PATENT DOCUMENT

Publication Number: US-10210725-B1
Application Number: US-201715828966-A
Country: US
Kind Code: B1

Title: Haptic actuator including flexure with reduced material medial portion proximal and distal segments and related methods

Abstract:
A haptic actuator may include a housing, at least one coil carried by the housing, and a field member having opposing first and second sides. The haptic actuator may also include a respective at least one flexure mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure may include two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions or the field member and the housing. The two diverging arms may each include a proximal segment having a reduced material medial portion relative to adjacent end portions, and a distal segment, being canted with respect to the proximal segment, and having a reduced material medial portion relative to adjacent end portions.

Claims:
That which is claimed is: 
     
       1. A haptic actuator comprising:
 a housing; 
 at least one coil carried by the housing; 
 a field member having opposing first, and second sides; 
 
       and
 a respective at least one flexure mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil; 
 each flexure comprising 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, the two diverging arms each comprising
 a proximal segment having a reduced material medial portion relative to adjacent end portions, and 
 a distal segment, being canted with respect to the proximal segment, and having a reduced material medial portion relative to adjacent end portions. 
 
 
     
     
       2. The haptic actuator of  claim 1  wherein the proximal segments are parallel. 
     
     
       3. The haptic actuator of  claim 1  wherein the distal segments are diverging. 
     
     
       4. The haptic actuator of  claim 1  wherein the proximal segments each have an arcuate recess to define the reduced material medial portion. 
     
     
       5. The haptic actuator of  claim 1  wherein the distal segment each have an arcuate recess to define the reduced material medial portion. 
     
     
       6. The haptic actuator of  claim 1  wherein the proximal segments each have an opening therein to define the reduced material medial portion. 
     
     
       7. The haptic actuator of  claim 1  wherein the distal segments each have an opening therein to define the reduced material medial portion. 
     
     
       8. The haptic actuator of  claim 1  wherein a bend defining the cant between the proximal and distal segments of each diverging arm is positioned between 30% and 70% of a length of the diverging arm. 
     
     
       9. The haptic actuator of  claim 1  wherein the proximal segments each have a straight line shape. 
     
     
       10. haptic actuator of  claim 1  wherein the distal segments each have a straight line shape. 
     
     
       11. The haptic actuator of  claim 1  wherein each diverging arm has a constant thickness. 
     
     
       12. The haptic actuator of  claim 1  wherein at least one of the proximal and distal segments each has an opening therein to define the reduced material medial portion. 
     
     
       13. The haptic actuator of  claim 1  wherein a bend defining the cant between the proximal and distal segments of each diverging arm is positioned between 30% and 70% of a length of the diverging arm. 
     
     
       14. An electronic device comprising:
 a housing; 
 wireless communications circuitry carried by the housing; 
 a haptic actuator carried by the housing and comprising
 an actuator housing; 
 at least one coil carried by the housing; 
 a field member having opposing first and second sides, and 
 a respective at least one flexure mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil, 
 each flexure comprising 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, the two diverging arms each comprising
 a proximal segment having a reduced material medial portion relative to adjacent end portions, and 
 a distal segment, being canted with respect to the proximal segment, and having a reduced material medial portion relative to adjacent end portions; 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. 
 
 
     
     
       15. The electronic device of  claim 14  wherein the proximal segments are parallel. 
     
     
       16. The electronic device of  claim 14  wherein the distal segments are diverging. 
     
     
       17. The electronic device of  claim 14 , wherein the proximal segments each have an arcuate recess to define the reduced material medial portion. 
     
     
       18. The electronic device of  claim 14  wherein at least one of the proximal and distal segments each has an arcuate recess to define the reduced material medial portion. 
     
     
       19. The electronic device of  claim 14  wherein at least one of the proximal and distal segments each has an opening therein to define the reduced material medial portion. 
     
     
       20. The electronic device of  claim 14  wherein a bend defining the cant between the proximal and distal segments of each diverging arm is positioned between 30% and 70% of a length of the diverging arm. 
     
     
       21. A method of making a haptic actuator comprising: positioning a respective at least one flexure to mount each of opposing first and second sides of a field member to be reciprocally movable within a housing responsive to at least one coil, each flexure comprising 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, the two diverging arms each comprising a proximal segment having a reduced material medial portion relative to adjacent end portions, and a distal segment, being canted with respect to the proximal segment, and having a reduced material medial portion relative to adjacent end portions. 
     
     
       22. The method of  claim 21  wherein the proximal segments are parallel. 
     
     
       23. The method of  claim 21  wherein the distal segments are diverging. 
     
     
       24. The method of  claim 21  wherein the proximal segments each have an arcuate recess to define the reduced material medial portion. 
     
     
       25. The method of  claim 21  wherein at least one of the proximal and distal segments each has an arcuate recess to define the reduced material medial portion.

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, at least one coil carried by the housing, and a field member having opposing first and second sides. The haptic actuator may also include a respective at least one flexure mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure 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. The two diverging arms may each include a proximal segment having a reduced material medial portion relative to adjacent end portions, and a distal segment, being canted with respect to the proximal segment, and having a reduced material medial portion relative to adjacent end portions. 
     The proximal segments may be parallel. The distal segments may be diverging, for example. 
     The proximal segments may each have an arcuate recess to define the reduced material medial portion. The distal segments may each have an arcuate recess to define the reduced material medial portion, for example. 
     The proximal segments may each have an opening therein to define the reduced material medial portion. The distal segments may each have an opening therein to define the reduced material medial portion, for example. 
     A bend defining the cant between the proximal and distal segments of each diverging arm may be positioned between 30% and 70% of a length of the diverging arm, for example. The proximal segments may each have a straight line shape, and the distal segments may each have a straight line shape, for example. Each diverging arm may have a constant thickness, for example. 
     A method aspect is directed to a method of making a haptic actuator. The method may include positioning a respective at least one flexure to mount each of the first and second sides of a field member to be reciprocally movable within a housing responsive to at least one coil. Each flexure 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. The two diverging arms may each include a proximal segment having a reduced material medial portion relative to adjacent end portions, and a distal segment, being canted with respect to the proximal segment, and having a reduced material medial portion relative to adjacent end portions. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view of an electronic device including a haptic actuator according to an embodiment. 
         FIG. 2  is a schematic block diagram of the electronic device of  FIG. 1 . 
         FIG. 3  is a schematic block diagram of the haptic actuator of the electronic device of  FIG. 1 . 
         FIG. 4  is a schematic top view of a field member and respective flexures in accordance with an embodiment. 
         FIG. 5  a perspective view of a flexure of  FIG. 4 . 
         FIG. 6  is a top view of a flexure in accordance with an embodiment. 
         FIG. 7  is a perspective view of the flexure of  FIG. 6 . 
         FIG. 8  is a perspective view of a flexure 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 refer to like elements in different 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 wearable wireless communications device, and includes a band  28  or strap for securing it to a user. The electronic device  20  may be another type of electronic device, for example, a cellular telephone, a tablet computer, a laptop computer, etc. 
     Wireless communications circuitry  25  (e.g. cellular, WLAN Bluetooth, etc.) is also carried within the device housing  21  and coupled to the controller  22 . The wireless communications circuitry  25  cooperates with the controller  22  to perform at least one wireless communications function, for example, for voice and/or data. In some embodiments, the electronic device  20  may not include wireless communications circuitry  25 . 
     A 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 liquid crystal display (LCD), light emitting diode (LED) display, 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. 
     Finger-operated user input devices.  24   a,    24   b,  illustratively in the form of a pushbutton switch and a rotary dial are also carried by the device housing  21  and are coupled to the controller  22 . The pushbutton switch  24   a  and the rotary dial  24   b  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 to the user in the form of relatively long and short vibrations or “taps”, particularly when the user is wearing the electronic device  20 . The vibrations may be indicative of a message received, and the duration of the vibration may be indicative of the type of message received. Of course, the vibrations may be indicative of or convey other types of information. More particularly, the controller  22  applies a voltage to move a moveable body or masses between first and second positions in a y-axis. 
     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 . The actuator housing  41  illustratively has a dimension in a length direction greater than a width direction. 
     The haptic actuator  40  also includes first and second coils  44 ,  45  carried by the actuator housing  41 , for example, the top and the bottom, respectively. The first and second coils  44 ,  45  may each have a loop shape or “racetrack” shape and are aligned in a stacked relation and spaced apart. There may be any number of first and second coils  44 ,  45  as will be appreciated by those skilled in the art. 
     The haptic actuator  40  also includes a field member  50  carried by the actuator housing  41 . The field member  50 , similarly to the actuator housing  41 , has a dimension in a length direction greater than a width direction. Thus, the field member  50  is reciprocally movable in the width direction i.e., the y-direction). While the movement of the field member  50  is described as being moveable in one direction, i.e., a linear haptic actuator, it should be understood that in some embodiments, the field member may be movable in other directions, i.e., an angular haptic actuator, or may be a combination of both a linear and an angular haptic actuator. 
     The field member  50  includes permanent magnets  51  between the first and second coils  44 ,  45 . The permanent magnets  51  may be neodymium, for example, and may be positioned in opposing directions with respect to their respective poles. 
     The permanent magnets  51  may also have a rounded rectangle shape and may be aligned along a length of the first and second coils  44 ,  45 . There may be any number of permanent magnets  51  having any shape between the first and second coils  44 ,  45 . 
     The field member  50  also includes masses  57   a,    57   b  adjacent the permanent magnets  51 . The masses  57   a,    57   b  may be tungsten, for example. The masses  57   a,    57   b  may be a different material (e.g., relatively heavy material) and there may be any number of masses. In some embodiments, the field member  50  or a portion thereof may be tungsten (or other heavy material) defining the masses (e.g., instead of discrete masses). 
     The haptic actuator  40  also includes respective flexures  60  mounting each of first and second sides  53 ,  54  of the field member  50  to be reciprocally movable within the actuator housing  41  responsive to the first and second coils  44 ,  45 . 
     Each flexure  60  illustratively includes two diverging arms  61   a,    61   b  each having a constant thickness and joined together at a bend  73  at proximal ends  62   a,    62   b.  The two diverging arms  61   a,    61   b  also have spaced distal ends  63   a,    63   b  operatively coupled between adjacent portions of the field member  50  and the actuator housing  41 . The two diverging arms  61   a,    61   b  may include steel, titanium, and/or copper. The two diverging arms  61   a,    61   b  may include other and/or additional materials. 
     Each of the two diverging arms  61   a,    61   b  include a proximal segment  64   a,    64   b  having a straight line shape. In some embodiments, the proximal segments  64   a,    64   b  may have a curved or other shape. Each proximal segment  64   a,    64   b  has a reduced material medial portion  65   a,    65   b  relative to adjacent end portions  66   a,    66   b.  The reduced material medial portion  65   a,    65   b  of each proximal segment  64   a,    64   b  is in the form of or defined by an arcuate recess so that the height profile along the length of each proximal segment varies. 
     The proximal segments  64   a,    64   b  of a given flexure  60  are illustratively parallel. In some embodiments, the proximal segments  64   a,    64   b  may not be parallel, for example, diverging or converging. 
     Each diverging arm  61   a,    61   b  also includes a distal segment  67   a,    67   b  that is canted with respect to the proximal segment  64   a,    64   b  and that also have a straight-line shape. In some embodiments, the distal segments  67   a,    67   b  may have a curved or other shape. The cant  72  or bend defining the cant between the proximal and distal segments  64   a,    64   b,    67   a,    67   b  of each diverging arm  61   a,    61   b  is positioned between 30% and 70% of a length of the diverging arm. 
     Each distal segment  67   a,    61   b  also has a reduced material medial portion  68   a,    68   b  relative to adjacent end portions  71   a,    71   b.  Similar to the proximal segments  64   a,    64   b,  the reduced material medial portion  68   a,    68   b  of each distal segment  67   a,    61   b  is in the form of or defined by an arcuate recess so that the height profile along the length of each distal segment varies. 
     The distal segments  67   a,    61   b  of a given flexure  60  are illustratively diverging. In some embodiments, the proximal segments  64   a,    64   b  may not be diverging, for example, converging or parallel. 
     As will be appreciated by those skilled in the art, the haptic actuator  40 , and more particularly, the geometry of each flexure  60  may satisfy desired stress and stiffness metrics relative to other flexure geometries, particularly under a relatively confined space under a specified amplitude of travel displacement for haptic applications. As will be described in further detail below, the flexure  60  may reduce stresses relative to other shaped flexures, for example, U-shaped flexures, and while maintaining the equivalent spring constant in the travel direction. Additionally, the flexure  60  may further increase the spring constants in other directions, which may reduce unwanted oscillation from the main desired direction of travel. Thus, the life and reliability of the haptic actuator  40  may be increased with relatively little sacrifice of stiffness and with a relatively small increase in manufacturing cost. 
     To achieve desired operating characteristics, from a design perspective, each flexure  60  is formed so that the flexure (a) has an appropriate stiffness in travel direction (e.g., here denoted as X-direction) for an intended resonant frequency, (b) fits within an allocated space and exhibits a relatively low stress throughout the entire flexure across the full travel displacement to avoid fatigue fractures, and (c) so that stiffness in two remaining directions orthogonal to the travel directions can be tuned more freely. Other shaped flexures may not optimize the above-noted objectives. As a result, the other shaped flexures may show signs of early fatigues due to high stress and unwanted oscillation in non-travel directions (e.g., Y- and Z -directions). 
     Referring now additionally to  FIGS. 6-7 , an analytical model of the flexure  60  is now described. The flexure  60  is symmetric about the line  75 , and its travel direction is along its thickness direction. The top half of the flexure  60  may be (approximately) modeled as two fixed-free cantilever beams with the fixed ends (i.e., pivot/roots  76   a - 76   c ) at the ends and the joint free end in the middle. The stress (equation 1, below) at any cross-section depends on the moment M (equation 2, below), thickness t and the second moment of inertia I (equation 3, below). Assuming M=moment, t=thickness of the flexure, b=width of the flexure, dL=arm, dX=travel distance, k=equivalent stiffness/spring constant: 
     
       
         
           
             
               
                 
                   σ 
                   = 
                   
                     
                       M 
                       × 
                       t 
                     
                     
                       2 
                       ⁢ 
                       
                           
                       
                       ⁢ 
                       I 
                     
                   
                 
               
               
                 
                   ( 
                   1 
                   ) 
                 
               
             
             
               
                 
                   M 
                   = 
                   
                     k 
                     × 
                     Δ 
                     ⁢ 
                     
                         
                     
                     ⁢ 
                     x 
                     × 
                     Δ 
                     ⁢ 
                     
                         
                     
                     ⁢ 
                     l 
                   
                 
               
               
                 
                   ( 
                   2 
                   ) 
                 
               
             
             
               
                 
                   I 
                   = 
                   
                     
                       b 
                       × 
                       
                         t 
                         3 
                       
                     
                     12 
                   
                 
               
               
                 
                   ( 
                   3 
                   ) 
                 
               
             
           
         
       
     
     From the equations above, those skilled in the art will appreciate that: (1) With the same spring constant k and given travel distance, the moment M at any cross-section of interest depends on the distance between its location to the root/pivot; and (2) If the moment M scales linearly with the second moment of inertia at any cross section, the strain and therefore the stress is distributed generally uniformly. Therefore, the maximum stress across the entire flexure  60  may be reduced. In other words, the reduced material medial portions  65   a,    65   b,    68   a,    68   b  distribute the strain uniformly by changing the second moment of inertia at each cross section, and therefore the maximum stress across the flexure is reduced. 
     To further highlight potential advantages of the flexure  60 , a simulated comparison between a U-shaped flexure and the flexure as described herein is made in Table 1 below. 
     
       
         
           
               
               
               
               
             
               
                   
                 TABLE 1 
               
               
                   
                   
               
               
                   
                 Flexure Dimension, 
                   
                   
               
               
                   
                 Stiffness, and 
                 U-shaped  
                 Flexure of the 
               
               
                   
                 Stress 
                 flexure 
                 embodiments 
               
               
                   
                   
               
             
            
               
                   
               
            
           
           
               
               
               
               
            
               
                   
                 X (mm) 
                 2.21 
                 2.21 
               
               
                   
                 Y (mm) 
                 9.71 
                 9.71 
               
               
                   
                 Z (mm) 
                 2.2 
                 2.2 
               
               
                   
                 Distance Traveled 
                 0.65 
                 0.65 
               
               
                   
                 (mm) 
                   
                   
               
               
                   
                 Maximum Stress  
                 393 
                 350  
               
               
                   
                 (MPa) 
                   
                 (11% lower) 
               
               
                   
                 Stiffness_X 
                 863 
                 866 
               
               
                   
                 (N/m) (travel 
                   
                   
               
               
                   
                 direction) 
                   
                   
               
               
                   
                 Stiffness_Y (N/m) 
                 10,421 
                 13,322 
               
               
                   
                 Stiffness_Z (N/m) 
                 42,874 
                 28,286 
               
               
                   
                   
               
            
           
         
       
     
     Illustratively, the maximum stress of the flexure  60  is about 11% lower than that of the U-shape flexure, while the travel distance and stiffness in travel direction is maintained. Additionally, the stiffness in Y-direction is increased, while the stiffness in the Z-direction is decreased. For a flexure, the higher the stiffness in directions other than the main travel direction, the further away other resonant modes are from the main resonance (X), and therefore there may be less unwanted vibration excited in those modes from normal travel. Since the Y-mode is closer to X, the improvement in Y for the flexure  60  becomes more advantageous. 
     Accordingly, several characteristics of the flexure  60  in terms of dimensions affect or reduce stress and fatigue while achieving desired stiffness (e.g., in the X-, Y-, and Z- directions). More particularly, such dimensions may include flexure thickness t, radius of the bend  73 , arm length a, and size of the reduced material medial portions  65   a,    65   b,    68   a,    68   b  (e.g., arcuate recess and/or opening). Thus, it may be desirable to increase the stiffness in the Y- and Z -directions as high as possible, while decreasing the stress to as low as possible, for example, in both the bend  73  and distal ends  63   a,    63   b  of the diverging arms  61   a,    61   b.    
     Referring now briefly to  FIG. 8 , in another embodiment, the reduced material medial portion  65   a′,    65   b′,    68   a′,    68   b′  may be in the form of or defined by an opening, for example, a circular opening, therein in each diverging arm  61   a′,    61   b′.  More particularly, the proximal segments  64   ′,    64   b′  may each have an opening therein to define the respective reduced material medial portion  65   a′,    65   b′,  and the distal segments  67   a′,    67   b′  also each have an opening therein to define the respective reduced material medial portion  68   a′,    68   b′ . The opening may be in the form of another shape and each opening may be a different shape. 
     As will be appreciated by those skilled in the art, in some embodiments, the haptic actuator  40  may include more than one flexure  60  mounting each of first and second sides  53 ,  54  of the field member  50  to be reciprocally movable within the actuator housing  41  responsive to the first and second coils  44 ,  45 . For example, there may be two flexures  60  in opposing relation mounting each of the first and second sides  53 ,  54  of the field member  50  to he reciprocally movable within the actuator housing  41  responsive to the first and second coils  44 ,  45 . Moreover, while the reduced material medial portions  65   a,    65   b,    68   a,    68   b  are described as being in the form of either an arcuate recess or an opening, the reduced material medial portions may take on another form. The reduced material medial portions of each diverging arm  61   a,    61   b  may be defined differently, for example, in one arm the reduced material medial portions may be in the form of arcuate recesses, while in the other diverging arm, the reduced material medial portions may be in the form of an opening. The reduced material medial portions  65   a,    65   b,    68   a,    68   b  may also be different within the same diverging arm  61   a,    61   b.  In other words, the reduced material medial portion of the proximal segment may be defined differently or take on a different form of the reduced material medial portion of the distal segment. Even still further, while two (proximal and distal) segments have been described, there may be more than two segments per diverging arm  61   a,    61   b.    
     A method aspect is directed to a method of making a haptic actuator  40 . The method includes positioning a respective at least one flexure  60  to mount each of the first and second sides.  53 ,  54  of a field member  50  to be reciprocally movable within an actuator housing  41  responsive to at least one coil  44 ,  45 . Each flexure  60  includes two diverging arms  61   a,    61   b  joined together at proximal ends  62   a,    62   b  and having spaced distal ends  63   a,    63   b  operatively coupled between adjacent portions of the field member  50  and the actuator housing  41 . The two diverging arms  61   a,    61   b  each include a proximal segment  64   a,    64   b  having a reduced material medial portion  65   a,    65   b  relative to adjacent end portions  66   a,    66   b,  and a distal segment  67   a,    67   b  that is canted with respect to the proximal segment and has a reduced material medial portion  68   a,    68   b,  relative to adjacent end portions  71   a,    71   b.    
     Many modifications and other embodiments of the invention will come to the mind of one skilled in the art having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is understood that the invention is not to be limited to the specific embodiments disclosed, and that modifications and embodiments are intended to be included within the scope of the appended claims.

Metadata:
Filing Date: 20171201
Publication Date: 20190219
Grant Date: 20190219
Priority Date: 20171201
Inventors: SEN, YI-HENG
HARRISON, Jere
Assignee: APPLE INC
CPC Classifications: [{"code": "H02K33/18", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K15/00", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K5/04", "inventive": true, "first": false, "tree": "[]"}, {"code": "G08B6/00", "inventive": true, "first": true, "tree": "[]"}, {"code": "H05K5/0086", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/18", "inventive": false, "first": false, "tree": "[]"}, {"code": "H02K11/26", "inventive": true, "first": false, "tree": "[]"}, {"code": "G08B6/00", "inventive": true, "first": true, "tree": "[]"}, {"code": "H02K11/26", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K11/27", "inventive": false, "first": false, "tree": "[]"}, {"code": "H02K33/18", "inventive": false, "first": false, "tree": "[]"}, {"code": "H02K11/27", "inventive": false, "first": false, "tree": "[]"}, {"code": "H05K5/0086", "inventive": true, "first": false, "tree": "[]"}, {"code": "G08B6/00", "inventive": true, "first": true, "tree": "[]"}, {"code": "H02K15/00", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K5/04", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 65322796