PATENT DOCUMENT

Publication Number: US-11837937-B2
Application Number: US-202016989559-A
Country: US
Kind Code: B2

Title: Haptic actuator including field member within slotted opening of suspended coil and related methods

Abstract:
A haptic actuator may include a base, a field member coupled to the base and that may include spaced apart permanent magnets. The haptic actuator may also include a coil having a loop shape defining a slotted opening therein, and a spring member suspending the coil so that the field member is within the slotted opening and permitting relative movement of the field member and the coil.

Claims:
That which is claimed is: 
     
       1. A haptic actuator comprising:
 a base; 
 a field member coupled to the base and comprising a plurality of spaced apart permanent magnets including a first permanent magnet and a second permanent magnet; 
 a coil having a loop shape defining a slotted opening therein; and 
 a spring member suspending the coil so that the field member is within the slotted opening and permitting relative movement of the field member and the coil; the first permanent magnet at least partially disposed within the slotted opening, and the second permanent magnet disposed at least partially between the first permanent magnet and the coil. 
 
     
     
       2. The haptic actuator of  claim 1  wherein the plurality of spaced apart permanent magnets comprises first and second sets of permanent magnets; and further comprising a bearing coupled to the base between the first and second sets of permanent magnets. 
     
     
       3. The haptic actuator of  claim 1  further comprising a magnet spacer coupled between the field member and the base. 
     
     
       4. The haptic actuator of  claim 1  wherein the spring member has a spring member opening therein sized to permit passage of the field member therethrough. 
     
     
       5. The haptic actuator of  claim 1  wherein the field member comprises a ferritic body disposed between permanent magnets of the plurality of spaced apart permanent magnets. 
     
     
       6. The haptic actuator of  claim 5  wherein the ferritic body comprises stainless steel. 
     
     
       7. The haptic actuator of  claim 1  wherein the base comprises stainless steel. 
     
     
       8. The haptic actuator of  claim 1  further comprising a coil tray carrying the coil and coupled to the base. 
     
     
       9. The haptic actuator of  claim 1  wherein the spring member comprises a ferritic material. 
     
     
       10. The haptic actuator of  claim 1  further comprising at least one spacer carried by the spring member opposite the field member. 
     
     
       11. The haptic actuator of  claim 1  further comprising a plurality of mechanical stops adjacent opposing ends of the field member. 
     
     
       12. An electronic device comprising:
 a housing; 
 wireless communications circuitry carried by the housing; 
 a haptic actuator carried by the housing and comprising
 a base, 
 a field member coupled to the base and comprising a plurality of spaced apart permanent magnets, 
 at least one coil having a loop shape defining a slotted opening therein, and 
 a spring member suspending the at least one coil so that the field member is within the slotted opening and permitting relative movement of the field member and the at least one coil; the permanent magnets of the plurality of spaced apart permanent magnets spaced apart from each other, and spaced apart from the at least one coil, along a same direction; 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. 
 
     
     
       13. The electronic device of  claim 12  wherein the plurality of spaced apart permanent magnets comprises first and second sets of permanent magnets; and wherein the haptic actuator further comprises a bearing coupled to the base between the first and second sets of permanent magnets. 
     
     
       14. The electronic device of  claim 12  wherein the haptic actuator further comprises a magnet spacer coupled between the field member and the base. 
     
     
       15. The electronic device of  claim 12  wherein the spring member has a spring member opening therein sized to permit passage of the field member therethrough. 
     
     
       16. The electronic device of  claim 12  wherein the field member comprises a ferritic body disposed between permanent magnets of the plurality of spaced apart permanent magnets. 
     
     
       17. The electronic device of  claim 12  wherein the spring member comprises a ferritic material. 
     
     
       18. A method of making a haptic actuator comprising:
 coupling a field member to a base, the field member comprising a plurality of spaced apart permanent magnets including a first permanent magnet and a second permanent magnet; 
 positioning a spring member to suspend a coil having a loop shape defining a slotted opening therein so that the field member is within the slotted opening and permits relative movement of the field member and the coil, and so that the first permanent magnet is at least partially disposed within the slotted opening, and the second permanent magnet is disposed at least partially between the first permanent magnet and the coil. 
 
     
     
       19. The method of  claim 18  wherein the plurality of spaced apart permanent magnets comprises first and second sets of permanent magnets; and further comprising coupling a bearing to the base between the first and second sets of permanent magnets. 
     
     
       20. The method of  claim 18  further comprising coupling a magnet spacer between the field member and the base. 
     
     
       21. The method of  claim 18  wherein the spring member has a spring member opening therein sized to permit passage of the field member therethrough. 
     
     
       22. The method of  claim 18  wherein the field member comprises a ferritic body disposed between permanent magnets of the plurality of spaced apart permanent magnets.

Description:
RELATED APPLICATIONS 
     The present application claims the priority benefit of provisional application Ser. No. 62/893,961 filed on Aug. 30, 2019, the entire contents of which are herein incorporated by reference. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates to the field of electronics, and, more particularly, to the field of haptics. 
     BACKGROUND 
     Haptic technology is becoming a more popular way of conveying information to a user. Haptic technology, which may simply be referred to as haptics, is a tactile feedback based technology that stimulates a user&#39;s sense of touch by imparting relative amounts of force to the user. 
     A haptic device or haptic actuator is an example of a device that provides the tactile feedback to the user. In particular, the haptic device or actuator may apply relative amounts of force to a user through actuation of a mass that is part of the haptic device. Through various forms of tactile feedback, for example, generated relatively long and short bursts of force or vibrations, information may be conveyed to the user. 
     SUMMARY 
     A haptic actuator may include a base, and a field member coupled to the base and that may include a plurality of spaced apart permanent magnets. The haptic actuator may also include at least one coil having a loop shape defining a slotted opening therein, and a spring member suspending the at least one coil so that the field member is within the slotted opening and permitting relative movement of the field member and the at least one coil. 
     The plurality of spaced apart permanent magnets may include first and second sets of permanent magnets. The haptic actuator may also include a bearing coupled to the base between the first and second sets of permanent magnets, for example. 
     The haptic actuator may further a magnet spacer coupled between the field member and the base. The spring member may have a spring member opening therein sized to permit passage of the field member therethrough, for example. 
     The field member may include a ferritic body between the plurality of spaced apart permanent magnets, for example. The ferritic body may include stainless steel, for example. 
     The base may include stainless steel. The haptic actuator may also include a coil tray carrying the at least one coil and coupled to the base. The spring member may include ferritic material, for example. 
     The haptic actuator may further include at least one spacer carried by the spring member opposite the field member. The haptic actuator may also include a plurality of mechanical stops adjacent opposing ends of the field member, for example. 
     A method aspect is directed to a method of making a haptic actuator. The method may include coupling a field member to a base. The field member may include a plurality of spaced apart permanent magnets. The method may also include positioning a spring member to suspend at least one coil having a loop shape defining a slotted opening therein so that the field member is within the slotted opening and permits relative movement of the field member and the at least one coil. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a schematic diagram of an electronic device in accordance with an embodiment. 
         FIG.  2    is a schematic cross-sectional view of a haptic actuator in accordance with an embodiment. 
         FIG.  3    is a schematic cross-sectional view of a haptic actuator in accordance with another embodiment. 
         FIG.  4    is a perspective view of a haptic actuator in accordance with an embodiment. 
         FIG.  5    is an exploded perspective view of a haptic actuator in accordance with an embodiment. 
         FIG.  6    is a partially exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  7    is a partially exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  8    is a partially exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  9    is a schematic cross-sectional view of a haptic actuator in accordance with another embodiment. 
         FIG.  10    is a schematic cross-sectional view of a haptic actuator in accordance with another embodiment. 
         FIG.  11    is an exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  12    is a perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  13    is a schematic cross-sectional view of the haptic actuator of  FIG.  12    taken along line  12 - 1 . 
         FIG.  14    is a partially exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  15    is a perspective view of a haptic actuator in accordance with an embodiment. 
         FIG.  16    is a schematic cross-sectional view of the haptic actuator of  FIG.  15    taken along line  15 - 1 . 
         FIG.  17    is a schematic top view of a haptic actuator in accordance with another embodiment. 
         FIG.  18    is an exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  19    is an exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  20    is an exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  21    is an exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  22    is an exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  23    is an exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  24    is an exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  25    is an exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  26    is a partially exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  27    is a partially exploded perspective view of a haptic actuator in accordance with another embodiment. 
         FIG.  28    is a partially exploded perspective view of a haptic actuator in accordance with another embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout, and prime and multiple prime notation is used to indicate similar elements in alternative embodiments. 
     Referring initially to  FIG.  1   , an electronic device  120  illustratively includes a device housing  121  and a controller  122  or processor carried by the device housing. The electronic device  120  is illustratively a mobile wireless communications device, for example, a cellular telephone or smartphone. The electronic device  120  may be another type of electronic device, for example, a wearable device (e.g., a watch), a tablet computer, a laptop computer, etc. 
     Wireless communications circuitry  125  (e.g. cellular, WLAN Bluetooth, etc.) is also carried within the device housing  121  and coupled to the controller  122 . The wireless communications circuitry  125  cooperates with the controller  122  to perform at least one wireless communications function, for example, for voice and/or data. In some embodiments, the electronic device  120  may not include wireless communications circuitry  125 . 
     A display  123  is also carried by the device housing  121  and is coupled to the controller  122 . The display  123  may be, for example, a light emitting diode (LED) display, a liquid crystal display (LCD), or may be another type of display, as will be appreciated by those skilled in the art. The display  123  may be a touch display and may cooperate with the controller  122  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  120 , initiating communication via the wireless communications circuitry  125 , and/or performing a menu function. 
     The electronic device  120  illustratively includes a haptic actuator  140 . The haptic actuator  140  is coupled to the controller  122  and provides haptic feedback to the user in the form of relatively long and short vibrations. The vibrations may be indicative of a message received, and the duration and type of the vibration may be indicative of the type of message received. Of course, the vibrations may be indicative of or convey other types of information. In some embodiments, the haptic actuator  140  may be implemented for use in a trackpad (e.g., in a laptop or portable computer) so that haptic feedback may be generated, for example, by displacing a surface associated with or coupled to the haptic actuator. 
     While a controller  122  is described, it should be understood that the controller may include one or more physical processors and/or other circuitry to perform the functions described herein. 
     Referring additionally to  FIG.  2   , the haptic actuator  140  includes a base  145 , for example, a rigid base. The base  145  may be stainless steel. The base  145  may be or include other and/or additional materials, for example, non-ferritic materials. 
     The haptic actuator  140  also includes a coil  141  coupled to the base  145 . The coil  141  illustratively has a loop shape that defines a slotted opening  144  therein. The coil  141  is illustratively carried by a coil tray  146 . The coil tray  146  is coupled to the base  145 . The coil tray  146  may include ferritic material, for example. There may be any number of coils  141 . 
     The haptic actuator  140  also includes a field member  150  that includes spaced apart permanent magnets  152 . While two permanent magnets  152  are illustrated, there may be any number of permanent magnets. The field member  150  also includes a ferritic body  153 , for example, a stainless steel body, between the spaced apart permanent magnets  152 . In some embodiments, the ferritic body  153  may include a non-magnetic material. 
     The haptic actuator  140  also includes a spring member  160  or cover spring, for example, that may include ferritic material. In some embodiments, the spring member  160  may include non-ferritic material. The spring member  160  suspends the field member  150  within the slotted opening  144  and permits relative movement of the field member and the coil  141 . 
     As will be appreciated by those skilled in the art, the haptic actuator  140  defines a ferritic window  143  that allows larger movement of magnetic components and reduces magnetic attraction (closing) force between the permanent magnets  152  and rigid (ferritic) base  145 . 
     Referring now to  FIGS.  3 - 5   , in another embodiment, the haptic actuator  140 ′ includes a base  145 ′, for example, a rigid base. The base  145 ′ may be stainless steel. The base  145 ′ may be or include other and/or additional materials. 
     The haptic actuator  140 ′ also includes a field member  150 ′ coupled to the base  145 ′ and that includes spaced apart permanent magnets  152 ′. While two permanent magnets  152 ′ are illustrated, there may be any number of permanent magnets. The field member  150 ′ also includes a ferritic body  153 ′, for example, a stainless steel body, between the spaced apart permanent magnets  152 ′. 
     A magnet spacer  155 ′ is coupled between the field member  150 ′ and the base  145 ′. The magnet spacer  155 ′ may be stainless steel, for example. Mechanical stops  156 ′ are also carried by the base  145 ′ adjacent opposing ends. The mechanical stops  156 ′ each illustratively includes a fastener or screw boss  157 ′ and a hard stop  158 ′. The mechanical stops  156 ′ may be stainless steel. 
     The haptic actuator  140 ′ also includes a coil  141 ′ that illustratively has a loop shape that defines a slotted opening  144 ′ therein. The coil  141 ′ is illustratively carried by a coil tray  146 ′. The coil tray  146 ′ is coupled to the base  145 ′. The coil tray  146 ′ may include ferritic material, for example. There may be any number of coils  141 ′. Cover brackets  147 ′ are optionally carried by or coupled to opposing ends of the coil tray  146 ′. 
     The haptic actuator  140 ′ also includes a spring member  160 ′ or cover spring, for example, that may include ferritic material. The spring member  160 ′ suspends the coil  141 ′ so that the field member  150 ′ is within the slotted opening  144 ′ and permits relative movement of the field member and the coil. The spring member  160 ′ illustratively has a spring member opening  161 ′ therein that is sized to permit passage of the field member  150 ′ therein. 
     More particularly, the spring member  160 ′ is coupled to the hard stops  158 ′ which are coupled with the mechanical stops  156 ′ and the base  145 ′. The hard stops  158 ′ illustratively define a mechanical gap between the fastener or screw boss  157 ′ and the spring member  160 ′. To achieve better alignment between the magnetic member or field member  150 ′ and the center of the coil  141 ′, the hard stops  158 ′ may be of different thicknesses based on the dimensions of the field member and the coil. 
     The haptic actuator  140 ′ may also include spacers  162 ′ carried by the spring member  160 ′ at an opposite side to the field member. The spacers  162 ′ are carried at opposite ends of the spring member  160 ′. The spacers  162 ′ transfer force generated by the haptic actuator  140 ′ to, for example, the surface electronic device to which the haptic actuator is coupled. For example, when used in conjunction with a trackpad in a laptop or portable computer, the spacers  162 ′ generate out-of-plane motion of the trackpad. 
     As will be appreciated by those skilled in the art, the haptic actuator  140 ′ defines a ferritic window  143 ′ that allows larger movement of magnetic components and reduces magnetic attraction (closing) force between the permanent magnets  152 ′ and rigid (ferritic) base  145 ′. 
     Referring now to  FIG.  6   , an embodiment of the haptic actuator  240  that constrains movement in the x, y, and z axes is illustrated. Illustratively, the coil tray  246  has an L-shape and is coupled to the base  245  to define a slot for the coil  241  to be received therein. 
     Similarly to the embodiments described above, the field member  250  includes spaced apart permanent magnets  252  that are movable relative to the coil  241  within the slotted opening  244 . The field member  250  also includes a ferritic body  253  between the spaced apart permanent magnets  252 . A magnet spacer  255  is coupled to the spring member  260  between the field member  250  and the spring member. The materials of the illustrated elements may be similar to the materials described above with respect to other embodiments. The illustrated embodiment may provide relatively higher spring stiffness in x-axis and y-axis directions relative to the z-axis direction. For example, the illustrated embodiment may provide a spring stiffness &gt;250 N/mm in the x-axis direction and between 150 and 250 N/mm in the z-axis. Of course, other spring stiffness may be used. 
     Referring now to  FIG.  7   , in another embodiment, movement may be constrained in the x and y axes. In the present embodiment, the cover layer  260 ′ or spring member includes slits  265 ′ extending from opposite ends of the cover layer and aligned with the magnet spacer  255 ′. The present embodiment may provide relatively higher spring stiffness in x-axis and y-axis directions relative to the z-axis direction. For example, the present embodiment may provide a spring stiffness &gt;250 N/mm in the x-axis direction and there may be no stiffness in the z-axis direction. Of course, other spring stiffness may be used. Indeed, as will be appreciated by those skilled in the art, there may be no deformation during a bottom-out condition. Elements illustrated, but not specifically described are similar to the elements described above. 
     Referring now to  FIG.  8   , in another embodiment no spring member may be included. In the present embodiment, the base  245 ″, coil  241 ″, coil tray  246 ″, permanent magnets  252 ″, and ferritic body  253 ″ are configured as described above with respect to  FIGS.  8  and  9   . In the present embodiment, the lack of a spring member may remove excess or redundant stiffness in the haptic actuator  240 ″ and may allow for a greater mechanical control outline and permit more components (e.g., electromechanical). 
     Referring now to  FIG.  9   , in another embodiment, the haptic actuator  340  includes a base  345 , for example, a rigid base. The base  345  may be stainless steel. The base  345  may be or include other and/or additional materials, for example, non-ferritic materials. 
     The haptic actuator  340  also includes a field member  350  coupled to the base  345  and that includes spaced apart permanent magnets  352  that define a slotted opening  344  therebetween. While two permanent magnets  352  are illustrated, there may be any number of permanent magnets. 
     The haptic actuator  340  also includes a coil  341 . The coil  341  illustratively has a loop shape. The coil  341  may have another shape. 
     The haptic actuator  340  also includes a spring member  360  or cover spring, for example, that may include ferritic material. In some embodiments, the spring member  360  may include non-ferritic material. The spring member  360  suspends the coil  341  within the slotted opening  344  and permits relative movement of the field member and the coil  341 . A body  353 , which may include ferritic or non-ferritic material, may be in the opening defined by the loop shape of the coil  341 . 
     Referring now to  FIG.  10   , in another embodiment, the haptic actuator  340 ′ includes a base  345 ′ and a coil  341 ′ coupled to the base. The coil  341 ′ illustratively has a loop shape. The coil  341 ′ may have another shape. 
     The haptic actuator  340 ′ also includes a field member  350 ′ that includes spaced apart permanent magnets  352 ′ that define a slotted opening  344 ′ therebetween. While two permanent magnets  352 ′ are illustrated, there may be any number of permanent magnets. 
     The haptic actuator  340 ′ also includes a spring member  360 ′. The spring member  360 ′ suspends the field member  350 ′ within the slotted opening  344 ′ and permits relative movement of the field member and the coil  341 ′. A body  353 ′, which may include ferritic or non-ferritic material, may be in the opening defined by the loop shape of the coil  341 ′. 
     Referring now to  FIG.  11   , another embodiment of a haptic actuator  340 ″ is illustrated. The base  345 ″ illustratively includes a recessed area  348 ″ within a medial portion of the base. The coil  341 ″ is carried by the base  345 ″ in the recessed area  348 ″. The coil  341 ″ includes a core  371 ″, for example, stainless steel, which may be ferritic or non-ferritic, to enhance the magnetic field of the coil. The core  371 ″ may include other materials, for example, ferritic or non-ferritic materials to enhance the magnetic field of the coil. 
     Permanent magnets  352 ″ are positioned on opposite sides of the coil  341 ″. The permanent magnets  352 ″ are spaced apart to define a slotted opening  344 ″ therebetween. A housing  349 ″ or frame, which may include a ferritic material, may be coupled to the base  345 ″ to cover or enclose the permanent magnets  352 ″ and coil  341 ″. A spring member  360 ″ is carried by the housing  349 ″. More particularly, the medial portion of the spring member  360 ″ is carried by the housing  349 ″ and opposing ends of the spring member are coupled to the base  345 ″. The spring member  360 ″ provides relative movement of the permanent magnets  352 ″ and the coil  341 ″. The materials of the illustrated elements may be similar to the materials described above with respect to other embodiments. 
     Referring now to  FIGS.  12  and  13   , in another embodiment, the haptic actuator  440  may include first and second coils  441   a ,  441   b . A core  471 , for example, stainless steel, which may be ferritic or non-ferritic, is illustratively carried by the coils  441   a ,  441   b  on top and bottom sides to enhance the magnetic field of the coils. The core  471  may include other materials, for example, ferritic or non-ferritic materials to enhance the magnetic field of the coil. 
     A bearing  454 , for example, a shaft bearing, is coupled to the base  445  between the first and second coils  441   a ,  441   b . The bearing  454  may restrict motion in the x and y axis directions. A respective spring member  460 , for example a leaf spring (e.g., stainless steel), is coupled between the base  445  and a permanent magnet  452  along longitudinal sides of the first and second coils  441   a ,  441   b . More particularly, the permanent magnets  452  are spaced apart defining a slotted opening therebetween, and there is relative movement between the first and second coils  441   a ,  441   b  and the permanent magnets within the slotted opening. An optional concentrator  463  is longitudinally coupled to each permanent magnet  452 . 
     Referring now to  FIG.  14   , in another embodiment, the haptic actuator illustratively includes a frame  449 ′ or housing that surrounds the first and second coils  441   a ′,  441   b ′, first and second cores  471   a ′,  471   b ′, the permanent magnets  452 ′, and the optional concentrators  463 ′. The frame  449 ′ may include ferritic material. A cover  464 ′ is coupled to a top portion of the frame  449 ′ to cover the first and second coils  441   a ′,  441   b ′, the permanent magnets  452 ′, and the optional concentrators  463 ′. Elements illustrated but not specifically described are similar, including with respect to materials, to the embodiments described above. 
     Referring now to  FIGS.  15  and  16   , in another embodiment, the haptic actuator  540  may include first and second sets of spaced apart permanent magnets  552   a ,  552   b  including a respective ferritic body  553   a ,  553   b  between the spaced apart permanent magnets. A bearing  554 , for example, a shaft bearing, is coupled to the base  545  between the first and second sets of permanent magnets  552   a ,  552   b . A magnet spacer  555  is carried by the first and second sets of permanent magnets  552   a ,  552   b  and has an opening therein to receive the bearing  554  therethrough. A second magnet spacer may be coupled or carried by the first and second sets of the spaced apart permanent magnets  552   a ,  552   b  opposite the magnet spacer  555 . 
     The coil  541  surrounds the first and second sets of spaced apart permanent magnets  552   a ,  552   b  and is carried by a coil tray  546 . The coil has a loop shape defining a slotted opening  544  therein. A respective spring member  560 , for example a leaf spring (e.g., stainless steel), is coupled between the base  545  and the coil tray  546  and provides relative movement between the coil  541  and first and second sets of permanent magnets  552   a ,  552   b  within the slotted opening  544 . 
     Referring now to  FIG.  17   , in another embodiment, the haptic actuator  640  may include flexures  660  coupled between opposing ends of the housing  649  and the adjacent ends of the field member  650 . The flexures  660  may be used instead of or in addition to spring members, for example, leaf springs. While a specific configuration with respect to a coil  641 , core  671 , and permanent magnets  652  is illustrated, those skilled in the art will appreciate that the coil may surround the permanent magnets. Elements illustrated, but not specifically describe, including respective materials, are similar to the elements described above. 
     Referring now to  FIG.  18   , in another embodiment, the haptic actuator  740  includes a coil  741  and core  771  carried by the base  745 . A circuit connector  769  is coupled to the coil  741 . The field member  750  includes spaced apart permanent magnets  752  defining a slotted opening  744  therebetween. Respective concentrators  763 , for example, including ferritic material, may be coupled adjacent the spaced apart permanent magnets  752 . The concentrators  763  may define a portion of a frame  749  along with C-shaped frame ends, which include non-ferritic material. A cover  764  covers the spaced apart permanent magnets  752  or field member  750  and coil  741 . 
     Spring members  760  in the form of coil springs are each coupled between the base  745  and the cover  764  by way of respective shafts  768 , round bushings  767  and round bushing shafts  766 . Elements illustrated, but not specifically described are similar to the elements described above. 
     Referring now to  FIGS.  19 - 22   , embodiments of a haptic actuator are illustrated. In particular, with respect to  FIG.  19   , the haptic actuator  840  includes a housing  849  or can that is coupled to the base  845  and covers or encloses a spring member  860  that is in the form of a z-spring. The spring member  860  is between the housing (interior)  849  and the loop shaped coil  841  within the slotted opening  844  between the spaced apart permanent magnets  852  (and including optional concentrators  863 ). The core  871 , which enhances the magnetic field of the coil  841 , extends through the through opening in the coil and also is carried by opposing top and bottom sides of the coil. 
     The haptic actuator  840 ′ illustrated in  FIG.  20    includes an inner frame  849 ′ that includes a pair of L-shaped sidewalls. The spaced apart permanent magnets  852 ′ are carried by the inner frame  849 ′. The inner frame  849 ′ is carried between the legs of the spring member  860 ′ or z-spring. 
     Referring to  FIG.  21   , the haptic actuator  840 ″ includes an outer frame  849 ″ that has a rectangular shape and surrounds or encloses the spring member  860 ″, the loop shaped coil  841 ″ and core  871 ″ between the spaced apart permanent magnets  852 ″. A cover  864 ″ is coupled to the outer frame  849 ″ to cover the spring member  860 ″, and the loop shaped coil  841 ″ between the spaced apart permanent magnets  852 ″. Referring now to  FIG.  22   , the spring member  860 ′″ or z-spring has downwardly extending sidewalls that extend from the spring member to the base  845 ′″ to define a housing for the loop shaped coil  841 ′″, core  871 ′″ and spaced apart permanent magnets  852 ′″. Elements illustrated, but not specifically describe, including respective materials, are similar to the elements described above. 
     Referring now to  FIG.  23   , another embodiment of a haptic actuator  940  is illustrated that provides increased z-axis stabilization. The spring member  960  is illustratively in the form of a z-spring. A single coil  941  having a loop shape defining a slotted coil opening  944  is carried by the base  945 . A shaft bearing  954  is carried within the slotted coil opening  944 . First and second cores  971   a ,  971   b  surround legs of the shaft bearing  954  and also extend over opposing top and bottom sides of the coil  941 . 
     Spaced apart permanent magnets  952 , including the optional concentrators  963 , are carried on opposite sides of the coil  941  so that the coil is carried in a slotted opening defined by the spaced apart permanent magnets. 
     Referring now to  FIG.  24   , the haptic actuator  940 ′ includes a shaft bearing  954 ′ between two loop shaped coils  941   a ′,  941   b ′. Referring now to  FIG.  25   , a sliding horizontal shim  972 ″ is used in place of a shaft bearing for z-axis stabilization. Elements illustrated, but not specifically describe, including respective materials, are similar to the elements described above. 
     Referring now to  FIG.  26   , in another embodiment, the haptic actuator  1040  illustratively includes a spring member  1060  that is in the form of an asymmetric z-spring and a frame  1049 . The asymmetric z-spring  1060  couples to the base  1045  and defines a cover over the bearing  1054 , first and second coils  1041   a ,  1041   b , first and second cores  1071   a ,  1071   b , the spaced apart permanent magnets  1052 , and the optional concentrators  1063 . 
     Referring now to  FIG.  27   , in another embodiment of a haptic actuator  1040 ′, instead of an asymmetric z-spring, the spring member  1060 ′ is in the form of leaf springs carried by the base  1045 ′ between the base and the spaced apart permanent magnets  1052 ′. A cover  1064 ′ is over the frame  1049 ′ and covers the bearing  1054 ′, first and second coils  1041   a ′,  1041   b ′, first and second cores  1071   a ′,  1071   b ′, the spaced apart permanent magnets  1052 ′ and the optional concentrators  1063 ′. The embodiment of the haptic actuator  1040 ″ in  FIG.  28    adds a magnet shelf  1081 ″. Elements illustrated, but not specifically describe, including respective materials, are similar to the elements described above. 
     A method aspect is directed to a method of making a haptic actuator  140 . The method includes coupling a coil  141  to a base  145 . The coil  141  may have a loop shape defining a slotted opening  144  therein. The method further includes positioning a spring member  160  to suspend a field member  150  that includes spaced apart permanent magnets  152  within the slotted opening  144  and permits relative movement of the field member and the coil  141 . 
     Another method aspect is directed to a method of making a haptic actuator  140 . The method includes coupling a field member  150  to a base  145 . The field member  150  includes spaced apart permanent magnets  152 . The method also includes positioning a spring member  160  to suspend a coil  141  having a loop shape defining a slotted opening  144  therein so that the field member  150  is within the slotted opening and permits relative movement of the field member and the coil. 
     Another method aspect is directed to a method of making a haptic actuator  140 . The method includes coupling a coil  141  to a base  145  and positioning a spring member  160  to suspend a field member  150  that includes spaced apart permanent magnets  152  defining a slotted opening  144  therebetween so that the coil is within the slotted opening and permits relative movement of the field member and the coil. 
     Another method aspect is directed to a method of making a haptic actuator  140 . The method includes coupling a field member  150  to a base  145 . The field member  150  includes spaced apart permanent magnets  152  defining a slotted opening  144  therebetween. The method may also include positioning a spring member  160  to suspend a coil  141  within the slotted opening  144  and permitting relative movement of the field member  150  and the coil. 
     Indeed, for applications where a haptic actuator  140  is subjected to a variable load or displacement which causes coils and magnetic components to displace relative to each other, it may be desirable for the supporting structures and magnetic circuit components to be engineered to achieve desired force and motion targets. For constrained dimensions in length, width, and height of the haptic actuator  140 , it may be desirable that the configuration of coils and magnets be designed such that the haptic actuator is capable of delivering force and motion targets through a range of loads or displacement conditions. 
     Accordingly, the embodiments of the haptic actuator  140  may be particularly advantageous for narrow-width applications and the arrangements or embodiments described herein may provide a magnetic return path, and a rigid base and compliant suspension. Moreover, the embodiments of the haptic actuator  140  described herein may provide a constant or linear force response in the direction of actuation. Relative component motion may also be reduced due to magnetic attraction force in x, y, and z axes, but allows for force and displacement transmission in desired axis (in the examples shown, the desired axis is the vertical (z) axis). 
     Still further, the magnetic circuit portion of the embodiments of the haptic actuator  140  may reduce, for example, minimize magnetic bias (closing) force in the actuation direction. In other words, the embodiments of the haptic actuator  140  advantageously may provide a reduced size haptic actuator for space-constrained applications while allowing linear/constant force and motion transmission through wide operational range in axis of motion. 
     The embodiments of haptic actuator described herein may advantageously be used with a trackpad for providing haptic feedback based upon user input or pressures. For example, the haptic actuators described herein may provide click-feedback to a user based upon downward pressure or a “clicking” motion input to the trackpad. More than one haptic actuator may be used in any given trackpad. For example, multiple haptic actuators as described herein may be positioned in side-by-side relation over a length of a trackpad. Of course, the haptic actuators described herein may be used to provide haptic feedback in other implementations other than a trackpad. 
     While embodiments of haptic actuators have been described herein, it should be understood that any one or more elements from any given embodiment may be used with elements from any other embodiment or embodiments. Moreover, while certain materials have also been described herein with respect to certain embodiments, it should be understood that materials described with respect to any particular embodiment may be used in addition to, instead of, and/or in conjunction with other material described with respect to any other embodiments. 
     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: 20200810
Publication Date: 20231205
Grant Date: 20231205
Priority Date: 20190830
Inventors: WOPAT, KATHRYN K.
HUANG, FU-YING
VASUDEVAN, HARI
WU, XIN ALICE
YONEOKA, SHINGO
Assignee: APPLE INC
CPC Classifications: [{"code": "H02K33/18", "inventive": true, "first": true, "tree": "[]"}, {"code": "B06B1/045", "inventive": true, "first": false, "tree": "[]"}, {"code": "H05K5/0217", "inventive": true, "first": false, "tree": "[]"}, {"code": "H02K33/18", "inventive": true, "first": true, "tree": "[]"}, {"code": "H02K33/18", "inventive": true, "first": true, "tree": "[]"}, {"code": "H05K5/0217", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/045", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 74680280