PATENT DOCUMENT

Publication Number: US-10481688-B1
Application Number: US-201715709045-A
Country: US
Kind Code: B1

Title: Finger beam for generating haptic feedback

Abstract:
According to some embodiments, a haptic feedback component is configured to generate haptic feedback in accordance with movement of a user. The haptic feedback component includes a frame having a size and shape for receiving an appendage of a user, a flexible beam member coupled to the frame, and a haptic feedback element that is coupled to the flexible beam member, wherein the haptic feedback element actuates in response to receiving an electrical signal so as to cause the flexible beam member to displace from an initial configuration to a modified configuration such as to direct the haptic feedback towards the appendage.

Claims:
What is claimed is: 
     
       1. A haptic feedback component for generating haptic feedback, comprising:
 a frame having a size and shape for receiving an appendage of a user; 
 a flexible beam member coupled to the frame, wherein the flexible beam member has opposing first and second surfaces; and 
 a haptic feedback element that is coupled to the first surface of the flexible beam member, wherein the haptic feedback element actuates in response to receiving an electrical signal so as to cause the flexible beam member to displace from an initial configuration to a modified configuration, thereby applying a force to the appendage using the second surface of the flexible beam member. 
 
     
     
       2. The haptic feedback component of  claim 1 , wherein the size and shape of the frame defines a general displacement range of the flexible beam member. 
     
     
       3. The haptic feedback component of  claim 1 , further comprising:
 an electrode that is configured to transmit the electrical signal to the haptic feedback element. 
 
     
     
       4. The haptic feedback component of  claim 1 , wherein the flexible beam member is coupled to a single edge of the frame, and the flexible beam member pivots via the single edge. 
     
     
       5. The haptic feedback component of  claim 1 , wherein a first end of the flexible beam member is coupled to a first portion of the frame and a second end of the flexible beam member is coupled to an opposing, second portion of the frame such that the flexible beam member is capable of displacing in a generally curvilinear manner. 
     
     
       6. The haptic feedback component of  claim 1 , wherein the displacement of the flexible beam member generates a predetermined amount of compression in the frame. 
     
     
       7. The haptic feedback component of  claim 1 , wherein the haptic feedback element comprises a piezoelectric element, an electroactive substrate, a magnetic assembly, a linear resonance actuator, or a voice coil. 
     
     
       8. The haptic feedback component of  claim 3 , wherein the haptic feedback component is electrically coupled to a controller that is configured to cause the electrode to transmit the electrical signal. 
     
     
       9. The haptic feedback component of  claim 1 , wherein the haptic feedback component includes a plurality of flexible beam members, and each flexible beam member of the plurality of flexible beam members includes a respective haptic feedback element. 
     
     
       10. A wearable haptic device for generating haptic feedback according to movement of an appendage of a user, the wearable haptic device comprising:
 an enclosure that defines an internal cavity having a size and shape to receive the appendage; 
 a controller that is configured to generate a feedback parameter based on the movement of the appendage; 
 an electrode that is configured to generate an electrical signal based on the feedback parameter; and 
 a haptic feedback component carried within the internal cavity, wherein the haptic feedback component has a first portion, a second portion that extends from the first portion, and a haptic element on a first surface of the second portion, wherein haptic element is configured to actuate and move the second portion relative to the first portion from an initial configuration to a modified configuration upon receiving the electrical signal, wherein the haptic feedback component is configured to apply a force against the appendage of the user with a second surface of the second portion that is opposite the first surface, thereby generating the haptic feedback towards the appendage so as to be perceived by the user. 
 
     
     
       11. The wearable haptic device of  claim 10 , further comprising:
 a preload tensioning mechanism configured to cause the enclosure to apply an amount of preload to the haptic feedback component via the appendage. 
 
     
     
       12. The wearable haptic device of  claim 10 , further comprising:
 a wireless antenna configured for receiving a haptic feedback preference from an electronic device that is distinct from the wearable haptic device, wherein the controller is configured to form a modified feedback parameter based on the feedback parameter and the haptic feedback preference. 
 
     
     
       13. The wearable haptic device of  claim 10 , wherein the haptic feedback element comprises a piezoelectric element and wherein the second portion of the haptic feedback component is to a circular flexible frame. 
     
     
       14. The wearable haptic device of  claim 10 , wherein the haptic feedback element comprises a piezoelectric element, an electroactive substrate, a magnetic assembly, a linear resonance actuator, or a voice coil. 
     
     
       15. The wearable haptic device of  claim 10 , further comprising:
 a sensor that is configured to transmit a contact parameter to the controller. 
 
     
     
       16. A method for generating haptic feedback using a haptic feedback device according to movement of an appendage of a user, the method comprising:
 with a controller, receiving a motion parameter from an accelerometer; 
 with the controller, generating a feedback parameter based on the motion parameter; and 
 actuating a haptic feedback element on a first surface of a first portion of a haptic feedback component to move the first portion relative to a second portion of the haptic feedback component from an initial configuration to a modified configuration so as to apply a force against the appendage of the user with an opposing second surface of the first portion, thereby generating the haptic feedback based on the motion parameter and the feedback parameter. 
 
     
     
       17. The method of  claim 16 , wherein the method further comprises:
 receiving a haptic feedback preference; and 
 combining the haptic feedback preference with the motion parameter to generate the feedback parameter. 
 
     
     
       18. The method of  claim 17 , wherein the haptic feedback preference is received via an antenna of the haptic feedback device from an electronic device. 
     
     
       19. The method of  claim 17 , wherein the controller is configured to adjust a ratio between the motion parameter and the haptic feedback preference. 
     
     
       20. The method of  claim 16 , wherein the haptic feedback component comprises a piezoelectric element, an electroactive substrate, a magnetic assembly, a linear resonance actuator, or a voice coil.

Description:
This application claims priority to U.S. provisional patent application No. 62/396,751, filed Sep. 19, 2016, which is hereby incorporated by reference herein in its entirety. 
    
    
     FIELD 
     The described embodiments relate to an electronic haptic device that can be worn by a user or implemented in an electronic device. Specifically, the haptic device can generate haptic feedback in conjunction with detecting user movement. 
     BACKGROUND 
     Portable electronic devices can incorporate a display to provide an immersive multimedia experience. However, despite advancements made to render objects in increasingly more accurate and realistic detail, portable electronic devices are still unable to provide an element of physical interaction with a user. Accordingly, there is a need to enhance the user&#39;s experience by utilizing a haptic feedback device to generate haptic feedback that corresponds to a user&#39;s movements in order to provide an additional level of realism. 
     SUMMARY 
     This paper describes various embodiments related to an electronic haptic device that can be worn by a user or implemented in an electronic device. Specifically, the haptic device can generate haptic feedback in conjunction with the user movement. 
     According to some embodiments, a haptic feedback component for generating haptic feedback can include a frame having a size and shape for receiving an appendage of a user, a flexible beam member coupled to the frame, and a haptic feedback element that is coupled to the flexible beam member, wherein the haptic feedback element actuates in response to receiving an electrical signal so as to cause the flexible beam member to displace from an initial configuration to a modified configuration in order to direct the haptic feedback towards the appendage. 
     According to some embodiments, a wearable haptic device for generating haptic feedback according to movement of an appendage of a user is described. The wearable haptic device includes an enclosure that defines an internal cavity having a size and shape to receive the appendage, a controller that is configured to generate a feedback parameter based on the movement of the appendage, an electrode that is configured to generate an electrical signal based on the feedback parameter, and a haptic feedback component carried within the internal cavity, wherein the haptic feedback component is configured to displace from an initial configuration to a modified configuration upon receiving the electrical signal, thereby generating the haptic feedback towards the appendage so as to be perceived by the user. 
     According to some embodiments, a method for generating haptic feedback at a controller of a haptic feedback device is described. The method includes receiving a motion parameter from a sensor, generating a feedback parameter based on the motion parameter, and actuating a haptic feedback component from an initial configuration to a modified configuration so as to generate the haptic feedback based on the motion parameter. 
     The described embodiments may be better understood by reference to the following description and the accompanying drawings. Additionally, advantages of the described embodiments may be better understood by reference to the following description and accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The disclosure will be readily understood by the following detailed description in conjunction with the accompanying drawings, wherein like reference numerals designate like structural elements, and in which: 
         FIG. 1  illustrates a perspective view of a system for generating haptic feedback, in accordance with some embodiments. 
         FIGS. 2A-2B  illustrates perspective views of a wearable haptic apparatus for generating haptic feedback, in accordance with some embodiments. 
         FIG. 3  illustrates an electronic haptic device for generating haptic feedback, in accordance with some embodiments. 
         FIG. 4  illustrates a computing device for interacting with the electronic haptic device, in accordance with some embodiments. 
         FIGS. 5A-5D  illustrate various views of a haptic feedback component in accordance with some embodiments. 
         FIGS. 6A-6C  illustrate various views of a haptic feedback component and a timing diagram associated with actuating the haptic feedback component from an initial configuration to a modified configuration, in accordance with some embodiments. 
         FIGS. 7A-7E  illustrate various views of a haptic feedback component in accordance with some embodiments. 
         FIGS. 8A-8D  illustrate perspective views and schematic diagrams of a system for using haptic feedback components to generate haptic feedback, in accordance with some embodiments. 
         FIGS. 9A-9G  illustrate various views of several embodiments of a haptic feedback component that can be implemented to perform the techniques described herein. 
         FIGS. 10A-10D  illustrate various views of several embodiments of a haptic feedback component. 
         FIGS. 11A-11D  illustrate various views of several embodiments of a haptic feedback component. 
         FIG. 12  illustrates a block diagram of different components of a system that is configured to implement the various techniques described herein, according to some embodiments. 
         FIG. 13  illustrates a method for generating haptic feedback, in accordance with some embodiments. 
         FIG. 14  illustrates a method for generating haptic feedback, in accordance with some embodiments. 
     
    
    
     Those skilled in the art will appreciate and understand that, according to common practice, various features of the drawings discussed below are not necessarily drawn to scale, and that dimensions of various features and elements of the drawings may be expanded or reduced to more clearly illustrate the embodiments of the present invention described herein. 
     DETAILED DESCRIPTION 
     The following disclosure describes various embodiments of an electronic haptic device that can be worn by a user, and techniques for generating haptic feedback in conjunction with movement of the user. Certain details are set forth in the following description and figures to provide a thorough understanding of various embodiments of the present technology. Moreover, various features, structures, and/or characteristics of the present technology can be combined in other suitable structures and environments. In other instances, well-known structures, materials, operations, and/or systems are not shown or described in detail in the following disclosure to avoid unnecessarily obscuring the description of the various embodiments of the technology. Those of ordinary skill in the art will recognize, however, that the present technology can be practiced without one or more of the details set forth herein, or with other structures, methods, components, and so forth. 
     According to some embodiments, a haptic feedback component for generating haptic feedback can include a frame having a size and shape for receiving an appendage of a user, a flexible beam member coupled to the frame, and a haptic feedback element that is coupled to the flexible beam member, wherein the haptic feedback element actuates in response to receiving an electrical signal so as to cause the flexible beam member to displace from an initial configuration to a modified configuration such as to direct the haptic feedback towards the appendage. 
     The system and methods described herein can be implemented in portable electronic devices, touch sensitive devices, wearable electronic devices, watches, cases for electronic devices, gloves, headsets, wearable apparel, consumer devices, and general electronic devices, such as those manufactured by Apple Inc., based in Cupertino, Calif. 
       FIG. 1  illustrates a perspective view of a system  100  for generating haptic feedback by a wearable haptic apparatus  110 . In some embodiments, the wearable haptic apparatus  110  can refer to gloves or mittens that can be worn around a user&#39;s hand. As described herein, haptic feedback can refer to actuating a haptic feedback element to selectively stimulate the nerves within a user&#39;s body part (e.g., fingers). Haptic feedback can simulate a sensation of touch feedback by applying force, vibrations, pulses, regular or irregular movements, or other motions that can be perceived by the user. 
     In some embodiments, the wearable haptic apparatus  110  can be configured to electronically communicate or interact with an electronic device  150  so that the wearable haptic apparatus  110  can determine the haptic feedback to be generated. In some embodiments, the electronic device  150  can include a display  152  that can be configured to present visual stimuli and audio stimuli to the user. In some embodiments, the user can be configured to interact with the visual stimuli by using the wearable haptic apparatus  110 . For example, as shown in  FIG. 1 , the display  152  presents a virtual reality game that can be played by the user. The display  152  can depict a beach scene that shows an ocean, waves, trees, and sand. A haptic feedback component  120  of the wearable haptic apparatus  110  can be configured to generate haptic feedback that simulates the differences in the different textures, sensations, and perceptions associated with the ocean, waves, trees, and sand. In one example, while the user is watching the display  152  and perceiving that he is running his fingers through sand, the haptic feedback component  120  can be configured to receive instructions from the electronic device  150  that causes the haptic feedback component  120  to provide a continuous sequence of electrical pulses having a repeating waveform that simulates the rough texture of the sand. In another example, while the user is watching the display  152  and perceiving that a light spray of water is hitting his fingers, the haptic feedback component  120  can be configured to receive instructions from the electronic device  150  that causes the haptic feedback component  120  to provide a single electrical pulse to simulate a quick drops of water. In this manner, the wearable haptic apparatus  110  can rely upon instructions generated by the electronic device  150  that determines the haptic feedback to be perceived by the user. However, in other embodiments, the wearable haptic apparatus  110  can self-generate haptic feedback (i.e., without receiving haptic feedback instructions from the electronic device  150 ) while the user interacts in another environment as will be described in greater detail. 
     In some embodiments, the electronic device  150  can be configured to execute a media application (e.g., via an operating system established on the electronic device  150 ). In one example, the media application can be configured to receive a selection of a haptic feedback preference that can be transmitted to the wearable haptic apparatus  110  to be utilized in generating the haptic feedback. Specifically, the media application can be configured to transmit the haptic feedback preference to a controller (not illustrated) of the wearable haptic apparatus  110 , as described in more detail with reference to  FIG. 12 . In other embodiments, an operating system can be established on the wearable haptic apparatus  110  that is configured to execute the media application that is configured to receive a selection of a haptic feedback preference to be used in generating the haptic feedback. 
     In some embodiments, the wearable haptic apparatus  110  can be configured to generate haptic feedback in accordance with a change in a motion parameter that is detected by a sensor (not illustrated) of the wearable haptic apparatus  110  or another sensor external to the wearable haptic apparatus  110 . For example, the external sensor can be a 2-dimensional camera, 3-dimensional camera, or optical system that can be positioned in the same environment (e.g., the same room) as the wearable haptic apparatus  110 . In some examples, the motion parameter can refer to at least one of distance (D 1 ) of the user&#39;s appendage, acceleration (A 1 ) of the user&#39;s appendage, velocity (V 1 ) of the user&#39;s appendage, force (F 1 ) of the user&#39;s appendage, an angle (θ 1 ) of the user&#39;s appendage, change in position (Δ 1-2 ) of the user&#39;s appendage, and rotation (e.g., 6-DOF) of the user&#39;s appendage. In some embodiments where another sensor external to the wearable haptic apparatus  110  is utilized to detect a change in a motion parameter, the wearable haptic apparatus  110  can include an antenna that is configured to communicate with the another sensor for generating the haptic feedback. 
       FIGS. 2A-2B  illustrates various perspective views of a wearable haptic apparatus  200 , in accordance with some embodiments.  FIG. 2A  illustrates an overhead view of the wearable haptic apparatus  200 , while  FIG. 2B  illustrates an underside view of the wearable haptic apparatus  200 . 
     The wearable haptic apparatus  200  includes an enclosure  210  having an internal surface  206  that defines an interior cavity  208 . The interior cavity  208  can be characterized as having a shape and size configured to receive a user&#39;s appendage (e.g., wrist, arm, finger, etc.). Within the interior cavity  208 , one or more haptic feedback components  220   a - e  can be included on the internal surface  206  of the enclosure  210 . As shown in  FIGS. 2A-2B , the wearable haptic apparatus  200  is a glove that includes a number of elongated compartments within the interior cavity  208  that have a shape and size to receive each of the user&#39;s fingers. In some embodiments, each of the haptic feedback components  220   a - e  corresponds to each of the user&#39;s fingertips. 
     In some embodiments, the haptic feedback components  220   a - e  can be electrically connected to one or more electrodes (not illustrated) that are configured to transmit an input voltage to the one or more electrodes as provided by a power supply (not illustrated). In some examples, the electrodes, power supply, and haptic feedback components  220   a - e  can be electrically coupled via wires or lines. In some examples, the haptic feedback components  220   a - e  can be wirelessly actuated. In some embodiments, the haptic feedback components  220   a - e  can be individually actuated to generate haptic feedback. In some examples, two or more of the haptic feedback components  220   a - e  can be concurrently actuated. In other examples, each of the haptic feedback components  220   a - e  can be individually and sequentially actuated over a period of time according to a pre-determined order, regular order, or at random. 
     In some embodiments, the wearable haptic apparatus  200  includes a preload tensioning mechanism  230  that cooperates with the enclosure  210  to cause the internal surface  206  of the enclosure  210  to apply an amount of preload between the user&#39;s appendage (e.g., finger, wrist, arm) and the haptic feedback components  220   a - e . In various embodiments, the preload tensioning mechanism  230  is configured to cause the wearable haptic apparatus  200  to maintain both axial and radial position of the user&#39;s appendages relative to the haptic feedback components  220   a - e  in order to determine accurate displacement of the user&#39;s appendages relative to the haptic feedback components  220   a - e . The preload tensioning mechanism  230  can also increase bearing rigidity, prevent sliding of the user&#39;s appendage relative to the haptic feedback components  220   a - e , and maintain a relative pressure and position of the haptic feedback components  220   a - e  to the user&#39;s appendage. In this manner, the preload tensioning mechanism  230  is able to maintain each of the users appendages within the elongated compartments that carry the haptic feedback components  220   a - e  despite vigorous movement by the user. 
     For example, as shown in  FIGS. 2A-2B , the preload tensioning mechanism  230  can be an elastic strap or stretchable band that can be tightened around the user&#39;s wrist in order to secure a tight and compliant fit between the user&#39;s appendage and the internal surface  206  of the enclosure  210 . In some examples, the elastic strap or stretchable band is generally made from an elastomer (e.g., rubber). In some examples, the preload tensioning mechanism  230  can be configured to circumferentially wrap around the enclosure  210  so as to provide an increased amount of preload tension. 
     In some examples, the preload tensioning mechanism  230  is associated with a hook and loop fastening mechanism, where the preload tensioning mechanism  230  is a strap having a hook portion that is configured to releasably couple to a loop portion included on the enclosure  210 . In other examples, the preload tensioning mechanism  230  is a strap having a loop portion that is configured to releasably couple to a hook portion included on the enclosure  210 . 
     In some examples, the preload tensioning mechanism  230  is associated with a magnetic fastening mechanism, where a first magnetic element is included within an internal cavity of a strap or included externally along a surface of the strap. The first magnetic element of the strap can be configured to releasably couple to a second magnetic element included on the enclosure  210 . In some examples, the first and second magnetic elements can have mating surfaces that each having opposing polarities that enable the first and second magnetic elements to be attracted to one another so as to cause the magnetic strap to be magnetically coupled to the enclosure  210 . 
     In some examples, the preload tensioning mechanism  230  is a strap having a clasp, clip, or a button that is configured to releasably couple to a fastener included on a surface of the enclosure  210 . 
     In some embodiments, the enclosure  210  can be configured to provide an interference fit or a friction fit between the internal surface  206  of the enclosure  210  and the user&#39;s appendage. In conjunction with increasing an amount of compression between the internal surface  206  and the user&#39;s appendage, the amount of the friction fit is increased. In some examples, increased user movement can increase the amount of the friction fit. 
     In some examples, the internal surface  206  can include foam or other compliant material that is configured to generate a sufficient amount of preload between the user&#39;s appendage and the internal surface  206 . 
     In some examples, the preload tensioning mechanism  230  can refer to a pneumatic gas chamber that is configured to generate an air vacuum or suction within the enclosure  210  so as to generate a sufficient amount of preload between the user&#39;s appendage and the internal surface  206 . The pneumatic gas chamber can adjust the amount of air within the enclosure  210  so as to provide varied degrees of fit and comfort for the user&#39;s appendage. 
     In some examples, the wearable haptic apparatus  200  can be manufactured from a breathable material or include ventilation holes to facilitate in regulating airflow between the interior cavity  208  of the wearable haptic apparatus  200  and an external environment. 
     Although shown in  FIGS. 2A-B  as being implemented in a wearable haptic apparatus  200 , the haptic feedback components  220   a - e  can be incorporated onto buttons of a surface of a keyboard, a trackpad of a computing device, or other electronic device or consumer device. 
       FIG. 3  illustrates a block diagram of an electronic haptic device  300 , in accordance with some embodiments.  FIG. 3  illustrates that the electronic haptic device  300  includes a haptic feedback component  350  that can be configured to generate haptic feedback. In some examples, the electronic haptic device  300  refers to the wearable haptic apparatus  200  of  FIGS. 2A-B . As shown in  FIG. 3 , the electronic haptic device  300  includes a controller  310  that is configured for controlling the overall operation of the electronic haptic device  300 . The controller  310  can be configured to receive an electrical signal from a sensor  360  that corresponds to one or more motion parameters that are detected by the sensor  360 . 
     In some examples, the motion parameter can refer to at least one of distance (D 1 ) of the user&#39;s appendage, acceleration (A 1 ) of the user&#39;s appendage, velocity (V 1 ) of the user&#39;s appendage, force (F 1 ) of the user&#39;s appendage, an angle (θ 1 ) of the user&#39;s appendage, change in position (Δ 1-2 ) of the user&#39;s appendage, and rotation (e.g., 6-DOF) of the user&#39;s appendage. In some embodiments, the sensor  360  can be a capacitive sensor, an accelerometer, an optical sensor, a magnetic potentiometer, a gyroscope, a strain gage, a camera, or an optical imaging system. In some examples, the electronic haptic device  300  may not include a sensor  360 . In such an instance, the electronic haptic device  300  can rely upon a wireless antenna  380  to receive the one or more motion parameters from an external sensor. 
     The controller  310  can be configured to generate one or more haptic feedback parameters based on the one or more motion parameters that are detected. The haptic feedback parameter can be transmitted from the controller  310  to a power supply  330 . In some examples, the power supply  330  is optionally included with the electronic haptic device  300 . In other examples, the power supply  330  is external to the electronic haptic device  300 . The haptic feedback parameter can refer to an electrical control signal that indicates at least one of an amount of voltage, amplitude, pulse width, duty cycle, and the like. In conjunction with receiving the haptic feedback parameter, the power supply  330  can generate an input voltage to one or more electrodes  370  that are included with the electronic haptic device  300 . The one or more electrodes  370  are configured to provide an input voltage to the haptic feedback component  350  to cause a haptic feedback element  352  (e.g., piezoelectric element, electroactive substrate, magnetic assembly, voice coil, linear resonance actuator etc.) to be actuated from an initial configuration (i.e., non-actuated) to a modified configuration so as to cause the haptic feedback component  350  to generate haptic feedback. In some examples, the haptic feedback element  352  can be actuated by the one or more electrodes  370  to adjust an amount of strain, compression, or force that is applied to the user&#39;s appendage and, thus detected by the user. 
     In some examples, the controller  310  is able to generate feedback by the haptic feedback component  350 , in response to the sensor  360  detecting that contact has been made, in less than about 500 milliseconds. In some examples, feedback time from detecting contact by the sensor  360  to generating feedback by the haptic feedback component  350  is between about 1 millisecond to about 100 milliseconds. In some examples, the feedback time can refer to a range of milliseconds or microseconds. 
     In some embodiments, the electronic haptic device  300  includes a wireless antenna  380  that can be configured to receive one or more haptic feedback preferences e.g., from the electronic device  150 . In some examples, the feedback preference is selected via the media application of the electronic device  150 . The controller  310  can be configured to receive the haptic feedback preference from the electronic device  150  and subsequently combine the haptic feedback preference with the one or more motion parameters to generate one or more modified haptic feedback parameters. In this manner, the electronic haptic device  300  can be configured to cause the haptic feedback component  350  to generate haptic feedback that is not entirely based on the one or more motion parameters. The electronic haptic device  300  can also include a network/bus interface  302  that couples the wireless antenna  380  to the controller  310 . The controller  310  can be electrically coupled to the power supply  330  via a bus  311 . 
     In some embodiments, the electronic haptic device  300  includes a memory  320  that can be configured to store the one or more motion parameters and/or the one or more haptic feedback preferences. 
     In some embodiments, the haptic feedback element  352  can be comprised of one or more of an electroactive substrate, a magnetic assembly, a voice coil, a linear resonance actuator, or a piezoelectric element. 
     In some embodiments, where the haptic feedback element  352  of the haptic feedback component  350  is an electroactive substrate, the haptic feedback element  352  can be configured to sense the one or more motion parameters as well as generate haptic feedback based on the one or more motion parameters. The electroactive substrate can be configured to detect an amount of mechanical strain or force that is applied against the haptic feedback element  352  by the user&#39;s appendage. Based upon the amount of mechanical strain or force that is applied against the electroactive substrate, the electroactive substrate can in turn be activated to expand and/or contract to induce strain on the haptic feedback component  350 . In some examples, where the haptic feedback component  350  is included within an enclosure  210  of a wearable haptic apparatus  200 , the haptic feedback component  350  can also expand/contrast relative to the enclosure  210  that can be perceived by the user. In some embodiments, the electrodes  370  can be configured to generate an electrostatic force that causes the electroactive substrate to expand or contract. In some examples, the electroactive substrate can be comprised of silicone, acrylates, and/or polyurethane materials. 
     In some embodiments, where the haptic feedback element  352  is comprised of an electroactive substrate, the haptic feedback element  352  can be configured to detect an amount of force or load that is exerted against a surface of the haptic feedback element  352 . For example, the electroactive substrate can be positioned adjacent to a capacitive sensor which can detect deformations in the electroactive substrate. In turn, the capacitive sensor can provide an electrical signal to the controller  310  that is indicative of the deformation. In turn, the controller  310  can actuate the electroactive substrate to expand and or contract to provide haptic feedback. In this manner, the haptic feedback component  350  does not require an external sensor or communication with the electronic device  150  in order to generate haptic feedback. 
     In some embodiments, where the haptic feedback element  352  is a magnetic assembly, the magnetic assembly can include a magnetic coil element and a permanent magnetic element that is coupled to a mass. As current, from the power supply  330 , is driven through the magnetic coil element, a magnetic field can be generated by the magnetic coil element. The magnetic field can cause the mass that is coupled to the permanent magnetic element to displace. Displacement of the mass can produce vibrations that can be perceived by the user. 
     In some embodiments, the haptic feedback element  352  can refer to a linear resonance actuator. In some embodiments, the linear resonance actuator can include a magnetic element, a spring element, a voice coil, and a mass that is coupled to the spring element. The spring element can be configured to maintain the mass under a small amount of tension. The mass can be coupled to the magnetic element, where the magnetic element is situated within the voice coil. The voice coil remains stationary while an electrical current is driven through the voice coil in order to generate a magnetic field. In turn, the magnetic field causes the mass to displace relative to the voice coil. Displacement of the mass can cause the linear resonance actuator structure to displace and produce a vibration that can be perceived by the user. 
     In some embodiments, where the haptic feedback element  352  refers to a linear resonance actuator, the haptic feedback element  352  can be configured to generate a plurality of different frequencies that correspond to the changes in capacitance that are detected by the sensor  360 . In some embodiments, the magnetic field that is generated by the magnetic coil element can affect at least one of a position, velocity, acceleration, momentum, or frequency of the displacement of the mass. In some embodiments, the power supply  330  can be configured to adjust the amount or type of electrical current (e.g., polarity, strength, amplitude, frequency) that can affect the magnetic field generated by the magnetic coil element. 
     In some embodiments, the haptic feedback element  352  refers to one or more piezoelectric discs. The piezoelectric discs can be arranged in a stacked configuration, where each piezoelectric disc is characterized as having a range in size, e.g., between about 0.5 millimeters to about 1 millimeters. By stacking the piezoelectric discs in a stacked configuration, the displacement of a mass that is coupled to the piezoelectric discs can be amplified. In this manner, the stack requires less input voltage in order to generate an electric field. In some examples, each piezoelectric disc can be configured to displace between e.g., a minimum range of about 10 micrometers to a maximum range of about 1 millimeter. In some examples, the piezoelectric discs can be coupled to a force concentrator that is configured to concentrate the amount of force generated by displacement of the piezoelectric discs towards the mass. In some embodiments, the piezoelectric discs are configured to contract in an axial or linear direction (e.g., up/down) based upon a polarity of the input voltage. For example, a positive voltage that is applied to the piezoelectric disc causes the piezoelectric disc to displace in a first direction (e.g., up), while a negative voltage that is applied to the piezoelectric discs can cause the piezoelectric discs to displace in a second direction (e.g., down) that is opposite the first direction. Displacement of the piezoelectric discs can cause the piezoelectric discs to push against a spring that is coupled to a mass that results in an increased amount of displacement of the mass. Displacement of the piezoelectric discs in a specified direction can cause the spring to oscillate in a corresponding direction. In some examples, the piezoelectric discs or elements can be referred to as unimorph actuators or bimorph actuators. 
     In some embodiments, the power supply  330  can apply a single electrical pulse to the electrodes  370  to simulate a click. In some embodiments, the power supply  330  can apply continuous and repeating electrical pulses (e.g., AC, DC) to cause the electrodes  370  to pulse in a manner to simulate creating textures. 
       FIG. 4  illustrates a block diagram of an electronic device  400  that can be used to implement the various components described herein, according to some embodiments. In particular, the detailed view illustrates various components that can be included in the electronic device  150  illustrated in  FIG. 1 . As shown in  FIG. 4 , the electronic device  400  can include a processor  410  for controlling the overall operation of the electronic device  400 . The electronic device  400  includes a display  430 . The display  430  can take a variety of forms, including a touch screen panel. The display  430  can be controlled by the processor  410  to display information or visual stimuli to the user. The electronic device  400  can also include a network/bus interface  411  that couples a wireless antenna  470  to the processor  410 . 
     The electronic device  400  also includes a storage device  450 , which can comprise a single disk or multiple disks (e.g., hard drives), and includes a storage management module that manages one or more partitions within the storage device  450 . A data bus  402  can facilitate data transfer between at least a storage device  450  and the processor  410 . In some embodiments, the storage device  450  can include flash memory, semiconductor (solid state) memory or the like. The electronic device  400  can also include a Random Access Memory (RAM) and a Read-Only Memory (ROM). The ROM can store programs, utilities or processes to be executed in a non-volatile manner. The RAM can provide volatile data storage, and stores instructions related to the operation of the electronic device  400 . 
       FIGS. 5A-5D  illustrate various views of a haptic feedback component  500  in accordance with some embodiments. In some examples, the haptic feedback component  500  can be characterized as having a cantilever mechanism.  FIG. 5A  illustrates a top view of the haptic feedback component  500 . The haptic feedback component  500  includes a frame  510  having a flexible beam member  530  that is coupled to an edge surface  506  of the haptic feedback component  500 . A portion of the flexible beam member  530  can be isolated from the frame  510  via a cavity  508 . In this manner, the flexible beam member  530  is configured to flex relative to the frame  510  in a substantially curvilinear manner, while using the edge surface  506  as a pivot for the bending of the flexible beam member  530 . In some examples, the flexible beam member  530  is contoured to have a shape and size that is configured to receive the user&#39;s appendage. In some examples, the shape of the flexible beam member  530  can be generally planar, rounded, indented, or protruded. In some embodiments, the flexible beam member  530  can be configured to amplify the displacement of the haptic feedback element  520  when the haptic feedback element  520  is actuated. In some embodiments, the frame  510  can define a displacement range (D r ) that dictates the maximum range by which the flexible beam member  530  can flex relative to the frame  510  via the pivot at the edge surface  506 , as shown in  FIGS. 5C-5D . In some examples, the displacement range (D r ) is about e.g., 30 micrometers. 
     In some embodiments, the haptic feedback component  500  includes a haptic feedback element  520  that is coupled to the flexible beam member  530 . For example, the haptic feedback element  520  can be coupled to a lower surface or an upper surface of the flexible beam member  530 . The electrodes  370  can deliver an input voltage to the haptic feedback element  520  to cause the haptic feedback element  520  to actuate. In turn, actuation of the haptic feedback element  520  can cause the flexible beam member  530  to displace, as shown in  FIGS. 5C-5D . 
     In some examples, the frame  510  of the haptic feedback component has a thickness between about e.g., 0.35 mm-0.5 mm. In some examples, the frame  510  and the flexible beam member  530  can be machined from a single slab of metal or metal alloy. 
     As shown in  FIG. 5B , in some examples, the haptic feedback element  520  can be coupled or laminated to the flexible beam member  530 . When the haptic feedback element  520  is actuated, the haptic feedback element  520  can contract so as to cause the flexible beam member  530  to displace in a number of different directions, as described in more detail with reference to  FIGS. 5C-5D . 
       FIGS. 5C-5D  illustrate side views of the haptic feedback component  500 , in accordance with some embodiments. As shown in  FIG. 5C , the electrodes  370  can deliver a negative voltage to the haptic feedback element  520 , which actuates (e.g., contracts) the haptic feedback element  520  such that the flexible beam member  530  displaces in a substantially upwards manner from the frame  510 . The deflection of the flexible beam member  530  can be perceived by the user&#39;s appendage (U). 
     Contrarily, as shown in  FIG. 5D , the electrodes  370  can deliver a positive voltage to the haptic feedback element  520 , which causes the haptic feedback element  520  actuate in a substantially axial direction, thus causing the flexible beam member  530  to displace in a substantially downwards manner from the frame  510 . The deflection of the flexible beam member  530  can be perceived by the user&#39;s appendage (U). 
     As a result,  FIGS. 5C-5D  show that depending upon the polarity of the input voltage that is provided to the haptic feedback element  520 , the user can perceive varying degrees of haptic feedback. Moreover, in some embodiments, the actuation of the haptic feedback element  520  can be correlated with the strength (e.g., amplitude) of the input voltage that is provided by the power supply  330 . Since the frame  510  can establish a fixed displacement range or boundary for the flexible beam member  530 , the displacement of the flexible beam member  530  can also induce an amount of stiffness, compression, or mechanical strain on the frame  510  that can be perceived by the user&#39;s appendage (U). 
     In some examples, actuation of the haptic feedback element  520  causes the haptic feedback element  520  to contract which induces strain on the flexible beam member  530  that can be perceived by the user&#39;s appendage (U). In some examples, the more areas of the user&#39;s appendage (U) that are in contract with the flexible beam member  530  (i.e., larger contact surface area) can increase the shearing effect that is generated. Contrarily, the smaller the surface area of the flexible beam member  530  that is in contact with the user&#39;s appendage (U), the smaller the shearing effect that is generated. Shearing effect can also refer to shearing strain, which refers to deformation of a material of the flexible beam member  530  as it slides parallel to the user&#39;s appendage (U). 
     In some examples, by displacing the flexible beam member  530  towards the user&#39;s appendage (as shown in  FIG. 5C ), the haptic feedback component  500  can cause a greater surface area of the flexible beam member  530  to come into contact with the user&#39;s appendage (U). In some examples, actuation of the flexible beam member  530  can cause the flexible beam member  530  to conform around the shape and size of the user&#39;s appendage (U). As a result, by increasing the contact area, the user can perceive a greater amount of compliance. In some examples, a greater amount of compliance can correspond to the perception of touching a soft, plush material. In contrast, displacing the flexible beam member  530  away from the user&#39;s appendage (as shown in  FIG. 5D ), the haptic feedback component  500  can cause less of the flexible beam member  530  to contact the user&#39;s appendage. By decreasing the surface area contact, the user can perceive a greater amount of stiffness. In some examples, a greater amount of stiffness can correspond to touching a hard, immobile object. In this manner, displacing the flexible beam member  530  towards or away from the user&#39;s appendage (U) can cause varied perceptions of stiffness or pliability. 
     In some examples, the haptic feedback component  500  can be made of material that can be configured to deform, expand, or contract as measured by Young&#39;s modulus. In some examples, the materials that form the frame  510  and the flexible beam member  530  can be made from a variety of metal and metal alloys. In some examples, the metals utilized can include steel, steel wire, aluminum, titanium, or glass. 
     In some examples, where the haptic feedback component  500  includes a haptic feedback element  520  (e.g., piezoelectric element, electroactive substrate, linear resonance actuator, magnetic element, voice coil), the haptic feedback component can be configured to generate a blocking force of e.g., 10 N, and a limited displacement of e.g., 1 micrometer. In contrast, laminating the flexible beam member  530  to the haptic feedback element  520  can generate a blocking force of e.g., 1 N, and a displacement of e.g., 30 micrometers. Thus, where the haptic feedback component  500  simply comprises a haptic feedback element  520  (i.e., no blocking element such as a frame  510  or flexible beam member  530 ), then the haptic feedback component  500  does not generate as much displacement as a haptic feedback component  500  that includes a flexible beam member  530 . 
     In some embodiments, the haptic feedback component  500  can be characterized as being ungrounded. In other words, no load path is provided to a rigid mount of the frame  510  that provides feedback force. 
     Additionally, the flexible beam member  530  can start out in an upwards configuration (i.e., the flexible beam member  530  extends above the frame  510 ) in conjunction with a non-actuated configuration, and when the haptic feedback element  520  is actuated, the flexible beam member  530  can be configured to displace in a substantially downwards direction. Alternatively, the flexible beam member  530  can start out in a downwards configuration (i.e., the flexible beam member  530  extends below the frame  510 ) in conjunction with the non-actuated configuration, and be configured to displace in a substantially upwards direction when the haptic feedback element  520  is actuated. 
       FIGS. 6A-6C  illustrate various views of a haptic feedback component  600  and timing diagram associated with a haptic feedback component  600  being actuated from an initial configuration to a modified configuration, in accordance with some embodiments.  FIG. 6A  illustrates a haptic feedback component  600  in an initial configuration, while  FIG. 6B  illustrates the haptic feedback component  600  in a modified configuration. In conjunction with actuating the haptic feedback component  600  to the modified configuration, the controller  310  can be configured to cause electrodes  370  to transmit a single electrical pulse to the haptic feedback element  620  (as shown in  FIG. 6C ). Firing a single electrical pulse can cause the haptic feedback element  620  to displace the flexible beam member  630  in a single instance. In some examples, a sensor  360  can be configured to detect the motion parameter of the user&#39;s appendage (U) pushing down on the haptic feedback component  600 , in the air (in contrast to on a hard surface). In other words, the sensor  360  can detect the mechanical strain exerted by the user&#39;s appendage (U) against the surface of the flexible beam member  630 . Thereafter, the controller  310  can cause the flexible beam member  630  to react by actuating the haptic feedback element  620 .  FIG. 6C  shows that a large amount of voltage to be pulsed in a short period of time so that the user perceives a large click instead of a more drawn-out vibration of repeating pulses that have lower magnitude. In some examples, the waveform generated to simulate an air click can be characterized as having a Gaussian wave instead of a sinusoidal wave. 
     In some embodiments, the shape of the waveform can be adjusted by a waveform generator or a pulse width modulation unit of the wearable haptic apparatus  200 . By adjusting the shape of the waveform, the haptic feedback component  600  can be configured to generate different types of haptic feedback. 
       FIGS. 7A-7E  illustrate various views of a haptic feedback component  700  in accordance with some embodiments.  FIG. 7A  illustrates a top view of the haptic feedback component  700 . The haptic feedback component  700  includes a frame  710  and a flexible beam member  730  that is coupled a first portion  702  and a second portion  704  of the frame  710 . In some examples, the haptic feedback component  700  can be characterized as having a dual fixed beam; otherwise, referred to as a flexible beam member  730  that is coupled to both ends of the frame  710 . A portion of the flexible beam member  730  can be isolated from the frame  710  via cavities  708 . In this manner, the flexible beam member  730  is configured to flex relative to the frame  710  in a substantially curvilinear manner. In some examples, the flexible beam member  730  is contoured to have a shape and size that is configured to receive the user&#39;s appendage. In some embodiments, the flexible beam member  730  can be configured to amplify the displacement effects of the haptic feedback element  720  when the haptic feedback element  720  is actuated. In some embodiments, the frame  710  can define a displacement range (D r ) that dictates the maximum range by which the flexible beam member  730  can flex relative to the frame  710  as shown in  FIGS. 7D-7E . In some examples, the displacement range (D r ) is about e.g., 30 micrometers. 
     In some embodiments, the haptic feedback component  700  includes a haptic feedback element  720  that is positioned on a lower surface or an upper surface of the flexible beam member  730 . The electrodes  370  can deliver an input voltage to the haptic feedback element  720 . 
       FIG. 7B  illustrates a side view of the haptic feedback component  700 . In some examples, the haptic feedback element  720  can be coupled or laminated to the flexible beam member  730 . When the haptic feedback element  720  is actuated, the haptic feedback element  720  can contract/expand so as to cause the flexible beam member  730  to displace, as described in more detail with reference to  FIGS. 7C-7E . 
       FIGS. 7C-7E  illustrate perspective views of the haptic feedback component  700  in non-actuated and actuated configurations, in accordance with some embodiments.  FIG. 7C  shows the haptic feedback component  700  in a non-actuated configuration. As shown in  FIG. 7C , the flexible beam member  730  can be characterized as being substantially planar relative to the frame  710 . The non-actuated configuration can refer to where the haptic feedback element  720  is not currently receiving an input voltage from the electrodes  370 . 
       FIGS. 7D-7E  show the haptic feedback component  700  in an actuated configuration. As shown in  FIG. 7D , the electrodes  370  can deliver a negative voltage to the haptic feedback element  720 , which causes the haptic feedback element  720  to actuate in a substantially axial direction (e.g., contract or expand), so that the haptic feedback element  720  causes the flexible beam member  730  to displace in a substantially upwards manner from the frame  710 . The deflection of the flexible beam member  730  can be perceived by the user&#39;s appendage. 
     Contrarily, as shown in  FIG. 7E , the electrodes  370  can deliver a positive voltage to the haptic feedback element  720 , which causes the haptic feedback element  720  to actuate in a substantially axial direction (e.g., contract or expand), whereupon the haptic feedback element  720  causes the flexible beam member  730  to displace in a substantially downwards manner from the frame  710 . The deflection of the flexible beam member  730  can be perceived by the user&#39;s appendage. Since the frame  710  can establish a fixed displacement range or boundary for the flexible beam member  730 , the displacement of the flexible beam member  730  can also induce an amount of stiffness, compression, or mechanical strain on the frame  710  that can be perceived by the user. 
     In some examples, by displacing the flexible beam member  730  towards the user&#39;s appendage (as shown in  FIG. 7D ), the haptic feedback component  700  can cause a reduced amount of surface area of the flexible beam member  730  to be in contact with the user&#39;s appendage. By decreasing the surface area contact, the user can perceive a greater amount of stiffness. In some examples, a greater amount of stiffness can correspond to touching a hard, immovable object. Contrarily, by displacing the flexible beam member  730  away from the user&#39;s appendage (as shown in  FIG. 7E ), the haptic feedback component  700  can cause an increased amount of surface area of the flexible beam member  730  to be in contact with the user&#39;s appendage. As a result, by increasing the contact area, the user can perceive a greater amount of compliance. In some examples, a greater amount of compliance can correspond to touching a pliable material. 
     In some examples, the frame  710  of the haptic feedback component has a thickness between about e.g., 0.35 mm-0.5 mm. In some examples, the frame  710  and the flexible beam member  730  can be machined from a single slab of metal or metal alloy. 
     In some embodiments, the haptic feedback component  700  can be characterized as being ungrounded. In other words, no load path is provided to a rigid mount that provides feedback force. 
       FIGS. 8A-8D  illustrate perspective views and schematic diagrams of a system  800  for using a plurality of haptic feedback components  810   a - e  to generate haptic feedback. As shown in  FIG. 8A , each haptic feedback components  810   a - e  can be coupled to the user&#39;s appendage, such as in the form of the wearable haptic apparatus  110 .  FIG. 8A  illustrates the haptic feedback components  810   a - e  during a time  1  (T 1 ) where the user&#39;s hand and appendages are in a static (i.e., non-moving) state. In this manner, because the sensors  360  do not detect a motion parameter, the controller  310  does not generate a haptic feedback parameter to cause haptic feedback to be generated by the haptic feedback components  810   a - e . However, it should be noted that even where the sensors  360  do not detect a motion parameter, if the haptic feedback components  810   a - e  are comprised of an electroactive substrate, the electroactive substrate can still detect an amount of mechanical strain or load that is exerted by the user&#39;s appendage against the haptic feedback components  810   a - e . For example, the user&#39;s appendage can exert subtle vibrations against the surface of the haptic feedback components  810   a - e  that may be too small to be detected by sensors  360 . Accordingly, use of the electroactive substrate can still cause some slight amount of haptic feedback to be generated, even where the wearable haptic apparatus  110  is in a static state. 
       FIG. 8B  illustrates the haptic feedback components  810   a - e  during a time  2  (T 2 ) where the user&#39;s hand and appendages are in a moving state, such as during a swiping or gesture motion. In some embodiments, one or more sensors  360  can be configured to detect the motion, whereupon the one or more sensors  360  can generate a motion parameter that is transmitted to the controller  310 . For example,  FIG. 8B  illustrates that the haptic feedback components  810   b ,  810   c ,  810   d  have been moved relative to the haptic feedback components  810   a ,  810   e , such that at least one motion parameter, including distance, acceleration, velocity, force, angle, change in position, and rotation have been affected as a result of the moving state of the user&#39;s appendages. 
     In some embodiments, the controller  310  can be configured to cause the haptic feedback components  810   a - e  to generate haptic feedback that corresponds to the one or more motion parameters detected. In some examples, the controller  310  can receive one or more haptic feedback preferences that are executed by a media application of the electronic device  150 . Accordingly, the controller  310  can be configured to generate different types of haptic feedback in accordance with the combination of the one or more detected motion parameters and the one or more haptic feedback preferences. 
       FIG. 8C  illustrates a timing diagram for generating haptic feedback that simulates a perception of textures. In some embodiments, the controller  310  can cause the one or more electrodes  370  to provide electrical pulses to each of the haptic feedback components  810   a - e  in a sequential manner. As shown in  FIG. 8C , the waveform generated by the electrical pulses is a generally repeating waveform. In some examples, sequentially firing each of the haptic feedback components  810   a - e  can generate a perception that an object is running through the user&#39;s appendages. For example, in context of the system  100  of  FIG. 1 , where the display  152  of the electronic device  150  displays the waves, the electronic device  150  can transmit instructions to the wearable haptic apparatus  110  that causes a user to perceive that the waves are pouring water through the user&#39;s appendages as each of the haptic feedback components  810   a - e  are being sequentially actuated to generate haptic feedback. 
       FIG. 8D  illustrates a timing diagram for generating haptic feedback to simulate a user perception of textures. For instance,  FIG. 8D  shows a waveform having a larger amplitude, and a shorter frequency relative to the waveform shown in  FIG. 8C . In some examples, the waveform can be referred to as a non-repeating waveform. In some embodiments, the controller  310  can be configured to cause the one or more electrodes  370  to provide electrical pulses to the haptic feedback components  810   a - e  in a concurrent manner so that a haptic feedback element of each of the haptic feedback components  810   a - e  generates haptic feedback simultaneously. Concurrently stimulating several haptic feedback components  810   a - e  can cause a large amount of voltage to be pulsed in a short period of time so that the user perceives a large amount of surface area of a flexible beam member (not illustrated) of the haptic feedback components  810   a - e  that are in contact with his appendage. Additionally, generating a large surface area can simulate the perception that the user is in contact with a soft, compliant surface (e.g., foam, water). Accordingly, in the context of the system  100  of  FIG. 1 , where the display  152  of the electronic device  150  displays the ocean, the electronic device  150  can transmit instructions to the wearable haptic apparatus  110  to cause the user to perceive that his appendages are touching water as two or more of the haptic feedback components  810   a - e  are concurrently actuated to generate a larger amount of surface area contact. 
     Additionally, each of the haptic feedback components  810   a - e  can be individually actuated, so as to cause the user to perceive a smaller surface area of contact. By actuating fewer haptic feedback components  810   a - e  can generate a smaller surface area of contact with the user&#39;s appendages, and thus create a perception that the user is touching a hard, rigid surface. For example, in the context of the system  100  of  FIG. 1 , where the display  152  of the electronic device  150  displays the palm trees, the electronic device  150  can transmit instructions to the wearable haptic apparatus  110  to cause the user to perceive that his appendages are touching a palm tree as only one of the haptic feedback components  810   a - e  are actuated to generate a larger amount of surface area contact. 
     Additionally, each of the haptic feedback components  810   a - e  can be individually and sequentially actuated according to a pre-determined order, regular order, or random pattern. 
       FIGS. 9A-9G  illustrate various embodiments of a haptic feedback component  900 , in accordance with some embodiments.  FIG. 9A  illustrates a top view of a haptic feedback component  900 , in accordance with some embodiments. The haptic feedback component  900  includes a frame  910  having a flexible beam member  930  that is coupled to a first portion  902  and a second portion  904  of the frame  910 . A portion of the flexible beam member  930  can be isolated from the frame  910  via cavities  908   a - b . In this manner, the construction of the haptic feedback component  900  of  FIG. 9A  allows for the flexible beam member  930  to flex relative to the frame  910  in a substantially curvilinear manner. 
       FIG. 9B  illustrates a top view of a generally elliptical-shaped haptic feedback component  900  in accordance with some embodiments. In this manner, the haptic feedback component  900  can be characterized as having a shape and size that conforms more to the user&#39;s appendage (U) relative to the haptic feedback component  900  shown in  FIG. 9A . 
       FIG. 9C  illustrates a top view of a diamond-shaped haptic feedback component  900  in accordance with some embodiments. 
       FIG. 9D  illustrates a top view of a haptic feedback component  900  that includes a flexible beam member  930  that has a shape and size that corresponds to the user&#39;s appendage (U). For example, the flexible beam member  930  includes a major dimension and a minor dimension having different dimensions that are sized to correspond to the user&#39;s appendage. 
       FIGS. 9E-9F  illustrate a top view and a cross-sectional view of a haptic feedback component  900 , respectively, in accordance with some embodiments. The haptic feedback component  900  includes a plurality of cavities  908   a - b , where a central cavity  908   a  is included along the medial axis of the frame  910 , while peripheral cavities  908   b  are included along the peripheries of the frame  910 . In this manner, the user&#39;s appendage (U) can fit within the central cavity  908   a . In some examples, the central cavity  908   a  is characterized as having a stepped profile or gradient surface so that the surface area of the opening of the central cavity  908   a  is progressively smaller than a lower surface of the haptic feedback component  900 , as shown in  FIG. 9F . In this manner, the individual folds or ridges of skin of the user&#39;s appendage (U) can individually experience different amount of specific haptic feedback when the haptic feedback element  920  is actuated. Additionally, due to the presence of the central cavity  908   a , the haptic feedback component  900  of  FIGS. 9E-9F  has multiple haptic feedback elements  920  that are positioned along the peripheral edges of the haptic feedback component  900  in order to accommodate for the user&#39;s appendage. 
       FIG. 9G  illustrates a top view of a round-shaped haptic feedback component  900  in accordance with some embodiments. In this type of arrangement, the haptic feedback component  900  includes a round (e.g., circular) flexible frame  910  and a round (e.g., circular) haptic feedback element  920 . Flexible frame  910  may be a continuous layer that is free of holes and cavities, or flexible frame  910  may have cut-outs to adjust the stiffness of frame  910  (e.g., holes similar to cavities  908  of  FIG. 9A-9F ). Flexible frame  910  may have a first diameter and haptic feedback element  920  may have a second diameter that is smaller than the first diameter, if desired. Haptic feedback element  920  may be a piezoelectric element mounted to flexible frame  910 . This type of arrangement results in a circular warpage of frame  910  with the greatest amount of deflection in the center region of frame  910 . Frame  910  may be relatively small in diameter (e.g., 2-3 mm, 1-5 mm, 5-10 mm, less than 5 mm, greater than 5 mm, etc.), or frame  910  may be relatively large in diameter (e.g., about the size of a user&#39;s palm or hand). Haptic feedback component  900  may have other suitable shapes and sizes, if desired. The arrangement of  FIG. 9G  is merely illustrative. 
       FIGS. 10A-10D  illustrate various views of several embodiments of a haptic feedback component  1000 .  FIG. 10A  illustrates a haptic feedback component  1000  that includes a frame  1010  having a plurality of flexible beam member  1030   a - b . Each flexible beam member  1030   a - b  includes a respective haptic feedback element  1020   a  or  1020   b  that is coupled to a lower surface of the flexible beam member  1030 , while the upper surface of each of the flexible beam members  1030   a - b  has a shape and size to receive a user&#39;s appendage (U). In some embodiments, the haptic feedback elements  1020   a - b  can be individually actuated by the one or more electrodes  370 . Actuation of the haptic feedback elements  1020   a - b  can cause the flexible beam members  1030   a - b  to displace in a substantially curvilinear manner. As shown in  FIG. 10A , the plurality of flexible beam members  1030   a - b  are arranged along a longitudinal axis of the haptic feedback component  1000 . 
     In some embodiments, the haptic feedback elements  1020   a - b  can receive electrical pulses from the one or more electrodes  370  to be actuated in a sequential manner. Sequentially firing each of the haptic feedback components  810   a - e  can generate a perception that an object is running through the user&#39;s appendage (U). Additionally, the haptic feedback elements  1020   a - b  can be actuated concurrently. 
       FIG. 10B  illustrates a cross-sectional view of the haptic feedback component  1000  of  FIG. 10A  in conjunction with an actuated configuration. As shown in  FIG. 10B , the flexible beam members  1030   a - b  can be actuated to extend upwards relative to the frame  1010  so as to create the perception that the user&#39;s appendage (U) is in contact with a larger surface. 
       FIG. 10C  illustrates a haptic feedback component  1000  that includes a frame  1010  and a plurality of flexible beam member  1030   a - f  coupled to the frame  1010 . Each flexible beam member  1030   a - f  includes a respective haptic feedback elements  1020   a - f  that is coupled to a lower surface of the flexible beam member  1030   a - f , while the upper surface of the flexible beam member  1030   a - f  has a shape and size to receive a user&#39;s appendage (U). In some embodiments, the haptic feedback elements  1020   a - f  can be individually or concurrently actuated by the one or more electrodes  370 . Actuation of the haptic feedback elements  1020   a - f  can cause the flexible beam members  1030   a - f  to displace in a substantially curvilinear manner. As shown in  FIG. 10C , the plurality of flexible beam members  1030   a - b  are arranged along a lateral axis of the haptic feedback component  1000 . 
       FIG. 10D  illustrates a cross-sectional view of the haptic feedback component  1000  of  FIG. 10C  in conjunction with an actuated configuration. In some embodiments, the haptic feedback elements  1020   a - f  can be concurrently actuated so as to generate haptic feedback. By concurrently actuating, the haptic feedback elements  1020   a - b  can create a perception that the user&#39;s appendage is in contact with a large contact surface as more areas of the user&#39;s appendage (U) are being concurrently stimulated, as shown in  FIG. 10D . Accordingly,  FIGS. 10A-10D  illustrate components for generating localized haptic feedback. In some embodiments, the haptic feedback elements  1020   a - f  can receive electrical pulses from the one or more electrodes  370  to be actuated in a sequential manner. Sequentially firing each of the haptic feedback elements  1020   a - f  can generate a perception that an object is running through the user&#39;s appendage (U). 
       FIGS. 11A-11D  illustrate various views of several embodiments of a haptic feedback component  1100  to generate haptic feedback.  FIG. 11A  illustrates a perspective view of a haptic feedback component  1100  that comprises an electroactive substrate  1120   a - c . The haptic feedback component  1100  can include a single layer of an electroactive substrate  1120  or multiple layers of electroactive substrates  1120   a - c  that are coupled to each other. In contrast to utilizing a piezoelectric element, the electroactive substrate does not utilize a frame (e.g.,  510 ) or flexible beam member (e.g.,  530 ) to cause haptic feedback. Instead the electroactive substrate  1120  can be directly coupled or attached to the user&#39;s appendage. When an input voltage from the one or more electrodes  370  are provided to the electroactive substrate  1120 , the electroactive substrate  1120  can be configured to actuate to either expand or contract, which can be perceived by the user&#39;s appendage. In this manner, the electroactive substrate  1120  can be configured to induce moment of in a plurality of different directions. 
     In some embodiments, the electroactive substrate  1120  can be positioned adjacent to (or bordered by) a plurality of electrodes  370 , such as a first electrode and a second electrode. The first electrode can be configured to deliver a positive charge to the electroactive substrate  1120 , while the second electrode can be configured to deliver a negative charge to the electroactive substrate  1120 . In this manner, the first and second electrodes can induce an electrostatic force to be generated that causes the electroactive substrate  1120  to expand or contract. In some examples, the expansion or contraction of the electroactive substrate  1120  is dependent upon the polarity of the input voltage that is provided. 
     In some embodiments, where the haptic feedback component  1100  is comprised of layers of several electroactive substrates  1120   a - c , each of the electroactive substrates  1120   a - 1120   c  can be configured to move independently of each other. 
       FIGS. 11B-11D  illustrate various views of a haptic feedback component  1100  that includes an electroactive substrate  1120 .  FIGS. 11B-11C  illustrate a perspective view and a side view of the haptic feedback component  1100  that includes the electroactive substrate  1120 , respectively, in accordance with some embodiments. Additionally,  FIGS. 11B-11C  show that an upper surface of the electroactive substrate  1120  includes one or more feedback elements  1140 . The feedback elements  1140  can protrude from a surface of the electroactive substrate  1120 . In some examples, each feedback element  1140  extends from the upper surface of the electroactive substrate  1120 . The feedback element  1140  can include a rounded surface. As the electroactive substrate  1120  can have a shape and size that corresponds to the user&#39;s appendage (U), each feedback elements  1140  can provide localized haptic feedback to a specific portion of the user&#39;s appendage (U). In conjunction with the actuation of the electroactive substrate  1120  to expand or contract, the feedback elements  1140  can move or slide along in a corresponding direction with the electroactive substrate  1120  so as to generate a shearing effect against the skin of the user&#39;s appendage (U). 
     In some examples, the one or more feedback elements  1140  can have a size of e.g., about 30 micrometers-1000 micrometers. In some examples, the one or more feedback elements  1140  can be arranged in a uniform pattern or in a random order. 
       FIG. 11D  illustrates a perspective view of a haptic feedback component  1100  that includes a first stack of an electroactive substrate  1120   a  and a second stack of an electroactive substrate  1120   b , in accordance with some embodiments.  FIG. 11D  shows that the first and second stack of electroactive substrates  1120   a - b  are independent and separate from each other.  FIG. 11D  shows that the first stack  1120   a  can be configured to move independently of the second stack  1120   b . In addition, a partition  1110  can reside between the first and second stacks  1120   a - b . As the first and second stacks  1120   a - b  move relative each other, the size of the partition  1110  can further change so as to create additional haptic feedback, such as by amplifying the contact surface area that can be detected by the user&#39;s appendage. 
     In some embodiments, the electroactive substrate can be utilized over the piezoelectric element since the electroactive substrate is much more compliant and can more readily expand/contract than the piezoelectric element. In addition, the electroactive substrate requires significantly less input voltage than the piezoelectric element to displace by a similar amount. 
     Although  FIGS. 11A-11D  illustrate that the electroactive substrate  1120  is substantially rectangular shaped, the electroactive substrate  1120  can be incorporated in a variety of other shapes such as circular, elliptical, polygonal, asymmetric, and the like. 
       FIG. 12  illustrates a block diagram of different components of a system  1200  that is configured to implement the various techniques described herein, such as generating haptic feedback, according to some embodiments. More specifically,  FIG. 12  illustrates a high-level overview of the system  1200 , which includes a computing device  1250  that can represent, for example, a portable computer, a tablet, a smartphone, or other electronic device. In some examples, the computing device  1250  can be the electronic device (e.g., ref.  150 ) that generates the visual stimuli to the user. According to some embodiments, the computing device  1250  can be configured to execute (e.g., via an operating system established on the computing device  1250 ) various applications  1220 . In one example, the application  1220  can represent a graphic presentation program that can be configured to interact with the electronic haptic device  1210  to generate haptic feedback. In other examples, the application  1220  can represent a multimedia program. As shown in  FIG. 12 , the application  1220  and the storage device  1240  can be configured to directly communicate with one another. In some embodiments, the storage device  1240  can include a data item  1260  managed by the application  1220 . In conjunction, the application  1220  can request the data item  1260  from the storage device  1240 . In one example, the data item  1260  refers to a haptic feedback preference that can be selected by the user. 
     As shown in  FIG. 12 , the computing device  1250  is configured to communicate with the electronic haptic device  1210  via a network  1270 , where the network  1270  can represent at least one of a global network (e.g., the Internet), a wide area network, a local area network, a wireless personal area network (WPAN), and the like. In some examples, the network  1270  can represent a WPAN for transmitting data between the electronic haptic device  1210  and the computing device  1250 . The WPAN network can represent Bluetooth (IEEE 802.15.1), ZigBee, Wireless USB, and the like. In some examples, the network can refer to Near-Field Communication (NFC). According to some embodiments, the computing device  1250  can be configured to provide instructions to the electronic haptic device  1210  to enable a haptic feedback component of the electronic haptic device  1210  to provide haptic feedback in conjunction with one or more motion parameters that are detected. 
       FIG. 13  illustrates a method  1300  for generating haptic feedback by the electronic haptic device  300  that includes the haptic feedback component  350 , in accordance with some embodiments. In some embodiments, the method  1300  begins at step  1302 , where in conjunction with a sensor  360  (of the electronic haptic device  300  or external to the electronic haptic device  300 ) detecting movement of a user, a controller  310  of the electronic haptic device  300  can be configured to receive a motion parameter from the sensor  360 . 
     At step  1304 , the controller  310  can be configured to generate a haptic feedback parameter that is based on the motion parameter. 
     At step  1306 , the controller  310  can be configured to transmit the haptic feedback parameter to the power supply  330  so that the power supply  330  provides an input voltage to an electrode that actuates the haptic feedback component  350  in order to generate haptic feedback. 
       FIG. 14  illustrates a method  1400  for generating haptic feedback between the electronic haptic device  300  and the electronic device  400 , in accordance with some embodiments. In some embodiments, the method  1400  begins at step  1402 , where the controller  310  of the electronic haptic device  300  receives a haptic feedback preference from the electronic device  400 . At step  1404 , the controller  310  can be configured to receive a motion parameter from a sensor  360  (of the electronic haptic device  300  or external to the electronic haptic device  300 ) in conjunction with the sensor  360  detecting movement of the user. 
     At step  1406 , the controller  310  can be configured to form a modified haptic feedback parameter by combining the motion parameter with the haptic feedback preference. 
     At step  1408 , the controller  310  can be configured to transmit the modified haptic feedback parameter to the power supply  330  so that the power supply  330  provides an input voltage to an electrode that actuates the haptic feedback component  350  in order to generate haptic feedback. 
     In some embodiments, the controller  310  can be configured to adjust the weight of the ratio between the motion parameter and the haptic feedback preference. For example, a user may want to place more weight on the feedback preference by assigning the feedback preference with a higher weighted value than the motion parameter. In one example, the controller  310  can select a ratio 9:1 to assign more weight to the feedback preference than to the motion parameter. In another example, the controller  310  can adjust the ratio to 5:5 to assign an equal amount of weight to the feedback preference and the motion parameter. 
     The various aspects, embodiments, implementations or features of the described embodiments can be used separately or in any combination. Various aspects of the described embodiments can be implemented by software, hardware or a combination of hardware and software. The described embodiments can also be embodied as computer readable code on a computer readable medium. The computer readable medium is any data storage device that can store data which can thereafter be read by a computer system. Examples of the computer readable medium include read-only memory, random-access memory, CD-ROMs, DVDs, magnetic tape, hard disk drives, solid state drives, and optical data storage devices. The computer readable medium can also be distributed over network-coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

Metadata:
Filing Date: 20170919
Publication Date: 20191119
Grant Date: 20191119
Priority Date: 20160919
Inventors: WANG, PAUL X.
LEHMANN, Alex
CHEUNG, Michael Y.
Assignee: APPLE INC
CPC Classifications: [{"code": "G06F3/014", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F2203/0331", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/0346", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/017", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/014", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F3/017", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F2203/0331", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F2203/0331", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/014", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F3/017", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 68536099