PATENT DOCUMENT

Publication Number: US-11569721-B2
Application Number: US-201916426614-A
Country: US
Kind Code: B2

Title: Haptic actuator including permanent magnet within coil passageways when unpowered and related methods

Abstract:
A haptic actuator may include a housing having opposing first and second ends and first and second coils carried by the housing adjacent respective first and second ends thereof. Each coil may have a respective passageway therethrough. The actuator may include a field member including first and second masses adjacent respective first and second ends of the housing, and a permanent magnet having first and second ends coupled to respective ones of the first and second masses. The actuator may also include first and second flexures mounting respective first and second masses to the respective first and second ends of the housing so that the field member is reciprocally movable within the passageways of the coils responsive to powering the coils and so that the ends of the permanent magnet are within respective passageways of the coils when the coils are unpowered.

Claims:
That which is claimed is: 
     
       1. A haptic actuator comprising:
 a housing having opposing first and second ends; 
 first and second coils carried by the housing adjacent respective first and second ends thereof, each having a respective passageway therethrough; 
 a field member comprising first and second masses adjacent respective first and second ends of the housing, and a permanent magnet having enlarged first and second ends coupled to respective ones of the first and second masses; and 
 first and second flexures mounting the respective first and second masses to the respective first and second ends of the housing so that the field member is reciprocally movable within the passageways of the first and second coils responsive to powering the first and second coils; wherein,
 the enlarged first and second ends of the permanent magnet extend within respective passageways of the first and second coils when the first and second coils are unpowered; 
 the enlarged first and second ends of the permanent magnet have a same size cross-section as the first and second masses; and 
 the first and second masses are respectively coupled to the enlarged first and second ends of the permanent magnet at positions that are within the respective passageways of the first and second coils when the first and second coils are unpowered. 
 
 
     
     
       2. The haptic actuator of  claim 1  wherein the couplings of the enlarged first and second ends of the permanent magnet to the respective ones of the first and second masses are aligned within an inner half of the width when the first and second coils are unpowered. 
     
     
       3. The haptic actuator of  claim 1  wherein the couplings of the enlarged first and second ends of the permanent magnet to the respective ones of the first and second masses are aligned within an inner third of the width when the first and second coils are unpowered. 
     
     
       4. The haptic actuator of  claim 1  wherein each of the first and second flexures comprises two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing. 
     
     
       5. The haptic actuator of  claim 1  wherein the first and second masses each comprises non-ferromagnetic material. 
     
     
       6. The haptic actuator of  claim 1  wherein the first and second masses each comprises tungsten. 
     
     
       7. The haptic actuator of  claim 1  wherein the housing comprises ferromagnetic material. 
     
     
       8. An electronic device comprising:
 a device housing; 
 wireless communications circuitry carried by the device housing; 
 a haptic actuator comprising 
 an actuator housing having opposing first and second ends, 
 first and second coils carried by the actuator housing adjacent respective first and second ends thereof, each having a respective passageway therethrough, 
 a field member comprising first and second masses adjacent respective first and second ends of the actuator housing, and a permanent magnet having enlarged first and second ends coupled to respective ones of the first and second masses, and 
 first and second flexures mounting the respective first and second masses to the respective first and second ends of the actuator housing so that the field member is reciprocally movable within the passageways of the first and second coils responsive to powering the first and second coils; wherein,
 the enlarged first and second ends of the permanent magnet extend within respective passageways of the first and second coils when the first and second coils are unpowered; 
 the enlarged first and second ends of the permanent magnet have a same size cross-section as the first and second masses; and 
 the couplings of the enlarged first and second ends of the permanent magnet to the respective ones of the first and second masses are positioned within the passageways when the first and second coils are unpowered; and 
 
 a controller coupled to the wireless communications circuitry and the haptic actuator and configured to perform at least one wireless communications function and selectively operate the haptic actuator, respectively. 
 
     
     
       9. The electronic device of  claim 8  wherein the couplings of the enlarged first and second ends of the permanent magnet to the respective ones of the first and second masses are aligned within an inner half of the width when the first and second coils are unpowered. 
     
     
       10. The electronic device of  claim 8  wherein the couplings of the enlarged first and second ends of the permanent magnet to the respective ones of the first and second masses are aligned within an inner third of the width when the first and second coils are unpowered. 
     
     
       11. The electronic device of  claim 8  wherein each of the first and second flexures comprises two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing. 
     
     
       12. The electronic device of  claim 8  wherein the first and second masses each comprises non-ferromagnetic material. 
     
     
       13. The electronic device of  claim 8  wherein the housing comprises ferromagnetic material. 
     
     
       14. A method of making a haptic actuator comprising:
 mounting first and second coils to a housing adjacent respective first and second ends thereof, each coil having a respective passageway therethrough, and each passageway having an associated width; and 
 using first and second flexures to mount respective first and second masses to the respective first and second ends of the housing, with a permanent magnet having enlarged first and second ends coupled between the first and second masses, so that a field member is reciprocally movable within the passageways of the first and second coils responsive to powering the first and second coils, and so that the couplings of the enlarged first and second ends of the permanent magnet to the respective ones of the first and second masses are positioned within the widths of the respective passageways of the first and second coils when the first and second coils are unpowered, the enlarged first and second ends of the permanent magnet having a same size cross-section as the first and second masses. 
 
     
     
       15. The method of  claim 14  wherein the couplings of the enlarged first and second ends of the permanent magnet to the respective ones of the first and second masses are aligned within an inner half of the width when the first and second coils are unpowered. 
     
     
       16. The method of  claim 14  wherein the couplings of the enlarged first and second ends of the permanent magnet to the respective ones of the first and second masses are aligned within an inner third of the width when the first and second coils are unpowered.

Description:
TECHNICAL FIELD 
     The present disclosure relates to the field of electronics, and, more particularly, to the field of haptics. 
     BACKGROUND 
     Haptic technology is becoming a more popular way of conveying information to a user. Haptic technology, which may simply be referred to as haptics, is a tactile feedback based technology that stimulates a user&#39;s sense of touch by imparting relative amounts of force to the user. 
     A haptic device or haptic actuator is an example of a device that provides the tactile feedback to the user. In particular, the haptic device or actuator may apply relative amounts of force to a user through actuation of a mass that is part of the haptic device. Through various forms of tactile feedback, for example, generated relatively long and short bursts of force or vibrations, information may be conveyed to the user. 
     SUMMARY 
     A haptic actuator may include a housing having opposing first and second ends and first and second coils carried by the housing adjacent respective first and second ends thereof. Each coil may have a respective passageway therethrough. The haptic actuator may include a field member having first and second masses adjacent respective first and second ends of the housing, and a permanent magnet having first and second ends coupled to respective ones of the first and second masses. The haptic actuator may also include first and second flexures mounting respective first and second masses to the respective first and second ends of the housing so that the field member is reciprocally movable within the passageways of the first and second coils responsive to powering the first and second coils and so that the first and second ends of the permanent magnet are within respective passageways of the first and second coils when the first and second coils are unpowered. 
     Each of the respective passageways may have a width associated therewith, and the first and second ends of the permanent magnet may be aligned within an inner half of the width when the first and second coils are unpowered, for example. The first and second ends of the permanent magnet may be aligned within an inner third of the width when the first and second coils are unpowered, for example. 
     The permanent magnet may have a planar shape. The permanent magnet may have a dog bone shape with enlarged first and second ends. 
     Each of the first and second flexures may include two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing, for example. The first and second masses each may include non-ferromagnetic material. The first and second masses may each include tungsten, for example. The housing may include ferromagnetic material, for example. 
     A method aspect is directed to method of making a haptic actuator. The method may include mounting first and second coils to a housing adjacent respective first and second ends thereof. Each coil may have a respective passageway therethrough. The method may further include using first and second flexures to mount respective first and second masses to the respective first and second ends of the housing with a permanent magnet coupled between the first and second masses so that the field member is reciprocally movable within the passageways of the first and second coils responsive to powering the first and second coils and so that the first and second ends of the permanent magnet are within respective passageways of the first and second coils when the first and second coils are unpowered. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a schematic diagram of an electronic device including a haptic actuator in accordance with an embodiment. 
         FIG.  2    is a schematic block diagram of the electronic device of  FIG.  1   . 
         FIG.  3    is a perspective view of a portion of a haptic actuator in accordance with an embodiment. 
         FIG.  4    is a side cross-sectional view of a portion of a haptic actuator in accordance with an embodiment. 
         FIG.  5    is a schematic side view of a portion of a haptic actuator in accordance with an embodiment. 
         FIG.  6    is a graph of actuation non-linearity of a prior art haptic actuator. 
         FIG.  7    is a graph of actuation non-linearity of a haptic actuator in accordance with an embodiment. 
         FIG.  8    is a schematic side view of a portion of a haptic actuator in accordance with another embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout, and prime notation is used to indicate similar elements in alternative embodiments. 
     Referring initially to  FIGS.  1 - 2   , an electronic device  20  illustratively includes a device housing  21  and a controller  22  carried by the device housing. The electronic device  20  is illustratively a mobile wireless communications device, for example, a cellular telephone or smartphone. The electronic device  20  may be another type of electronic device, for example, a wearable device (e.g., a watch), a tablet computer, a laptop computer, a gaming device, etc. 
     Wireless communications circuitry  25  (e.g. cellular, WLAN Bluetooth, etc.) is also carried within the device housing  21  and coupled to the controller  22 . The wireless communications circuitry  25  cooperates with the controller  22  to perform at least one wireless communications function, for example, for voice and/or data. In some embodiments, the electronic device  20  may not include wireless communications circuitry  25 . 
     A display  23  is also carried by the device housing  21  and is coupled to the controller  22 . The display  23  may be, for example, a light emitting diode (LED) display, a liquid crystal display (LCD), or may be another type of display, as will be appreciated by those skilled in the art. The display  23  may be a touch display and may cooperate with the controller  22  to perform a device function in response to operation thereof. For example, a device function may include a powering on or off of the electronic device  20 , initiating communication via the wireless communications circuitry  25 , and/or performing a menu function. 
     The electronic device  20  illustratively includes a haptic actuator  40 . The haptic actuator  40  is coupled to the controller  22  and provides haptic feedback or a haptic effect to the user in the form of relatively long and short vibrations. The vibrations may be indicative of a message received, and the duration and type of the vibration may be indicative of the type of message received. Of course, the vibrations may be indicative of or convey other types of information. 
     While a controller  22  is described, it should be understood that the controller  22  may include one or more of a processor and other circuitry to perform the functions described herein. For example, the controller  22  may include a class-D amplifier to drive the haptic actuator  40  and/or sensors for sensing voltage and current. 
     Referring now additionally to  FIGS.  3 - 5   , the haptic actuator  40  includes an actuator housing  41  having opposing first and second ends  42   a ,  42   b . The actuator housing  41  may include ferromagnetic material, for example. The actuator housing  41  may include other and/or additional materials. 
     The haptic actuator  40  also includes first and second coils  44 ,  45  carried by the actuator housing  41  adjacent respective first and second ends thereof  42   a ,  42   b . Each coil  44 ,  45  has a respective passageway therethrough. In other words, the coils  44 ,  45  may be considered wrap-around coils. The coils  44 ,  45  may be electrically connected at the top of the actuator housing  41 , for example, by way of contact pads  31  carried by a flexible substrate  32  ( FIG.  3   ). Control or drive circuitry  33 , which may be part of the controller  22  may also be carried by the flexible substrate  32 . 
     The haptic actuator  40  also includes a field member  50  that includes first and second masses  51 ,  52 . The masses  51 ,  52  are adjacent respective first and second ends  42   a ,  42   b  of the actuator housing  41 . The masses  51 ,  52  may be non-ferromagnetic material, for example, a relatively heavy material, such as, tungsten. 
     The field member  50  also includes a permanent magnet  55  that has first and second ends  56   a ,  56   b . The first and second ends  56   a ,  56   b  of the permanent magnet  55  are coupled to respective ones of the first and second masses  51 ,  52 . The permanent magnet  55  may have a planar shape, and the permanent magnet and the end coupled first and second masses  51 ,  52  together have a rectangular shape. 
     First and second flexures  60   a ,  60   b  mount respective masses  51 ,  52  to the respective first and second ends  42   a ,  42   b  of the actuator housing  41 . The first and second flexures  60   a ,  60   b  each include two diverging arms  61   a ,  61   b  joined together at proximal ends (e.g., at a bend  63 ). The two diverging arms  61   a ,  61   b  have spaced apart distal ends that are operatively coupled between adjacent portions of the field member  50  and the actuator housing  41 . Stops  62  may be carried by inner portions of the spaced apart distal ends. While a particular arrangement with respect to flexures is described, those skilled in the art will appreciate that other flexure arrangements may be used. 
     The flexures  60   a ,  60   b  are mounted so that the field member  50  is reciprocally movable within the passageways  46 ,  47  of the first and second coils  44 ,  45  and so that the first and second ends  56   a ,  56   b  of the permanent magnet  55  are within respective passageways of the coils when the coils are unpowered. 
     More particularly, the passageways  46 ,  47  in the coils  44 ,  45  each have a width W associated therewith. The widths may be the same as the width of each coil  44 ,  45 . The first and second ends  56   a ,  56   b  of the permanent magnet  55  are aligned within an inner half of the width when the coils  44 ,  45  are unpowered. The inner half of the width corresponds to half the portion of the passageway  46 ,  47  that is closest to the field member  50  or permanent magnet  55 , as opposed to the ends  42   a ,  42   b  of the actuator housing  41 . In some embodiments, the first and second ends  56   a ,  56   b  of the permanent magnet  55  are aligned within an inner third, and more particularly, an inner sixth, of the width when the coils  44 ,  45  are unpowered. 
     The positioning and relative location of the permanent magnet  55  relative to the coils  44 ,  45  may be advantageous for increased efficiency haptic operations and use of space with respect to prior approaches. Moreover, since the coils  44 ,  45  are near the end of field member  50 , each coil additionally functions as a crash stop thereby reducing the chances of the flexure hitting the top or bottom of the actuator housing  41 . 
     With respect to the magnetic fields, the magnetic flux emanates from one side of the permanent magnet  55 , through the coils  44 ,  45 , and returns back to the permanent magnet from the opposite side from which the magnetic flux emanated. The directional magnetic flux lines are illustrated in  FIG.  4    by arrows, and, with respect to  FIG.  4   , an “X” indicates the magnetic field lines being directed “into” the coils  44 ,  45 , while a circle indicates magnetic field lines being directed “out of” the coils. 
     One particular advantage of the haptic actuator  40  described herein is the engine or actuator force/unit volume when the corresponding box or actuator housing  41  has a relatively small dimension in X, Y, or Z-axes. With prior approaches, when the engine or actuator size is reduced in the x-axis direction, such a decrease directly impacts the width of the coil and the travel distance. The relatively small x-axis dimension of the present haptic actuator  40  may be more tolerant as the coils  44 ,  45  do not waste space at or near their curved or rounded portions. The reduction in size is balanced between sizing of the masses  51 ,  52  (e.g., tungsten masses) and the length of the permanent magnet  55  (in the x-axis direction). 
     Additionally, in prior approaches of a haptic actuator, when the size of the haptic actuator is reduced in the y-axis direction, the aspect ratio of the coil makes the haptic actuator or engine far less efficient. With respect to the haptic actuator  40  described herein, a reduction in the y-axis direction can be compensated with adjustments in the x-axis and z-axis dimensions. 
     Still further, a haptic actuator of prior approaches is reduced in size in the z-axis direction, the magnetic flux will typically be significantly reduced, thus affecting the engine or actuation force. With respect to the present haptic actuator  40 , since the permanent magnet  55  is oriented in the x-axis direction, such a decrease may be compensated by other two (i.e., x-axis and y-axis) dimensions. 
     To demonstrate the advantage of salience under a relatively extremely small dimension, a simulation was performed using two haptic actuator architectures: a prior haptic actuator approach and the haptic actuator  40  described herein. The actuator housing  41  had simulated dimensions (X, Y, Z) of 15.5 mm×11.05 mm×4.5 mm, compared a prior haptic actuator having dimensions of 20.1 mm×11.05 mm×4.5 mm. Indeed, the haptic actuator  40  for this simulation is significantly smaller in x-axis dimension. Such reduction in x-axis dimension results in a direct cutback on coil and magnet size, i.e., the active portion for engine or actuation force. For example, when using a typical race-track architecture, the engine force=0.303 N/Watt. Under the same dimensional constraint but with the present haptic actuator  40  architecture, the engine force=0.338 N per Watt. Such engine or actuation force increase from the present haptic actuator  40  enables the possibility of shrinking dimensions of the haptic actuator without sacrificing any or a relatively significant portion of its salience performance. When the field member  50  is at a center position, for example, at equilibrium, the magnetic flux intersects with every portion of the coils  44 ,  45  as opposed to the prior approaches where only a middle straight portion makes contribution to the actuation force. Indeed, based upon the simulations, efficiency improved by &gt;12%. 
     Yet another advantageous aspect of the present haptic actuator  40  over prior approaches, for example, the race-track architecture, is the non-linearity of the haptic actuator. Non-linearity quantifies drop in the actuation force when the magnets move away from the center of the coil during vibration. As a result, under the same power, the salience drops. Besides, such non-linearity adds additional difficulties for closed-loop control, and therefore causes other secondary effects, for example, undesirable acoustics. The graph  70  in  FIG.  6   , illustrates the typical engine non-linearity profile of a race-track based haptic actuator. Illustratively, the actuation or engine force  71  drops quadratically as the force from each coil drops quadratically altogether due to all the coils moving away from the center of mass. 
     Referring to the graph  72  in  FIG.  7   , the present haptic actuator  40  illustrates different engine or actuation force drops, and more particularly, the total force  73 , the left coil force  74 , and right coil force  75  over varying distances from center or equilibrium, and more particularly, along an exemplary range of interest. When the permanent magnet  55  and masses  51 ,  52  (i.e., the field member  50 , shown in  FIGS.  4  and  5   ) move away from their central positions, while the combined engine force still drops quadratically, when looking at the two coils  44 ,  45  separately, the Lorentz forces increase from one coil while the Lorentz forces from the other coil decrease. In other words, with respect to the present haptic actuator  40 , when the coils  44 ,  45  are actuated separately, the non-linearity may be improved to potentially have a relatively constant engine force across the entire travel range. 
     Referring now to  FIG.  8   , in another embodiment, the spacing between adjacent portions of the permanent magnet  55 ′ and the coils  44 ′,  45 ′ within each passageway  46 ′,  47 ′ is reduced. To achieve the reduced spacing between adjacent portions of the permanent magnet  55 ′ and the coils  44 ′,  45 ′ within each passageway  46 ′,  47 ′, instead of a planar shape, the permanent magnet has a dog bone shape with enlarged first and second ends  56   a ′,  56   b ′. The masses  51 ′,  52 ′ (which together with permanent magnet  55 ′ form a field member  50 ′) may each have a thickness to match the enlarged first and second ends  56   a ′,  56   b ′, as shown. Alternatively, and not shown, the masses  51 ′,  52 ′ may not have a same thickness as the enlarged first and second ends  56   a ′,  56   b ′. In some embodiments, to reduce the spacing between adjacent portions of the permanent magnet  55 ′ and the respective coils  44 ′,  45 ′ within each passageway  46 ′,  47 ′, the thickness of the permanent magnet (and thus the masses  51 ′,  52 ′) may be increased. 
     A method aspect is directed to a method of making a haptic actuator  40 . The method may include mounting first and second coils  44 ,  45  to a housing  41  adjacent respective first and second ends  42   a ,  42   b  thereof, wherein each coil has a respective passageway  46 ,  47  therethrough. The method further includes using first and second flexures  60   a ,  60   b  to mount respective first and second masses  51 ,  52  to the respective first and second ends  42   a ,  42   b  of the housing  41  with a permanent magnet  55  coupled between the first and second masses so that the field member  50  is reciprocally movable within the passageways  46 ,  47  of the first and second coils  44 ,  45  responsive to powering the first and second coils and so that the first and second ends  56   a ,  56   b  of the permanent magnet  55  are within respective passageways of the first and second coils when the first and second coils are unpowered. 
     Many modifications and other embodiments of the invention will come to the mind of one skilled in the art having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is understood that the invention is not to be limited to the specific embodiments disclosed, and that modifications and embodiments are intended to be included within the scope of the appended claims.

Metadata:
Filing Date: 20190530
Publication Date: 20230131
Grant Date: 20230131
Priority Date: 20190530
Inventors: SEN, YI-HENG
LEE, ALEX M.
SPELTZ, ALEX J.
Assignee: APPLE INC
CPC Classifications: [{"code": "G08B6/00", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/18", "inventive": true, "first": true, "tree": "[]"}, {"code": "H02K35/02", "inventive": true, "first": false, "tree": "[]"}, {"code": "G08B6/00", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/18", "inventive": true, "first": true, "tree": "[]"}, {"code": "G08B6/00", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K35/02", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/12", "inventive": true, "first": true, "tree": "[]"}]
Family ID: 73550024