include control leads  664 . Control leads  664  may correspond to leads for any suitable type of control system such as, for example, metal wires and circuitry for electronic systems, conduit or fitting for pneumatic or hydraulic systems, fiber optics for optical systems (e.g., for UV actuated shape memory polymers), any other suitable type of control system, or any suitable combinations thereof. All or some of control leads  664  may be coupled to one or more shape change elements. In some embodiments control leads  664  may be coupled to DC source  658 , AC source  656 , signal input  664 , demodulator  660 , power supply  654 , any other suitable control component, or any suitable combination thereof. Control leads  664  may be flexible, rigid, or include both flexible and rigid components or sections. For example, in some embodiments, a section of a particular control lead in contact with a shape change element may be substantially rigid, while other sections may be flexible. 
     In some embodiments, control system  650  may include mechanisms  666 . Mechanisms  666  may include any type of linkages, pneumatic devices, hydraulic devices, any other suitable mechanism or hardware, or any suitable combinations thereof, which may be used to control one or more shape change elements. For example, in some embodiments, mechanisms  666  may include valves, pressure regulators, pressure transducers, mass flow controllers, flow switches, any other suitable hardware or combination of hardware, which may be used to control pneumatic (e.g., piston-cylinder type) shape change elements. 
       FIG. 7  is a diagram of illustrative elastic sheet  700  in accordance with some embodiments of the present disclosure. Elastic sheet  700  may include elastic material  702 , leads  704 , control leads  710 , any other suitable materials or components or any suitable combinations thereof. The term “elastic sheet” as used herein shall refer to thin flexible material, which may be positioned adjacent to shape change elements arrays, substrates, or any other components or combination of components. 
     Elastic sheet  700  may be contiguous or non-contiguous, and may have any suitable shape or size. In some embodiments, elastic sheet  700  may include holes, cutouts, perforations, or other through features. In some embodiments, elastic sheet  700  may include a collection of multiple elastic sheet portions, which may each contact one or more shape change elements. Elastic sheet  700  may include any suitable materials such as, for example, elastomers (e.g., rubber, thermoplastics), polyurethane, polypropylene, polyethylene, polystyrene, polyester, any other suitable elastic material, or any suitable combinations thereof. 
     In some embodiments, elastic sheet  700  may include one or more layers of elastic material, electronically conductive material, electronically insulating material, any other materials or any suitable combinations of materials and layers thereof. In some arrangements, electronically conductive material may form one or more conductive paths on one or more surfaces of elastic sheet  700 . In some embodiments, the conductive paths may correspond to leads  704 , control leads  710 , or both. Leads  704  may be coupled to one or more shape change elements, and control leads  710  may be coupled to a control system (e.g., control system  650 ). For example, in some embodiments, control leads  704  may be electrodes which may be in contact with one or more piezoelectric elements. Control leads  704  may be coupled to leads  710  to transmit control signals to and from a control system (e.g., control system  650 ). 
     In some embodiments, each shape change element in contact with elastic sheet  700 , may be coupled to one or more of control leads  704 , leads  710 , or both, and which may not contact (e.g., be electrically insulated from) or mixed with (e.g., non-connected pressure lines) other control leads or leads. Any suitable number of leads may be used to control one or more shape change elements, and may arranged in any suitable pattern on a particular elastic sheet. In some embodiments leads  704  and control leads  710  may be rigidly affixed to elastic material  702  by techniques such as, for example, gluing, bonding, clamping, or other affixing technique or combinations of techniques. In some embodiments, a “common” control lead may be used which may be coupled to some or all shape change elements in one or more arrays. Each shape change element may be coupled to a second control lead which may apply a control signal relative to the common control lead. 
     Vectors  750  and  760  shown in  FIG. 7  are directed normal to each other, in the plane of illustrative elastic sheet  700 . Direction “C” (not shown) will be defined as the cross product of vectors  750  and  760  (i.e., vector  750 ×vector  760 ), and is directed normal to both vectors  750  and  760 . In some embodiments, elastic sheet  700  may have spatial dimensions substantially thinner along direction “C” than along either of the directions of vectors  750 ,  760 , or both (e.g., a thin square sheet). In some embodiments, elastic sheet  700  may be suitably stacked in direction “C”, with one or more arrays of shape change elements, to form a tiered haptic system. 
     In some embodiments, portions of elastic sheet  700  may be rigid, or may include rigid components such that portions are rigid. For example, in some embodiments, leads  704  may be substantially rigid, and may impart rigidity to portions of elastic sheet  700  affixed to leads  704 . In some embodiments, components other than leads may impart rigidity to some or all of elastic sheet  700 . 
       FIG. 8  is a schematic diagram of illustrative user device  800  in accordance with some embodiments of the present disclosure. In some embodiments user device  800  may be a computer (e.g., laptop, tablet, desktop), server, processing facility, personal communications device (e.g., smart phone), personal media device (e.g., MP3 player), personal digital assistant, any other suitable user device or any suitable combinations thereof. User device  800  may include processing equipment  802 , power supply  804 , I/O interface  806 , memory  808 , display  810 , user interface  812 , any other suitable components, or any suitable combinations thereof. In some embodiments, processing equipment  802  of user device  800  may include some or all of the control components of control system  600 . Processing equipment  802  may include one or more central processing units, microprocessors, collection of processors (e.g., parallel processors), CPU cache, random access memory (RAM), memory hardware, I/O communications interfaces, suitable circuitry, any other hardware components, any suitable software, or suitable combinations thereof. 
     Power supply  804  may supply, receive, transmit, or otherwise achieve power input and output. Power supply  804  may communicate with, and be controlled by, processing equipment  802 . Power supply  804  may include one or more energy storage devices (e.g., one or more batteries of any suitable type), DC power supplies (e.g., solar panels, fuel cells, supercapacitors), AC power supplies (e.g., 120 VAC residential power) with or without a DC transformer, any other suitable power source, or any suitable combinations thereof. In some embodiments, power supply  804  may supply power user device  800 . In some embodiments, power supply  804  may store, transmit, redirect, or otherwise manage power generated by user device  800 . Regenerative haptic control may be used with any suitable type of shape change element. 
     Input-output (I/O) interface  806  may include any suitable communications interfaces for wired (e.g., local area networks) or wireless (e.g., WiFi, GSM, PCS) communication with networks (e.g., internet, mobile internet, media servers), other user devices (e.g., remote smart phone), remote facilities, any other facility or device, or any suitable combination thereof, which may communicate with user device  800 . 
     Memory  808  may be used for storing or recalling data, applications, or both, and may be coupled to user device  800 . Memory  800  may be a portable hard drive, flash memory drive, MultiMediaCard (MMC), SecureDigital (SD) card, SIM card, compact disk reading and writing device, zip drive, disk drive, any other suitable memory device, or combination thereof. Memory  808  may communicate with processing equipment  802  via a universal serial bus (USB) coupling, MMC coupling, SD coupling, any other suitable communications path or any combination thereof. 
     Display  810  provides a display output, and may be coupled to user device  800 . Display  800  may be a computer monitor, television, video projector, light emitting diode screen (e.g., LED, organic LED), liquid crystal display (LCD) screen, plasma screen, CRT screen, head-mounted display (e.g., video glasses), any other suitable display device or any combination thereof. Display  810  may be, in some embodiments, integral to user device  800  such as, for example, a screen associated with a laptop computer, mobile phone, tablet device, personal media device, or other user device the provides a display. 
     User interface  812  may also allow user inputs, responses, selections, any other user initiated stimuli or combinations thereof to be received by user device  800 . User interface  812  may include haptic systems (e.g., a touchscreen), selectable hard buttons, speakers, a microphone (e.g., for voice commands), mouse, keyboard, any other system used for user interaction, or any combinations thereof. In some embodiments, a portion or all of user interface  866  may integrated with display  810  (e.g., interactive touchscreen). 
       FIG. 9  is a diagram of illustrative portable user device  900  in accordance with some embodiments of the present disclosure. In some embodiments, user device may correspond substantially to illustrative user device  800 , and may include any hardware, software or components of illustrative user device  800 . In some embodiments, user device  900  may be a personal communications device or personal media device. User device  900  may include display  902 , hard commands  904 , soft commands  908 , contoured screen feature  950 , power supply  906  (e.g., power supply  804 ), any other suitable components or any suitable combinations thereof. In some embodiments, display  902  may include haptic systems, a visual display, a cover, any other suitable component or any suitable combinations thereof. 
     In some embodiments, for example, user device  900  may be a smart phone with touchscreen display  902 . Touchscreen display  902  may include one or more soft commands  908  (e.g., touch button commands), which may correspond to particular regions of display  902 . In some embodiments, display  902  displays graphical information conveying that a soft command  908  is available to a user (e.g., an image of a button). In the event that a user provides tactile stimulus to the region of display  902  corresponding to the image of the button, user device  900  may perform one or more functions. For example, user device  900  may provide a soft command that corresponds to a particular media selection (e.g., a podcast in an iTunes® library). User device  900  may play the particular media selection in response to user selection of the soft command button. In some embodiments, soft commands  908  may correspond to contoured features on display  902 , which may arise from activation of one or more shape change elements. For example, one or more piezoelectric elements may be used to form a raised button on display  902 . In the event that a user provides tactile stimulus to the raised button, user device  900  may perform one or more functions. 
     In some embodiments, contoured surfaces may be formed on display  902  using one or more shape change elements. For example, contoured screen feature  950  may be a geographical contour map, in which portions of the display are raised in accordance with corresponding elevation data. In some embodiments, any suitable contour, deformation, topology, or other suitable surface feature, or combination of features, may be formed on display  902  such as, for example, raised buttons, raised arrows, depressions, patterns, or moving features (e.g., cursors). In some embodiments, tactile stimuli to display  902  may be detected by user device  900 . For example, user device  900  may detect that a user has touched a particular surface feature on display  902 , and may execute a particular task associated with the surface feature. 
     In some embodiments, display  902  of illustrative user device  900  or display  810  of illustrative user device  800  may be partitioned in any suitable manner. For example, in some embodiments, display  902  may include one or more dedicated haptic response display regions. The dedicated haptic response display regions may include stacked arrays of shape change elements, elastic sheets, rigid substrate, any other suitable components, or any suitable combinations thereof. For example, in some embodiments, half of the display may include haptic controls while half of the display does not. In some arrangements, user device  900  or user device  800  may include more than one display, which may or may not be adjacent. For example, in some embodiments, user device may include a first display which may include haptic response, and a second display which may not include haptic response. In some arrangements, a screen may be provided on user device  900  or user device  800  which may include haptic response, but may not include a display screen. Any suitable combination of fixed displays and haptic displays may be included in illustrative user device  900  or illustrative user device  800 . 
     Illustrative embodiments of haptic systems in accordance with the present disclosure will be discussed further in the context of illustrative  FIGS. 10-21 .  FIGS. 10-21  show exemplary embodiments of haptic systems. In some embodiments, all functions and options related to haptic controls and systems known in the art may be available to haptic systems. It will also be understood that any suitable components, arrangements, assemblies, positions, or other features illustratively discussed in the context of  FIGS. 10-21  may be combined, omitted, altered, or otherwise rearranged without departing from the scope of the present disclosure. Although not shown, the illustrative haptic systems shown in  FIGS. 10-21  may include any suitable control system. 
     Illustrative embodiments of tiered haptic systems in accordance with the present disclosure will be discussed further in the context of illustrative  FIGS. 10-17 .  FIGS. 10-17  show exemplary tiered haptic systems. In some embodiments, all functions and options related to haptic controls and systems known in the art may be available to tiered haptic systems. Although illustrative  FIGS. 10-17  show isolated tiered haptic systems, it will be understood that the tiered haptic systems may be included in any suitable user device (e.g., user device  900  of  FIG. 9 ) or haptic control system. 
       FIG. 10  shows an illustrative top plan view of tiered haptic system  1000  in accordance with some embodiments of the present disclosure. Shown in  FIG. 11  is illustrative cross-sectional view  1100  of the elements of  FIG. 10 , taken from line XI-XI of  FIG. 10 , in accordance with some embodiments of the present disclosure. In some embodiments, for example, tiered haptic system  1000  may be included as a component or portion of display  902  of  FIG. 9 , or display  810  of  FIG. 8 . Tiered haptic system  1000  may include display screen  1002 , elastic sheets  1110 ,  1112  and  1114 , substrate  1120 , shape change element arrays  1130 ,  1140  and  1150 , any other suitable components or any suitable combinations thereof. Any suitable number of “tiers”, or stacked arrays of shape change elements, may be used in accordance with the present disclosure. In some embodiments, for example, display screen  1002  may be viewed by a user substantially in direction  1102 . 
     In some embodiments, display screen  1002  and adjacent elastic sheet  1110  may form an “elastic screen sheet”. The elastic screen sheet may provide a visual, tactile, or both, interface with which a user may interact. In some embodiments, an elastic screen sheet may include only display screen  1002 . In some embodiments, an elastic screen sheet may include only elastic sheet  1110 . Tiered haptic systems may include any suitable number of elastic screen sheets, in any suitable arrangement, in accordance with the present disclosure. 
     Display screen  1002  may be any suitable type of display screen which may allow haptic interaction. For example, in some embodiments, display screen  1002  may be a flexible organic light emitting diode screen (OLED), a graphene sheet, or any other suitable flexible display screen or any suitable combinations thereof. In some embodiments, display screen  1002  may be substantially inflexible, and may not form contoured screen surfaces. In some embodiments, display screen  1002  may include a protective cover such as, for example, clear plastic (e.g., Lexan®) or any other suitable substantially transparent material. Display screen  1002  may display any combination of graphics, images, video, tables (e.g., iTunes listings), text, contacts (e.g., phone list), any other type of visual information or graphics, or any suitable combination thereof. The display of display screen  1002  may be monochrome (e.g., black and white), color, grayscale, any other suitable color scale or any suitable combination thereof. In some embodiments, display screen  1002  may be segmented or partitioned such that display screen  1002  includes one or more smaller screens, which may allow for further screen contouring. 
     Elements of arrays  1006  and  1004  are shown in  FIG. 10  as dotted outlines. In some embodiments, arrays may be arranged in any suitable pattern. The elements of arrays  1004  and  1006  need not be of substantially similar size or shape. In some embodiments, arrays  1004  and  1006  of  FIG. 10  may correspond to arrays  1140  and  1150  of  FIG. 11 , respectively. 
     In some embodiments, substrate  1120  may provide a substantially rigid base for haptic system  1000 . Substrate  1120  may include any suitable material such as, for example, metal (e.g., steel, magnesium, aluminum), hard plastic, composite materials, any other suitable substantially rigid materials or any combinations thereof. In some embodiments, one or more arrays of shape change elements (e.g., array  1130  of  FIG. 11 ) may be rigidly affixed to substrate  1120 . In some arrangements, substrate  1120  may correspond to a portion of a frame or chassis (e.g., a midplate) of a suitable user device. Substrate  1120  may correspond to any suitable rigid mechanical datum. 
     Illustrative elastic sheets  1110 ,  1112 , and  1114  may be included in tiered haptic system  1000 . Elastic sheets may be used for any suitable purpose including, for example, mounting, affixing, stabilizing, cushioning, deforming (e.g., haptic contouring), providing tension, providing compression, providing surfaces for leads, any other suitable function or any suitable combinations thereof. Tiered haptic system  1000  may include any suitable number of elastic sheets and, in some embodiments, may not include elastic sheets. Elastic sheets  1110 ,  1112 , and  1114  may deform or contour to follow the surfaces or positions of shape change elements in one or more arrays. In some arrangements, only elastic sheet  1110  may be affixed to a shape change element array (e.g., array  1150 ), which may allow elastic sheet  1110  to more closely follow contours of the array. In some embodiments, elastic sheets may be rigidly affixed to shape change elements using, for example, an adhesive or any other bonding material. Elastic sheets  1110 ,  1112 , and  1114  may include thin sheets of any suitable materials such as, for example, elastomers (e.g., rubber, thermoplastics), polyurethane, polypropylene, polyethylene, polystyrene, polyester, any other suitable elastic material, or any suitable combinations thereof. 
     In some embodiments, elastic sheets  1110 ,  1112 , and  1114  may include one or more layers of elastic material, electronically conductive material (e.g., foams, adhesives, metal, graphite), electronically insulating material, any other materials or any suitable combinations of materials and layers thereof. In some arrangements, electronically conductive material may form one or more conductive paths on one or more surfaces of elastic sheets  1110 ,  1112 , and  1114 . In some embodiments, the conductive paths may correspond to control leads. 
     In some arrangements, one or more of elastic sheets  1110 ,  1112 , and  1114  may be contiguous or non-contiguous (e.g., segmented, partitioned). For example, in some embodiments, each shape change element of a particular array may contact an elastic sheet of substantially the same dimensions as the shape change element. In such an arrangement, the segments (e.g., sheets contacting each shape change element) of a particular sheet may or may not contact each other. Non-contiguous elastic sheets may, in some embodiments, allow for increased deformation or contouring of an adjacent array of shape change elements. In some arrangements, one or more of elastic sheets  1110 ,  1112 , and  1114  may include holes, cutouts, perforations, or other through features which may increase flexibility for deformation, provide one or more surfaces for attaching leads, reduce weight, any other suitable purpose or combination thereof. 
     Illustrative shape change element arrays  1130 ,  1140 , and  1150  may be included in tiered haptic system  1000  to provide actuation, sensing, or both. Each of arrays  1130 ,  1140 , and  1150  may include any suitable number of shape change elements. Tiered haptic system  1000  may use any suitable number of “tiers”, or stacked arrays of shape change elements. In some embodiments, arrays may contact one another directly. For example, in some embodiments, the shape change elements of array  1140  may contact the shape change elements of array  1150 , and elastic sheet  1112  may not be included. The shape change elements of a particular array may or may not contact one another in the un-activated or activated state. For example, in some embodiments, there may be a gap or space between adjacent shape change elements in a particular array to allow for displacement in the plane of the array. In some embodiments, space  1160  may exist between one or more shape change elements of an array. Space  1160  may allow for lateral expansion and contraction in the plane of array  1150 . In some embodiments, space  1160  may be substantially vented to the atmosphere, which may maintain atmospheric pressure. In some embodiments, space  1160  may be sealed from the atmosphere. 
     Although shown as being substantially parallel, shape change element arrays  1130 ,  1140 , and  1150  may have any suitable orientation or relative orientation. For example, in some embodiments, a first array may be positioned substantially parallel to a substrate. The elements of a second array may be positioned at a suitable angle relative to the first array. In some embodiments, shape change elements of a particular array may be affixed in an off-centered manner to an elastic sheet or other shape change elements of an adjacent array. Off-centered mounting (e.g., adhering an edge of an element rather than the center) may allow shape change elements to provide lateral displacement (e.g., lateral displacement), motion (e.g., lateral vibration), force (e.g., shear force), or other suitable physical response or any combination thereof, substantially in the plane of the array. 
     Each shape change element of arrays  1130 ,  1140 , and  1150  may be coupled to control leads, which may be coupled to a suitable control system (e.g., control system  650  of  FIG. 6 , processing equipment  802  of  FIG. 8 ). In some embodiments, a suitable control system may be used to actuate one or more shape change elements of one or more arrays. In some embodiments, one or more shape change elements of one or more arrays may be in the activated state at a given time. 
     Shape change elements may activated in any suitable manner including, for example, vibration, net displacement, any other suitable activation mode or any combinations thereof. For example, in some embodiments, one or more shape change elements in or more arrays may be actuated with a vibratory control signal (e.g., AC, biased AC, pulsed DC) at a particular frequency and amplitude. This type of vibratory actuation may, in some embodiments, provide a tactile rumbling or oscillation that may be substantially detected by a user. In a further example, a high frequency vibratory control signal may be supplied to one or more shape change elements of one or more arrays. The high frequency signal may have a characteristic time scale that may not be detectable by a user. High frequency vibratory actuation may not, in some embodiments, provide a tactile rumbling or oscillation that may be substantially detected by a user. In some embodiments, vibrations may be used which may have corresponding frequencies several orders of magnitude higher than frequencies that may be detectable by a user. 
     The shape change elements of arrays  1130 ,  1140  and  1150  may be of the same size or different size. For example, in some embodiments, the shape change elements of array  1130  may be 0.3 mm tall, the shape change elements of array  1140  may be 0.2 mm tall, and the shape change elements of array  1150  may be 0.1 mm tall, as measured in direction  1102 . In some embodiments, all shape change elements may have a particular height such as, for example, 0.1 mm. Any suitable combination of shape change element sizes in each array, or within a particular array, may be used in accordance with the present disclosure. 
     Although not shown in illustrative  FIGS. 10-11 , any suitable additional layers may be included in the disclosed haptic system. For example, in some embodiments, haptic systems may include spacing layers, insulating layers, electronically conducting layers, composite layers, protective layers, shock-absorbing layers, any other suitable layers, or any suitable combinations thereof. The disclosed haptic systems may include any suitable touchscreen technology such as, for example, resistive touchscreen layers, capacitive touchscreen layers (e.g., surface capacitance, mutual capacitance, self capacitance, projected capacitance), infrared touchscreen layers (e.g., with infrared sources and photodetectors), acoustic touchscreen layers, mechanical touchscreen technology, any other suitable touchscreen technology, or any suitable combinations thereof. For example, in some embodiments, a mutual capacitance touchscreen layer may be positioned between, and substantially parallel to, illustrative display screen  1002  and elastic sheet  1110 . Any suitable arrangement may be used in accordance with the disclosed haptic systems. 
     Shown in  FIGS. 12-21  are illustrative partial cross sections of haptic systems. The corresponding top plan views of the partial cross sections of illustrative embodiments shown in  FIGS. 12-21  may be substantially similar to the top view shown in  FIG. 1000 . In some embodiments, a frame may be included, which may partially outline, block, cover or otherwise follow some edges of the display. 
       FIG. 12  shows an illustrative partial cross-sectional view of tiered haptic system  1200  in accordance with some embodiments of the present disclosure. Tiered haptic system  1200  may include screen  1202 , elastic sheets  1204  and  1206 , arrays  1210 ,  1212  and  1214 , any other suitable components or any suitable combinations thereof. In some embodiments, tiered haptic system  1200  may include illustrative arrays  1210 ,  1212 , and  1214  of shape change elements that are substantially of the same size in all arrays. In some arrangements, stacked arrays of shape change elements of substantially the same size may provide increased haptic resolution in actuation, sensing or both. Any suitable combination of shape change elements may be used by tiered haptic system  1200 , including, for example, arrays which all include shape change elements of a particular size or shape, arrays which each include shape change elements of a particular size or shape, arrays which include shape change elements of various sizes or shapes, any other suitable arrangement, or any suitable combination thereof. In some embodiments, stacked arrays of similarly sized elements may provide greater resolution in displacement, force, sensing, any other physical response or combinations thereof, relative to a non-tiered arrangement. 
       FIG. 13  shows an illustrative partial cross-sectional view of tiered haptic system  1300  in accordance with some embodiments of the present disclosure. Tiered haptic system  1200  may include screen  1202 , elastic sheets  1204  and  1206 , arrays  1210 ,  1212  and  1214 , any other suitable components or any suitable combinations thereof. In some embodiments, tiered haptic system  1300  may include illustrative arrays  1310  and  1312  of shape change elements that are substantially of the same size, but may be mounted in different orientations. Any suitable combination of shape change elements, arrays of shape change elements may be included in tiered haptic system  1300 . For example, in some embodiments, array  1310  and  1312  may be switched relative to  FIG. 13  such that array  1312  may be positioned closer to substrate  1308 , and array  1310  may be positioned closer to screen  1302 . 
     Tiered haptic systems (e.g., system  1200  of  FIG. 12 , system  1300  of  FIG. 1300 ) may include shape change elements which may have any suitable preferred direction (e.g., polarization direction for piezoelectric elements). For example, in some embodiments, one or more shape change elements may have a preferred direction substantially along direction  1220  or  1320 . In some embodiments, one or more shape change elements may have a preferred direction other than (e.g., normal to, 45 degrees from) direction  1220  or  1320 . Any suitable preferred direction may be associated with any shape change element or combination of elements. 
       FIG. 14  shows an illustrative partial cross-sectional view of substantially un-activated tiered haptic system  1400  in accordance with some embodiments of the present disclosure.  FIG. 15  shows an illustrative partial cross-sectional view of activated tiered haptic system  1500  in accordance with some embodiments of the present disclosure. In some embodiments, activated tiered haptic system  1500  may correspond to a particular activated state of substantially un-activated tiered haptic system  1400 . Tiered haptic system  1400  may include display screen  1402 , elastic sheets  1404 ,  1408  and  1412 , shape change element arrays  1406 ,  1410  and  1414 , substrate  1416 , frame  1418 , any other suitable component, or any suitable combinations thereof. In some embodiments, display screen  1402 , elastic sheets  1404 ,  1408  and  1412 , shape change element arrays  1406 ,  1410  and  1414 , and substrate  1416  may be positioned substantially parallel to each other as shown in  FIG. 14 . Display screen  1402  may be a flexible OLED, a graphene sheet, or any other suitable flexible display screen or any suitable combinations thereof. In some embodiments, display screen  1402  may include a protective cover of any suitable substantially transparent material. Display screen  1402  may display any combination of graphics, images, video, tables, text, contacts, any other type of visual information or graphics, or any suitable combination thereof. The display of display screen  1402  may be monochrome, color, grayscale, any other suitable color scale or any suitable combination thereof. In some embodiments, display screen  1402  may be segmented or partitioned such that display screen  1402  includes one or more smaller screens. 
     In some embodiments, elastic sheet  1404  may be positioned substantially parallel to, and in contact with, display screen  1402 . Elastic sheet  1404  may be adhered to display screen  1402  in some embodiments. In some embodiments, tiered haptic system  1400  may not include elastic sheet  1404 , and display screen  1402  may substantially contact one or more elements of array  1406 . Elastic sheet  1404  may cushion (e.g., reduce impact to) display  1402  from actuation of one or more elements in arrays  1406 ,  1410 , or  1414 , or any combination thereof. Arrays  1406 ,  1410 , and  1414  may each include any combination of suitable shape change elements such as, for example, piezoelectric elements, electroactive polymer elements, any other suitable shape change elements or any suitable combination thereof. As shown in illustrative  FIG. 14 , each array includes a horizontal row of shape change elements. The arrangement of  FIG. 14  is illustrative, and any suitable collection of shape change elements may be included in an array. 
     In some embodiments, the elements of array  1406  may be rigidly affixed (e.g., bonded, glued), or otherwise positioned adjacent to, to elastic sheet  1404 . In some embodiments, the elements of array  1406  may be in contact with, affixed to (e.g., bonded, glued), or otherwise positioned adjacent to, elastic sheet  1408 . The elements of array  1410  may, for example, be in contact with, affixed to (e.g., bonded, glued), or otherwise positioned adjacent to, the side of elastic sheet  1408  opposite of array  1406 . In some embodiments, elastic sheet  1412  may be positioned adjacent to, and in contact with, array  1410 . The elements of array  1414  may, for example, be in contact with, affixed to (e.g., bonded, glued), or otherwise positioned adjacent to, the side of elastic sheet  1412  opposite of array  1410 . The stack of elastic sheets  1404 ,  1408  and  1412 , and arrays  1406 ,  1410  and  1414  may, in some embodiments, include fewer or more elastic sheets and arrays. For example, in some embodiments, a stack of three arrays may be used. In a further example, in some embodiments, a stack of two arrays and one elastic sheet may be used. Any suitable combination of components may be included in tiered haptic system  1400 . 
     Rigid substrate  1416  may be coupled to one or more elastic sheets, or one or more elements included in one more arrays. In some embodiments, an elastic sheet may be positioned between array  1414  and substrate  1416 . In some embodiments, a non-elastic sheet may be positioned between array  1414  and substrate  1416 . Frame  1418  may be included in tiered haptic system  1400 , in some embodiments. Frame  1418  may impart rigidity, maintain component positions (e.g., prevent disassembly), serve as a mount for control couplings, any other suitable structural function or any suitable combinations thereof. In some embodiments, frame  1418  and substrate  1416  may be portions of chassis or other structural component. In some embodiments, frame  1418  and substrate  1416  may be a single component of suitable shape and size. 
     In some arrangements, electronically conductive material may form one or more conductive paths on one or more surfaces of elastic sheets  1404 ,  1408  and  1412 . In some embodiments, conductive paths may correspond to control leads. Each shape change element of each array may be controlled by a suitable control system (e.g., control system  650  of  FIG. 6 , processing equipment  802  of  FIG. 8 ). In some embodiments, actuation of one or more shape change elements may impart motion, displacement, force, any other suitable physical response or any combination thereof, to another shape change element in the same array or a different array. The control system may monitor sent and received control signals for both the actuated elements and responding elements. The control system may control each shape change element separately, in groups (e.g., arrays), or as a whole (e.g., all elements controlled with a particular signal). 
     Tiered haptic system  1500  may correspond to a particular activated state of tiered haptic system  1400 . Display screen  1502  may correspond substantially to a contoured state of display screen  1402  of  FIG. 14 . Elastic sheet  1504  may correspond substantially to a contoured state of elastic sheet  1404  of  FIG. 14 . In some embodiments, topological features such as, for example, raised button  1550  may be formed on display screen  1402 . Topological features such as raised button  1550  may be formed by activation of one or more shape change elements such as, for example, elements  1552  and  1554 . Element  1552  may correspond to an element in array  1406  of  FIG. 14 , and element  1554  may correspond to an element in array  1410  of  FIG. 14 . In some embodiments, one or more elements of the same array (e.g., array  1406 ) as a particular activated element (e.g., element  1552 ) may not be substantially activated at a concurrent time (e.g., element  1508 ). Illustrative topological feature  1560  may contain multiple raised features, which may be formed by activation of one or more shape change elements such as, for example, elements  1562 ,  1564 ,  1566 , and other elements. In some embodiments, display screen  1502  may be rigidly affixed to an elastic sheet, which may be rigidly affixed to an array of shape change elements. Rigid mounting of display screen  1502  may allow for concave or convex contours to be formed by suitable actuation of shape change elements. In some embodiments, shape change elements may be in a suitable vibratory active state such that display screen  1502  and adjacent elastic sheet  1504  may substantially undergo a constant deformation. For example, in some embodiments, shape change element  1552 , for example, may vibrate at a frequency with a characteristic time scale smaller than the relaxation time of display screen  1502  or elastic sheet  1504 . In some embodiments, elastic sheet  1504  may not be rigidly affixed to one or more elements in the adjacent array. For example, feature  1550  may be formed by vibration of element  1552  at a suitable frequency such that elastic sheet  1504  and display  1502  remain under substantially constant deformation. In a further example, a particular elastic sheet and display screen may have a relaxation time scale corresponding to 1000 Hertz. An element may be driven at a frequency of 50,000 Hertz to form a substantially constant topography of the elastic sheet and display. In some embodiments, an elastic sheet may vibrate substantially with an adjacent shape change element, while a display screen adjacent to the elastic sheet may maintain substantially constant deformation. Any type of suitable control signal may be used to form any type of suitable topography on display screen  1502 . 
       FIG. 16  shows an illustrative partial cross-sectional view of tiered haptic system  1600  receiving stimulus in accordance with some embodiments of the present disclosure. In some embodiments, tiered haptic system  1600  may correspond to a particular activated state of tiered haptic system  1400 . Tiered haptic system  1600  may include display screen  1602 , elastic sheets, arrays of shape change elements, a substrate, a frame, any other suitable components, or any suitable combinations thereof. In some embodiments, one or more shape change elements of one or more arrays may be in an activated state at a given time. For example, in some embodiments, elements  1652 ,  1654  and  1656  may, for example, be in a high frequency (e.g., substantially undetectable to a user) vibratory active state. Elements other than elements  1652 ,  1654  and  1656  may each be un-activated or in any suitable activated state. 
     In some embodiments, tiered haptic system  1600  may receive tactile stimuli on display screen  1602  such as, for example, contact on region  1690  from user motion. For example, in some embodiments, display  1602  may receive tactile stimulus at region  1690  from user finger  1680  moving in axis  1650 ,  1660 , an axis normal to both directions  1650  and  1660 , or any combination of directions. Any suitable user motion may provide tactile stimulus such as, for example, tapping, multiple tapping, pressing, swiping, any other screen contact mode or any suitable combinations thereof. In some embodiments, tiered haptic system  1600  may receive tactile stimuli on multiple regions concurrently (e.g., contact in more than one region). In some embodiments, tactile stimuli received on region  1690  of display screen  1602  may provide physical stimuli to one or more of elements  1652 ,  1654 ,  1656 , any other suitable elements or any suitable combinations thereof. For example, tactile stimuli by user  1680  on region  1690  of display  1602  may provide physical stimuli to one or more of elements  1652 ,  1654  and  1656 , which may be in a high frequency vibratory activated state. A control system coupled to elements  1652 ,  1654  and  1656  may detect the physical stimuli using any suitable processing equipment or combination of processing equipment (e.g., signal input  662  and demodulator  660  of  FIG. 6 ). In some embodiments, one or more elements of one or more arrays may each be in particular activated states, which may or may not cause substantial deformation or contouring of display  1602 . For example, in some embodiments, one or more elements of one or more arrays may each be in particular activated states (e.g., high frequency vibration) and display  1602  may be substantially flat. 
       FIG. 17  shows an illustrative partial cross-sectional view of tiered haptic system  1700  receiving stimulus in accordance with some embodiments of the present disclosure. In some embodiments, activated tiered haptic system  1700  may correspond to a particular activated state of tiered haptic system  1600 , which may include one or more topological features (e.g., raised buttons, depressions). Tiered haptic system  1700  may include contoured display screen  1702 , elastic sheets, arrays of shape change elements, a substrate, a frame, any other suitable components, or any suitable combinations thereof. In some embodiments, one or more shape change elements of one or more arrays may be in an activated state at a given time. For example, in some embodiments, elements  1752 ,  1754  and  1756  may each be in active states including combinations of net displacement (as shown illustratively in  FIG. 17 ) and high frequency vibration. Elements other than elements  1752 ,  1754  and  1756  may each be in un-activated states or in any suitable activated states. 
     In some embodiments, tiered haptic system  1700  may receive tactile stimuli on display screen  1702  such as, for example, contact on region  1790  from user motion. For example, in some embodiments, display  1702  may receive tactile stimulus at region  1790  from user finger  1780  moving in axis  1750 ,  1760 , an axis normal to both directions  1750  and  1760 , or any combination of directions. Any suitable user motion may provide tactile stimulus such as, for example, tapping, multiple tapping, pressing, swiping, any other screen contact mode or any suitable combinations thereof. In some embodiments, tiered haptic system  1700  may receive tactile stimuli on multiple regions concurrently (e.g., contact in more than one region). In some embodiments, tactile stimuli received on region  1790  of display screen  1702  may provide physical stimuli to one or more of elements  1752 ,  1754 ,  1756 , any other suitable elements or any suitable combinations thereof. For example, tactile stimuli by user  1780  on region  1790  of display  1702  may provide physical stimuli to one or more of elements  1752 ,  1754  and  1756 , which may each be in active states including combinations of net displacement and high frequency vibration. A control system coupled to elements  1752 ,  1754  and  1756  may detect the physical stimuli using any suitable processing equipment or combination of processing equipment (e.g., signal input  662  and demodulator  660  of  FIG. 6 ). In some embodiments, one or more elements of one or more arrays may each be in particular activated states, which may form topological features on display  1702 . For example, in some embodiments, one or more elements of one or more arrays may each be in particular activated states and display  1702  may include one more topological features (e.g., raised buttons, contour map, moving raised cursor). 
     In some embodiments, tiered haptic systems may provide analog response to a particular stimuli. For example, in some embodiments, a user (e.g., user  1680 , user  1780 ) may press on a display screen (e.g., display screen  1602 , display screen  1702 ). A control system of a tiered haptic system may determine the amount of pressure, force, displacement, or other physical response associated with the user stimuli. For example, a tiered haptic system may distinguish between relatively light contact and a relatively heavy contact on the screen surface. In some embodiments, a tiered haptic system may perform particular tasks depending on the physical response of the stimuli. 
     In some embodiments, tiered haptic systems (e.g., tiered haptic system  1600  of  FIG. 16 , tiered haptic system  1700  of  FIG. 17 ) may use regenerative power management. For example, tactile stimuli from a user (e.g., user  1780 ) may include applying mechanical work against one or more shape change elements (e.g., element  1752 , element  1754 , element  1756 ). Shape change elements which receive tactile stimuli may convert the applied mechanical work into electrical work (i.e., current and voltage), which may be transmitted by control leads to any suitable power control system. In some embodiments, shape change elements (e.g., elements  1752 ,  1754  and  1756 ) may be piezoelectric elements. Mechanical work may be converted to electrical work via the piezoelectric effect. In some embodiments, regenerative power management may prolong battery life by recovering energy supplied by a user or other tactile stimulus. 
     Illustrative embodiments of embedded haptic systems in accordance with the present disclosure will be discussed further in the context of illustrative  FIGS. 18 and 19 . In some embodiments, all functions and options related to haptic controls and systems known in the art may be available to embedded haptic systems. Although illustrative  FIGS. 18-19  show isolated embedded haptic systems, it will be understood that the embedded haptic systems may be included in any suitable user device (e.g., user device  900  of  FIG. 9 ) or haptic control system. 
       FIG. 18  shows an illustrative partial cross-sectional view of embedded haptic system  1800  in accordance with some embodiments of the present disclosure. Embedded haptic system  1800  may include display screen  1802  (e.g., OLED display screen), elastic sheets  1804  and  1810 , shape change element arrays  1806  and  1808 , substrate  1812 , any other suitable components, or any suitable combinations thereof. Embedded haptic system  1800  may include one or more elastic sheets which may include sunken reliefs, holes (e.g., blind, through, tapered), any other suitable recess or any suitable combination thereof, arranged in any suitable arrangements (e.g., patterned, random). For example, elastic sheet  1804  may include shape change element array  1806  as embedded elements, positioned in blind cutouts of substantially the same size and shape of the elements. Shape change element array  1808  may also be embedded in elastic sheet  1804 , as shown in  FIG. 18 . Any suitable number of arrays of shape change elements may be included in any particular elastic sheet. In some embodiments, for example, a single elastic sheet may include a single array of shape change elements. The recesses of elastic sheet  1804  may be any suitable shape such as, for example, cylindrical, conic, normal prismatic with any suitable base, normal pyramidal with any suitable base, channels, troughs, any other suitable shape, or any suitable combination thereof. In some embodiments, a particular recess may include more than shape change element of the same array. For example, in some embodiments, a channel shaped recess may house multiple shape change elements along the length of the channel. Any suitable arrangement of recess, with any suitable shape or size, may be used by the embedded haptic system. 
     In some embodiments, elastic sheet  1810  may be included in embedded haptic system  1800 . For example, elastic sheet  1810  may include control leads, which may be used to activate one or more shape change elements in one or more arrays, on one or more surfaces adjacent to the shape change elements. Rigid substrate  1812  may be included in embedded haptic system  1800 , in some embodiments. In some embodiments, a rigid frame may be included in embedded haptic system  1800 . 
     In some embodiments, display screen  1802  and adjacent elastic sheet  1804  may form an “elastic screen sheet”. The elastic screen sheet may provide a visual, tactile, or both, interface with which a user may interact. In some embodiments, an elastic screen sheet may include only display screen  1802 . In some embodiments, an elastic screen sheet may include only elastic sheet  1804 . Embedded haptic systems may include any suitable number of elastic screen sheets, in any suitable arrangement, in accordance with the present disclosure. 
     In some embodiments, one or more shape change elements of one or more arrays may be in an activated state at a given time. For example, in some embodiments, elements  1852  and  1854  may, for example, be in a high frequency (e.g., substantially undetectable to a user) vibratory active state. Elements other than elements  1852  and  1854  may each be substantially un-activated or in any suitable activated state. In some embodiments, embedded haptic system  1800  may receive tactile stimuli on display screen  1802  such as, for example, contact from user motion. For example, in some embodiments, display  1802  may receive tactile stimulus such as, for example, tapping, multiple tapping, pressing, swiping, any other screen contact mode or any suitable combinations thereof. In some embodiments, embedded haptic system  1800  may receive tactile stimuli on multiple regions concurrently (e.g., contact in more than one region). In some embodiments, tactile stimuli received at any suitable region on display screen  1802  may provide physical stimuli to one or more of elements  1852 ,  1854 , any other suitable elements or any suitable combinations thereof. For example, tactile stimuli by a user on display  1802  may provide physical stimuli to one or more of elements  1852  and  1854 , which may be in a high frequency vibratory activated state. A control system coupled to elements  1852  and  1854  may detect the physical stimuli using any suitable processing equipment or combination of processing equipment (e.g., signal input  662  and demodulator  660  of  FIG. 6 ). In some embodiments, one or more elements of one or more arrays may each be in particular activated states, which may or may not cause substantial deformation or contouring of display  1802 . For example, in some embodiments, one or more elements of one or more arrays may each be in particular activated states (e.g., high frequency vibration) and display  1802  may be substantially flat. 
       FIG. 19  shows an illustrative partial cross-sectional view of embedded haptic system  1900  in accordance with some embodiments of the present disclosure. In some embodiments, activated tiered haptic system  1900  may correspond to a particular activated state of embedded haptic system  1800 , which may include one or more topological features (e.g., raised buttons, moving raised cursor). Embedded haptic system  1900  may include display screen  1902 , elastic sheets, shape change element arrays, a substrate, any other suitable components, or any suitable combinations thereof. In some embodiments, display screen  1902  may correspond to a contoured state of display screen  1802  of  FIG. 18 . Embedded haptic system  1900  may include one or more elastic sheets which may include sunken reliefs, holes (e.g., blind, through, tapered), any other suitable recess or any suitable combination thereof, arranged in any suitable arrangements (e.g., patterned, random). For example, elastic sheet  1904  may correspond substantially to a deformed or contoured state of elastic sheet  1804 , in which one or more elements of one or more arrays may be in a particular activated state. 
     In some embodiments, topological features such as, for example, raised button  1950  and depression  1960  may be formed on display screen  1902 . Topological features such as raised button  1950  may be formed by activation of one or more shape change elements such as, for example, elements  1952  and  1954 . Element  1954  may correspond to an element in array  1806  of  FIG. 18 , and element  1952  may correspond to an element in array  1808  of  FIG. 18 . In some embodiments, one or more elements of the same array (e.g., array  1806 ) as a particular activated element (e.g., element  1852 ) may not be substantially activated at a concurrent time. Illustrative depressed topological feature  1960  may be formed by activation of one or more shape change elements such as, for example, element  1962 . In some embodiments, depressed features may be formed by actuating one or more shape change elements with a preferred direction substantially parallel to the plane of display screen  1902 . In some embodiments, depressed features may be formed by actuating one or more shape change elements with a preferred direction substantially normal to the plane of display screen  1902 . For example, shape change element  1962  may expand laterally parallel to display screen  1902 , or contract normal to display screen  1902  to form depression  1960 . 
     In some embodiments, embedded haptic system  1900  may receive tactile stimuli on display screen  1902  such as, for example, from a user finger contacting display screen  1902 . Any suitable user motion may provide tactile stimulus such as, for example, tapping, multiple tapping, pressing, swiping, any other screen contact mode or any suitable combinations thereof. In some embodiments, embedded haptic system  1900  may receive tactile stimuli on multiple regions concurrently. In some embodiments, tactile stimuli received on display screen  1902  may provide physical stimuli to one or more shape change elements. For example, tactile stimuli by a user to feature  1950  on display  1902  may provide physical stimuli to one or more of elements  1952  and  1954 , which may each be in active states including combinations of net displacement and high frequency vibration. A control system coupled to elements  1952  and  1954  may detect the physical stimuli using any suitable processing equipment or combination of processing equipment (e.g., signal input  662  and demodulator  660  of  FIG. 6 ). In some embodiments, one or more elements of one or more arrays may each be in particular activated states, which may form topological features on display  1902 . For example, in some embodiments, one or more elements of one or more arrays may each be in particular activated states and display  1902  may include one more topological features (e.g., raised buttons, depressions, contour map, moving raised cursor). 
     Illustrative embodiments of combined tiered-embedded haptic systems in accordance with the present disclosure will be discussed further in the context of illustrative  FIGS. 20 and 21 . In some embodiments, all functions and options related to haptic controls and systems known in the art may be available to tiered-embedded haptic systems. Although illustrative  FIGS. 20-21  show isolated haptic systems, it will be understood that the haptic systems may be included in any suitable user device (e.g., user device  900  of  FIG. 9 ) or haptic control system. 
       FIG. 20  shows an illustrative partial cross-sectional view of tiered-embedded haptic system  2000  in accordance with some embodiments of the present disclosure. Tiered-embedded haptic system  2000  may include flexible display screen  2002  (e.g., OLED display screen), elastic sheets  2004 ,  2008  and  2012 , shape change element arrays  2006 ,  2010  and  2014 , substrate  2016 , frame  2018 , any other suitable component, or any suitable combinations thereof. In some embodiments, display screen  2002 , elastic sheets  2004 ,  2008  and  2012 , shape change element arrays  2006 ,  2010  and  2014 , and substrate  2016  may be positioned substantially parallel to each other as shown in  FIG. 20 . In some embodiments, display screen  2002  may include a protective cover of any suitable substantially transparent material. In some embodiments, display screen  2002  may be segmented or partitioned such that display screen  2002  includes one or more smaller screens. 
     In some embodiments, elastic sheet  2004  may be positioned substantially parallel to, and in contact with, display screen  2002 . In some embodiments, the elements of array  2006  may be embedded in elastic sheet  2004 . Elastic sheet  2004  may be adhered to display screen  2002  in some embodiments. Elastic sheet  2004  may cushion (e.g., reduce impact to) display  2002  from actuation of one or more elements in arrays  2006 ,  2010 , or  2014 , or any combination thereof. Arrays  2006 ,  2010 , and  2014  may each include any combination of suitable shape change elements such as, for example, piezoelectric elements, electroactive polymer elements, any other suitable shape change elements or any suitable combination thereof. The arrangement of  FIG. 20  is illustrative, and any suitable collection of shape change elements may be included in an array. Tiered-embedded haptic system  2000  may include one or more elastic sheets, which may include embedded shape change elements. The stack of elastic sheets  2004 ,  2008  and  2012 , and arrays  2006 ,  2010  and  2014  may, in some embodiments, include fewer or more elastic sheets and arrays. For example, in some embodiments, a stack of three arrays may be used. In a further example, in some embodiments, a stack of two arrays, in which both arrays may be embedded in elastic sheets may be used. Any suitable combination of components may be included in tiered-embedded haptic system  2000 . Elastic sheet  2012  is shown illustratively in  FIG. 20  as being non-contiguous. In accordance with the present disclosure, any elastic sheet may be contiguous, non-contiguous, perforated, or any other suitable arrangement or any suitable combinations thereof. 
     Rigid substrate  2016  may be coupled to one or more elastic sheets, or one or more elements included in one more arrays. In some embodiments, an elastic sheet may be positioned between array  2014  and substrate  2016 . In some embodiments, a non-elastic sheet may be positioned between array  2014  and substrate  2016 . Frame  2018  may be included in tiered-embedded haptic system  2000 , in some embodiments. Frame  2018  may impart rigidity, maintain component positions, serve as a mount for control couplings, any other suitable structural function or any suitable combinations thereof. In some embodiments, frame  2018  and substrate  2016  may be portions of chassis or other structural component. In some embodiments, frame  2018  and substrate  2016  may be a single component of suitable shape and size. 
     In some arrangements, electronically conductive material may form one or more conductive paths on one or more surfaces of elastic sheets  2004 ,  2008  and  2012 . In some embodiments, conductive paths may correspond to control leads. Each shape change element of each array may be controlled by a suitable control system (e.g., control system  650  of  FIG. 6 , processing equipment  802  of  FIG. 8 ). In some embodiments, actuation of one or more shape change elements may impart motion, displacement, force, any other suitable physical response or any combination thereof, to another shape change element in the same array or a different array. The control system may monitor sent and received control signals for both the actuated elements and responding elements. The control system may control each shape change element separately, in groups, or as a whole. 
       FIG. 21  shows an illustrative partial cross-sectional view of tiered-embedded haptic system  2100  in accordance with some embodiments of the present disclosure. In some embodiments, activated tiered-embedded haptic system  2100  may correspond to a particular activated state of tiered-embedded haptic system  2000 , which may include one or more topological features (e.g., raised buttons, depressions, moving raised cursor). Tiered-embedded haptic system  2100  may include display screen  2102 , elastic sheets, shape change element arrays, a substrate, any other suitable components, or any suitable combinations thereof. In some embodiments, display screen  2102  may correspond to a contoured state of display screen  2002  of  FIG. 20 . Tiered-embedded haptic system  2100  may include one or more elastic sheets which may include sunken reliefs, holes (e.g., blind, through, tapered), any other suitable recess or any suitable combination thereof, arranged in any suitable arrangements (e.g., patterned, random). For example, elastic sheet  2104  may correspond substantially to a deformed or contoured state of elastic sheet  2004 , in which one or more elements of one or more arrays may be in a particular activated state. 
     In some embodiments, topological features such as, for example, raised button  2150  and depression  2160  may be formed on display screen  2102 . Topological features such as raised button  2150  may be formed by activation of one or more shape change elements such as, for example, elements  2152  and  2154 . Element  2154  may correspond to an element in array  2010  of  FIG. 20 , and element  2152  may correspond to an element in array  2006  of  FIG. 20 . In some embodiments, one or more elements of the same array as a particular activated element may not be substantially activated at a concurrent time. Illustrative depressed topological feature  2160  may be formed by activation of one or more shape change elements such as, for example, element  2162 . 
     In some embodiments, tiered-embedded haptic system  2100  may receive tactile stimuli on display screen  2102  such as, for example, from a user finger contacting display screen  2102 . Any suitable user motion may provide tactile stimulus such as, for example, tapping, multiple tapping, pressing, swiping, any other screen contact mode or any suitable combinations thereof. In some embodiments, embedded haptic system  2100  may receive tactile stimuli on multiple regions concurrently. In some embodiments, tactile stimuli received on display screen  2102  may provide physical stimuli to one or more shape change elements. For example, tactile stimuli by a user to feature  2150  on display  2102  may provide physical stimuli to one or more of elements  2152  and  2154 , which may each be in active states including combinations of net displacement and high frequency vibration. A control system coupled to elements  2152  and  2154  may detect the physical stimuli using any suitable processing equipment or combination of processing equipment (e.g., signal input  662  and demodulator  660  of  FIG. 6 ). In some embodiments, one or more elements of one or more arrays may each be in particular activated states, which may form topological features on display  2102 . For example, in some embodiments, one or more elements of one or more arrays may each be in particular activated states and display  2102  may include one more topological features (e.g., raised buttons, depressions, moving raised cursor). 
     In some embodiments, haptic systems  1800 - 2100  shown in  FIGS. 18-21 , respectively, may use regenerative power management. For example, tactile stimuli may include applying mechanical work against one or more shape change elements, which may convert the applied mechanical work (e.g., user applying force and displacement to a shape change element) into electrical work (i.e., current and voltage), which may be transmitted by control leads to any suitable power control system. In some embodiments, regenerative power management may prolong battery life by recovering energy supplied by a user or other tactile stimulus. 
     Shown in  FIG. 22  is flow diagram  2200  which includes illustrative steps for providing haptic feedback in accordance with some embodiments of the present disclosure. Step  2202  may include identifying one or more shape change elements, which may be included in one or more arrays. In some embodiments, identifying a shape change element may include, for example, receiving a signal or change in signal from a shape change element (e.g., in response to a tactile stimulus). In some embodiments, identifying a shape change element may be performed by any suitable processing equipment executing software commands. Step  2204  may include determining one or more change parameters associated with one more characteristics (e.g., size, vibration mode) of the identified shape change elements. Change parameters may include activation mode, activation timing, activation scheduling, activation details (e.g., displacement, force, pressure), any other suitable parameters, or any combinations thereof. In some embodiments, for example, determining change parameters may be performed using processing equipment which may execute software commands. Step  2206  may include making changes to one or more characteristics of one or more shape change elements (e.g., activating one or more shape change elements). Step  2206  may be performed using any suitable processing equipment. 
     In some embodiments, a haptic system may detect a stimuli at a particular location on a display screen by receiving a signal or change in signal from one or more shape change elements. The haptic system may identify the one or more shape change elements as having received stimulus. In response to the stimulus, for example, the haptic system may determine that one or more shape change elements should be activated in a particular state (e.g., compound net displacement and vibration). The haptic system may activate one or more of the shape change elements, using suitable processing equipment, in accordance with the determined activation state. 
     In some embodiments, for example, processing equipment may identify one or more shape change elements in one or more arrays based on software commands (e.g., independent of tactile stimulus). The processing equipment may determine one or more activated states of the one or more shape elements based on software commands. The processing equipment may activate the one or more identified shape change elements in accordance with the determined activated states by sending suitable signals over suitable control leads. 
     Any of the steps of flow diagram  2200  may be rearranged, omitted, appended, or otherwise modified without departing from the present disclosure. For example, in some embodiments, steps  2202  and  2204  may be reversed. In some embodiments, processing equipment may determine a particular activated state and then may identify one or more shape change elements of one or more arrays to activate in accordance with the determined activated state. 
     Shown in  FIG. 23  is flow diagram  2300  which includes illustrative steps for altering a displayed graphic in accordance with some embodiments of the present disclosure. Step  2303  may include displaying a graphic on a suitable elastic screen sheet (e.g., displaying a picture on a display screen). Step  2304  may include making changes to one or more characteristics (e.g., vibration mode, shape) of one or more shape change elements. Step  2306  may include adjustment of displayed content. In some embodiments, one or more image processing techniques (e.g., to compensate for a contoured display surface) may be used to adjust the displayed content. 
     In some embodiments, haptic systems may map graphics onto contoured screen features. For example, a particular graphic (e.g., video clip) may be displayed on the display screen of a particular user device (e.g., user device  800  of  FIG. 8 , user device  900  of  FIG. 9 ) as shown by step  2302 . The display screen may then undergo deformation (e.g., contouring), as shown by step  2304 . The user device may use image processing techniques to alter the displayed graphic in response to the screen contouring, as shown by step  2306 . 
     For example, in some embodiments, a contour elevation map with text annotations may be displayed on a display screen of a user device. A user device may contour the display screen, by activating one or more shape change elements, to correspond to the elevation at a particular region on the contour map. The user device may alter the display to compensate for the contoured surface by stretching, compressing, moving, rotating, warping, curving or otherwise altering the displayed graphic (e.g., contour map with text annotations). 
     In a further example, in some embodiments, a raised button may be formed on the screen surface. Graphics displayed near the edges of the raised button may be displayed at an angle relative to a user&#39;s viewing direction. The user device may, in some embodiments, display the graphics in a different location, in an different form, or any other display alteration. Image processing techniques such as, for example, Euclidian transformations (e.g., translation, rotation), image morphing, feature detection, stereoscopy (e.g., 3-D imaging), rendering (e.g., shading, texture mapping), any other suitable image processing techniques or computer graphic techniques, or any suitable combinations thereof may be used by a user device to adapt displayed graphics to contoured features. 
     In some embodiments, a user device may alter the display on or near a surface feature by coloring, mapping, warping, shading, or otherwise distinguishing the region of the display corresponding to the contoured feature. For example, in some embodiments, a display screen may feature a raised button. The user device may display a particular color or pattern, or other graphic on the region of the display corresponding to the particular raised button. In some embodiments, the user device may shade a portion of the surrounding display to further distinguish the raised feature. 
     Any of the steps of flow diagram  2300  may be rearranged, omitted, appended, or otherwise modified without departing from the present disclosure. In some embodiments, a display screen may be contoured without displaying a graphic prior to contouring. For example, in some embodiments, steps  2302  and  2304  may be reversed. A display screen may contoured be activating one or more shape change elements, and a graphic may then be displayed on the contoured display screen. In a further example, step  2302  may be omitted, and only steps  2304  and  2306  may be performed (e.g., a graphic is modified prior to display on a contoured display screen). The disclosed haptic system may apply any suitable image processing techniques or combination of techniques to adapt the displayed graphic to the display screen. 
     It will be understood that various directional and orientational terms such as “horizontal” and “vertical,” “top” and “bottom” and “side,” “length” and “width” and “height” and “thickness,” “inner” and “outer,” “internal” and “external,” and the like are used herein only for convenience, and that no fixed or absolute directional or orientational limitations are intended by the use of these words. For example, the components and elements of this disclosure may have any desired orientation. If reoriented, different directional or orientational terms may need to be used in their description, but that will not alter their fundamental nature as within the scope and spirit of this disclosure. 
     It will also be understood that the previously discussed embodiments and examples are only illustrative of aspects of the disclosed haptic systems, and are not presented for purposes of limitation. It will be understood that various tactile feedback techniques may be made available to the user and examples included herein are solely for convenience. Those skilled in the art will appreciate that the disclosed haptic systems may be practiced by other than the described embodiments, and the disclosure is limited only by the claims that follow.

Metadata:
Filing Date: 20140714
Publication Date: 20180522
Grant Date: 20180522
Priority Date: 20101102
Inventors: MASCHMEYER, RUSSELL
CAMERON, GORDON
Assignee: APPLE INC
CPC Classifications: [{"code": "G06F3/041", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01L41/09", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F2203/014", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F2203/013", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F2203/014", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F2203/013", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F2203/04809", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F3/041", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F2203/014", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F2203/013", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "H10N30/20", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 45996119